CN110338831A - A method of each component physical alignment in adjustment X-ray imaging system - Google Patents
A method of each component physical alignment in adjustment X-ray imaging system Download PDFInfo
- Publication number
- CN110338831A CN110338831A CN201910748560.8A CN201910748560A CN110338831A CN 110338831 A CN110338831 A CN 110338831A CN 201910748560 A CN201910748560 A CN 201910748560A CN 110338831 A CN110338831 A CN 110338831A
- Authority
- CN
- China
- Prior art keywords
- information
- ray
- point
- central point
- receiving end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005855 radiation Effects 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 6
- 230000002459 sustained effect Effects 0.000 description 5
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003857 wrist joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 210000000323 shoulder joint Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
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
- A61B6/40—Arrangements for generating radiation specially adapted for radiation diagnosis
-
- 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
-
- 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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- High Energy & Nuclear Physics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention belongs to X-ray applied technical fields, disclose a kind of method for adjusting each component physical alignment in X-ray imaging system.The present invention includes: the location information to be detected for obtaining current human body to be detected, pendulum position information, natural light image, each key point information and reference point information, and obtains the distance between the corresponding multiple reference points of current reference point information information；Obtain the spatial positional information of the spatial positional information of position central point to be detected, the spatial positional information of X-ray source central point and ray receiving end central point；Finally make the central point three point on a straight line of the central point of ray receiving end, the central point of X-ray source and position to be detected.The present invention realizes the physical alignment between each component, eliminates manual operation bring error, improve x-ray image at tablet quality, avoid human body by unnecessary radiation.
Description
Technical field
The invention belongs to X-ray applied technical fields, and in particular to each component physical pair in a kind of adjustment X-ray imaging system
Neat method.
Background technique
X-ray image is for making doctor have one to get information about the structure situation of histoorgan in patient body.It is existing
X-ray imaging system be made of three parts, respectively ray source and its attachment component part, ray receiving end and its attached
Belong to components and other module sections.Human body portion to be detected can be covered at the coverage of x-ray image in order to guarantee
Position needs to make ray source central point, human body position central point to be detected, in ray receiving end when shooting x-ray image
Three physical alignments of heart point.But existing X-ray imaging method system has the disadvantage in that
A. since different human body and different parts difference in shooting process are larger, 3 physical alignments are increased
Difficult point can only lean on X-ray techmician to carry out manually adjusting for three central points at present, and unfamiliar X-ray techmician is difficult to accurate judgement
The height of adjustment and horizontal position, so cause x-ray image in flakes be unable to satisfy diagosis need or human body is caused it is unnecessary
Radiation；
B. judge and adjust three central points whether physical alignment, X-ray techmician needs to first determine whether patient position to be detected
Center position move ray receiving end height respectively under conditions of patient remains stationary, the height of ray source makes
Ray receiving end center is obtained, ray source center and patient position centre-height to be detected are identical, due to ray source and patient
There are one meter or more of distances between position to be detected, therefore error is larger and not easy to operate in decision height；
C.X X-ray techmician X treats the objective deviation of cognitive presence of detection position, cannot make human body portion to be detected well
Position center and radiographic source end module center and the alignment of ray receiving end module centers, further result in the matter in blocks of x-ray image
It measures low or unnecessary radiation is caused to human body.
Summary of the invention
It is an object of that present invention to provide a kind of methods of each component physical alignment in adjustment X-ray imaging system；Solution of the present invention
It has determined existing with regard to the position central point to be detected of patient in technology, the physics pair of ray source central point and ray receiving end central point
Together be completely dependent on X-ray techmician naked eyes judge caused by error it is big, cumbersome the problems such as, and then improve x-ray image at
Tablet quality, and avoid human body by unnecessary radiation；The present invention is by combining each pass in range information and natural light image
Key point information obtains ray source central point, human body position central point to be detected and ray receiving end central point in real space
Positional relationship, thus accurately to component each in X-ray imaging system carry out position adjustment.
The technical scheme adopted by the invention is as follows:
A method of each component physical alignment in adjustment X-ray imaging system is based on X-ray imaging system, the X-ray at
It further include the consistent laser source in light field region and X-ray source as system includes ray receiving end and image collecting device；Tool
Body includes the following steps:
Obtain the location information to be detected and pendulum position information of current human body to be detected；
Preset laser pattern is projected to current human body to be detected, and obtaining includes current human body to be detected, laser figure
Then the natural light image of sample and flat panel detector detects the human body key point information obtained in current natural light image, laser
Pattern key point information and ray receiving end key point information；
Current location information to be detected and the corresponding reference point information of pendulum position information are obtained, and obtains current reference point information
The distance between corresponding multiple reference points information；
According to current human's key point information, laser pattern key point information, ray receiving end key point information, worked as
The central point information of the central point information at preceding position to be detected, the central point information of X-ray source and ray receiving end, and obtain
The spatial positional information of position central point to be detected, the spatial positional information of X-ray source central point and ray receiving end center
The spatial positional information of point；
According to the spatial positional information of position central point to be detected, spatial positional information, the ray of X-ray source central point
Spatial positional information, reference point information and the range information of receiving end central point information, so that the central point of ray receiving end, X
The central point of ray source and the central point three point on a straight line at position to be detected.
Preferably, the spatial positional information includes elevation information and horizontal position information.
Preferably, making the central point of the central point of ray receiving end, the central point of X-ray source and position to be detected
After three point on a straight line, height, the height of the central point of X-ray source and the center at position to be detected of the central point of ray receiving end
The height of point is all the same, and 3 points are in same horizontal line.
Preferably, ray receiving end includes flat panel detector and the box body around flat panel detector setting；The box
2 are provided on body with upper cartridge body key point；The box body key point that the ray receiving end key point is 2 or more.
Preferably, ray receiving end further includes hand steered bracket；2 or more brackets are provided on the hand steered bracket
Spare key point；When box body key point is not detected in natural light image, using the spare key point of bracket as ray receiving end
Key point.
Preferably, the human body key point information includes position key point information and joint key point information.
Preferably, obtaining the space of the spatial positional information of current position central point to be detected, X-ray source central point
After the spatial positional information of location information and ray receiving end central point, by spatial positional information, the X of position central point to be detected
The spatial positional information of ray source central point and the spatial positional information of ray receiving end central point are exported to display end, and will
Natural light image including human body key point, laser pattern key point and ray receiving end key point is exported to display end.
The invention has the benefit that
1) by combining each key point information in range information and natural light image, ray source in real space is obtained
The positional relationship of central point, human body position central point to be detected and ray receiving end central point, accurately in X-ray imaging system
Each component carries out position adjustment, realizes the physical alignment between each component, and it is each using adjusting after naked eyes judgement to eliminate X-ray techmician
Component locations bring error, improve x-ray image at tablet quality, and avoid human body by unnecessary radiation；
2) the physical alignment process of each component more it is accurate rationally, in the x-ray image of generation to diagnosing effective region
It can present well, x-ray imaging quality is higher, is further convenient for subsequent diagnosis, is suitable for promoting the use of.
Other beneficial effects of the invention will be described in detail in a specific embodiment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram that the method for each component physical alignment in X-ray imaging system is adjusted in embodiment 1.
Fig. 2 is the schematic diagram in example 1.
Fig. 3 is the schematic diagram in example 2.
Fig. 4 is criss-cross laser pattern and its key point schematic diagram in embodiment 1.
Fig. 5 is ray receiving end and its key point schematic diagram in embodiment 5.
Fig. 6 is human body and its key point schematic diagram in embodiment 6.
Fig. 7 is the structural schematic diagram of system in embodiment 8.
Fig. 8 is the perspective diagram of system in embodiment 8.
Fig. 9 is the structural schematic diagram of transmission component in embodiment 8.
In figure, 101-X radiographic source, 102- angle measurement unit, 103- light concentrator, 104- laser source, 105- Image Acquisition
Device, 106- range unit, 107- manually adjust bracket, 108- universal regulating mechanism；201- post adjustment mechanism, 202- are hand steered
Bracket, 203- box body, 204- flat panel detector, 205- motor, 206- sliding rail, 207- screw rod, 208- sliding block, 209- slide unit,
210- transition bracket；300- control module；400- display end.
Specific embodiment
With reference to the accompanying drawing and specific embodiment come the present invention is further elaborated.It should be noted that for
Although the explanation of these way of example is to be used to help understand the present invention, but and do not constitute a limitation of the invention.The present invention
Disclosed function detail is only used for description example embodiments of the present invention.However, this hair can be embodied with many alternative forms
It is bright, and be not construed as limiting the invention in the embodiment that the present invention illustrates.
It should be appreciated that terminology used in the present invention is only used for description specific embodiment, it is not intended to limit of the invention show
Example embodiment.If term " includes ", " including ", "comprising" and/or " containing " are in the present invention by use, specified institute's sound
Bright feature, integer, step, operation, unit and/or component existence, and be not excluded for one or more other features, number
Amount, step, operation, unit, component and/or their combination existence or increase.
It should be appreciated that it will be further noted that the function action occurred may go out with attached drawing in some alternative embodiments
Existing sequence is different.For example, depending on related function action, can actually substantially be executed concurrently, or sometimes
Two figures continuously shown can be executed in reverse order.
It should be appreciated that providing specific details, in the following description in order to which example embodiment is understood completely.
However, those of ordinary skill in the art are it is to be understood that implementation example embodiment without these specific details.
Such as system can be shown in block diagrams, to avoid with unnecessary details come so that example is unclear.In other instances, may be used
Or not show well-known process, structure and technology unnecessary details, to avoid making example embodiment unclear.
Embodiment 1
As shown in Figure 1, being based on X the present embodiment provides a kind of method of each component physical alignment in adjustment X-ray imaging system
Photoimaging systems, X-ray imaging system include ray receiving end and image collecting device, further include the consistent laser source in light field region
End and X-ray source；Wherein, light field is the region in x-ray bombardment to human body, and in the present embodiment, light field is rectangular-shaped.
Above-mentioned method specifically comprises the following steps:
Obtain the location information to be detected and pendulum position information of current human body to be detected；
Preset laser pattern is projected to current human body to be detected, and obtaining includes current human body to be detected, laser figure
Then the natural light image of sample and flat panel detector detects the human body key point information obtained in current natural light image, laser
Pattern key point information and ray receiving end key point information；Wherein, preset laser pattern can be any shape, such as scheme
Cross shown in 4.
Current location information to be detected and the corresponding reference point information of pendulum position information are obtained, and obtains current reference point information
The distance between corresponding multiple reference points information；
According to current human's key point information, laser pattern key point information, ray receiving end key point information, worked as
The central point information of the central point information at preceding position to be detected, the central point information of X-ray source and ray receiving end, and obtain
The spatial positional information of position central point to be detected, the spatial positional information of X-ray source central point and ray receiving end center
The spatial positional information of point；Wherein, human body key point information, laser pattern key point information, ray receiving end key point information
It is presupposed information；As shown in figure 4, number 1-5 is laser key point in figure when laser pattern is cross.
According to the spatial positional information of position central point to be detected, spatial positional information, the ray of X-ray source central point
Spatial positional information, reference point information and the range information of receiving end central point information, so that the central point of ray receiving end, X
The central point of ray source and the central point three point on a straight line at position to be detected.
Embodiment 2
The present embodiment is the further improvement made on the basis of embodiment 1, and the difference of the present embodiment and embodiment 1 exists
In:
In the present embodiment, spatial positional information includes elevation information and horizontal position information.
Embodiment 3
The present embodiment is the further improvement made on the basis of embodiment 2, and the difference of the present embodiment and embodiment 2 exists
In:
In the present embodiment, so that the center at the central point of the central point of ray receiving end, X-ray source and position to be detected
After point three point on a straight line, in the height of the central point of ray receiving end, the height of the central point of X-ray source and position to be detected
The height of heart point is all the same, and 3 points are in same horizontal line.
Embodiment 4
The further improvement that the present embodiment is made on the basis of embodiment 1-3 is any, the present embodiment and embodiment 1-3 appoint
One difference is:
In the present embodiment, ray receiving end includes flat panel detector and the box body around flat panel detector setting；On box body
2 are provided with upper cartridge body key point；The box body key point that ray receiving end key point is 2 or more.
Embodiment 5
The present embodiment is the further improvement made on the basis of embodiment 4, and the difference of the present embodiment and embodiment 4 exists
In:
In the present embodiment, ray receiving end further includes hand steered bracket；It is spare that 2 or more brackets are provided on hand steered bracket
Key point；When box body key point is not detected in natural light image, using the spare key point of bracket as ray receiving end key
Point；As shown in figure 5, number 1-15 is ray receiving end key point in figure when ray receiving end includes armrest support；Its
In, ray receiving end key point includes the central point totally 9 on four vertex of box body, the midpoint on four side of box body and flat panel detector
A key point further includes 6 key points on the armrest support of two sides.
Embodiment 6
The present embodiment is the further improvement made on the basis of embodiment 1-5 is any, the present embodiment and embodiment 1-5
Any difference is:
In the present embodiment, human body key point information includes position key point information and joint key point information；Wherein, human body
Key point information is obtained by critical point detection algorithm.It should be noted that the phase of each human body key point and human body
Joint or position is answered to have specific corresponding relationship；Human body key point can with but be not limited only to include head, neck, left and right shoulder joint
Section, left and right elbow joint, left and right wrist joint, left and right hip joint, left and right knee joint, left and right ankle-joint, face and each joint of finger
Deng, such as shown in Fig. 6, human body key point is at totally 14；Digital 1-14 in Fig. 6 is followed successively by head, neck, left and right shoulder joint, left and right
Elbow joint, left and right wrist joint, left and right hip joint, left and right knee joint and left and right ankle-joint, above-mentioned 14 joints be current X-ray at
The most common human body key point as in.
As one of preferred embodiment, the torso portion (such as thoracic cavity, lumbar vertebrae) of human body is shot using high score
Resolution network model HRNet (Deep High-Resolution Representation Learning for Human Pose
Estimation) human body attitude algorithm for estimating is realized.
Alternatively preferred embodiment shoots the hand (finger, wrist joint etc.) of human body using 2D/3D gesture
Key point algorithm (Hand Keypoint Detection in Single Images using Multiview
Bootstrapping it) realizes.
Alternatively preferred embodiment when using HRNet algorithm, modifies algorithm structure, makes its output simultaneously
The natural light image of key point comprising human body key point and laser pattern.
Embodiment 7
The present embodiment is the further improvement made on the basis of embodiment 1-6 is any, the present embodiment and embodiment 1-6
Any difference is:
In the present embodiment, the spatial positional information of current position central point to be detected, the sky of X-ray source central point are obtained
Between after the spatial positional information of location information and ray receiving end central point, by the space bit confidence of position central point to be detected
The spatial positional information of breath, the spatial positional information of X-ray source central point and ray receiving end central point is exported to display end,
And the natural light image including human body key point, laser pattern key point and ray receiving end key point is exported to display end.
The adjustment for how realizing each component physical alignment is illustrated the present invention, as follows:
Example 1:
In addition to human body key point, the special key point that uses in example 1 is 14 total, including laser pattern key point and
Ray receiving end key point shoots the scene of x-ray image for human body as shown in Fig. 2, human body is stood before ray receiving end, to working as
Preceding human body carries out natural light Image Acquisition, and the laser source installed inside ray source is projected out criss-cross laser in human body surface
Pattern, it is assumed that rectangle ABCD is the box body of ray receiving end, and O is camera lens optical center, and the surface of human body is in same plane α
On, and rectangle HIJK is rectangle ABCD in the central projection centered on O of α plane, M, N, E are respectively line segment AD, BC, MN
Midpoint, the crosspoint of laser pattern are point S, also the subpoint for point O on plane α, i.e. line segment OS ⊥ plane α, and R is line segment OS
With the intersection point of the extended line of line segment MN, human body position center to be detected is denoted as point T, T on line segment PS, and point F is line segment OE and puts down
The intersection point of face α, in positional relationship shown in Fig. 2, the central point E of the corresponding rectangle ABCD of the box body of ray receiving end is by human body
It blocks, and the midpoint M of edge line segment AD is not blocked by human body, in order to determine ray receiving end central point E, human body position to be detected
Central point T and ray source central point O calculate separately the length of line segment ER and line segment ST, if line segment whether on sustained height
ER, line segment ST length be less than preset length, then it is assumed that ray receiving end center, human body position center to be detected, radiographic source
End center is in sustained height, if three parts center is in sustained height, point E is overlapped with point R, and point T is overlapped with point S, i.e. point
E, T, O three point on a straight line.
Obtain range information device be mounted on the position of point O, it is possible thereby to obtain point O to any body surface distance
(except the part being blocked, such as in Fig. 2, the length of line segment OE Yu line segment ON can not be measured, line segment OF and line segment can only be measured
The length of OQ), the range information obtained in example 1 includes the length of line segment OM, line segment OS, line segment OF and line segment OQ.
The size of the box body rectangle ABCD of ray receiving end it is known that i.e. line segment AB and line segment BC length it is known that natural light figure
The plane of picture imaging is plane α, i.e. picture in actual range and natural light image in plane α between each point between respective point
Element is apart from proportional.
It can also be calculated while calculating human body key point in example 1 using the human body critical point detection algorithm after optimization
The position of flat panel detector box central point and laser pattern central point in natural light image determines point F and point S in natural light
Position in image.
Since the length of line segment OF and line segment OS according to Pythagorean theorem it is known that can obtain:
NoteFor the length (unit is pixel number) of line segment FS in the picture, due to the reality of point-to-point transmission in α plane
Pixel distance in distance and natural light image is proportional, then can obtain:
The angle of ∠ POS are as follows:
Due to line segment OM length it is known that the length of event line segment MR are as follows:
By the above-mentioned length that can obtain line segment MR are as follows:
Since the length of line segment AB is it is known that event can be obtained according to the length of line segment MR:
Difference in height of the central point of ray receiving end in real space is the length of line segment ER, i.e., are as follows:
The difference in height of human body central point T in position to be detected and the central point O of ray source are the length of line segment ST, i.e., are as follows:
In conclusion when ray receiving end moves to arbitrary height, ray receiving end central point, human body position to be detected
Central point, laser pattern central point position in three dimensions and difference in height can be obtained by nature light image and range information
Out, when above-mentioned difference in height ER, ST is less than threshold value, then it is assumed that three member center points are in sustained height, thus realize
The adjustment of the physical alignment of three components.
Example 2:
When vertical up-or-down movement is done in ray receiving end, the edge mid-points of upper and lower box body are likely to be blocked, such as Fig. 3 institute
Show, current human is huge, has blocked box body left and right edges, then can replace box body with the spare key point of the bracket on hand steered bracket
Left and right side midpoint box body key point, three parts central point is calculated according to the endpoint of the midpoint of left and right side or hand steered bracket
Difference in height uses the spare key point of bracket；Point M and point N are respectively hand steered bracket left end endpoint and right end endpoint, rather than
Midpoint on the right of box portion left；At this point, the line segment of the physical length obtained by range information includes line segment OM, line segment OS and line segment
OF, and known to the equal size of box body and hand steered bracket；
According to Pythagorean theorem, the distance of ray receiving end central point E to image center point O is the length of line segment OE, specifically
Are as follows:
Similarly, the length of line segment FS are as follows:
Due to △ OER △ OSF, can obtain:
By above-mentioned 3 formula, can obtain:
Difference in height of the ray receiving end central point in real space is the length of line segment ER, i.e., are as follows:
Since the pixel distance in α plane in the actual range and image of point-to-point transmission is proportional, then:
Difference in height by the above-mentioned central point O that can obtain human body central point T in position to be detected and ray source is line segment ST
Length, i.e., are as follows:
In conclusion when ray receiving end moves to arbitrary height, ray receiving end central point, human body position to be detected
Central point, laser pattern central point position in three dimensions and difference in height can be obtained by nature light image and range information
Out, when above-mentioned difference in height ER, ST is less than threshold value, then it is assumed that three member center points are in sustained height, thus realize
The adjustment of the physical alignment of three components.
Embodiment 8
As Figure 7-8, the present embodiment provides a kind of using described in embodiment 1-7 on the basis of embodiment 1-7
Method operation facilitates the X-ray imaging system for adjusting each component physical alignment, specifically includes ray source, ray receiving end, ten thousand
To regulating mechanism and post adjustment mechanism, further include respectively with ray source, ray receiving end, universal regulating mechanism and column tune
Save the control module of institutional communication connection；
Ray source, for obtaining nature light image, range information and angle information, and for issuing X-ray and laser
Pattern；
Ray receiving end, for receiving the X-ray of ray source sending and exporting X-ray image；
Universal regulating mechanism for adjusting radiographic source end spaces position, and adjusts the X-ray and ray of ray source sending
Angle between receiving end；
Post adjustment mechanism, for adjusting the height of ray receiving end；
Control module, for receiving the height for calculating ray receiving end after nature light image, range information and angle information
The angle information of information, the location information of ray source and ray source, then according to the elevation information of ray receiving end, ray
The location information of source and the angle information control universal regulating mechanism of ray source and the start and stop of post adjustment mechanism.
The present invention projects laser pattern in human body surface using ray source using ray source, then obtains natural light
Image provides fundamental basis for the positional information calculation of each component, radiographic source can be obtained in conjunction with range information and angle information
The position and posture of central point, human body central point, ray receiving end central point in actual three-dimensional space are held, is subsequent progress
The position adjustment of each component provides theoretical foundation；Meanwhile by the setting of universal regulating mechanism and post adjustment mechanism, avoid
Error caused by manual adjustment.
In the present embodiment, it is as described in the examples facilitate the X-ray imaging system for adjusting the alignment of each component physical further include with
The display end of control module communication connection；Display end is for showing that nature light image, range information, angle information, ray receive
The angle information of the elevation information at end, the location information of ray source and/or ray source.
In the present embodiment, ray source includes shell, further includes being embedded on shell and the consistent laser in light field region
Source and x-ray source further include being embedded on shell and filling respectively with the image collecting device of control module communication connection, ranging
It sets and angle measurement unit；Image collecting device is for obtaining nature light image, and range unit is for obtaining multiple preset references
The distance between point information；Angle measurement unit is used to obtain the operation angle of laser source and x-ray source, wherein operation angle
Including X deflection angle and vertical pitch angle.It is arrived by the angle and ray source that obtain nature radiograph, ray source
The distance of body surface in space, it can be deduced that the central point at position to be detected, the central point of ray receiving end, ray source
The angle of central point and ray source；Utilize the central point at position to be detected, the central point of ray receiving end, ray source
The angle of central point and ray source can instruct the corresponding component in X-ray imaging system to do out position adjustment and angle tune
It is whole, it avoids X-ray techmician and manually adjusts cumbersome caused by position and there are problems that error.
It should be noted that laser source is for issuing laser pattern, laser pattern can be arbitrary shape；Light field is X
Region on radiation exposure to human body, in the present embodiment, light field is rectangular-shaped.
In the present embodiment, ray source further includes the light concentrator for being set to the opening of shell；Light concentrator is sharp for controlling
The light field region of light source and x-ray source；Light concentrator and control module communicate to connect.
In the present embodiment, ray source further includes the high pressure generation for communicating to connect with control module and connecting with x-ray source
Device；High pressure generator is used to provide operating voltage for x-ray source.
As one of preferred embodiment, ray source further includes being set on shell to manually adjust bracket；
Bracket is manually adjusted for manually adjusting the spatial position of shell.
In the present embodiment, control module is also used to detect human body key point, laser pattern key point in nature light image
And ray receiving end key point, and calculate the central point at position to be detected, the central point information of X-ray source and ray receiving end
Central point.
In the present embodiment, ray receiving end includes that flat panel detector and package are set to box body on the outside of flat panel detector；
The bottom of box body is fixedly connected with post adjustment mechanism；2 or more key points are preset on box body；Ray receiving end key point is
2 or more box body key points；Wherein, box body package is set to the surrounding and back side of flat panel detector.
Embodiment 8
The present embodiment is the further improvement made on the basis of embodiment 7, and the difference of the present embodiment and embodiment 7 exists
In:
In the present embodiment, ray receiving end further includes hand steered bracket；It is spare that 2 or more brackets are provided on hand steered bracket
Key point；When box body key point is not detected in natural light image, using the spare key point of bracket as ray receiving end key
Point.
Embodiment 9
The present embodiment is the further improvement made on the basis of embodiment 1-8 is any, the present embodiment and embodiment 1-8
Any difference is:
In the present embodiment, post adjustment mechanism includes upright bar, motor and the transmission group being coupled with the output end of motor
Part；The bottom of box body is fixedly connected with transmission component；Motor and control module communicate to connect.
As one of preferred embodiment, as shown in figure 9, transmission component includes actuator, sliding rail, screw rod, cunning
Block and slide unit；Sliding rail has 2, is all set in upright bar, and 2 sliding rails are arranged in parallel in the two sides of screw rod respectively；2 sliding rails
The upper sliding block for being slidably fitted with 1 or more respectively, sliding block are fixedly connected with slide unit；Actuator is connected to the inner top surface of upright bar, drives
Moving part includes the driving circuit being electrically connected with motor, and the output end of motor is fixedly connected with the upper end of screw rod；The lower end of screw rod with
The inner bottom surface of upright bar；Thread barrel is threaded on screw rod, thread barrel is fixedly connected with slide unit；The lower end of screw rod and upright bar inner wall
Or inner bottom surface is flexibly connected by bearing；The bottom of box body is fixedly connected with slide unit；Driving circuit is received from control module
Start stop signal after, control motor start and stop；When motor operation, screw rod rotation is driven, screw rod drives thread barrel moving up and down,
Thus the height adjustment of ray receiving end can be realized.
Alternatively preferred embodiment, on the basis of above-mentioned transmission component, as shown in figure 9, transmission group
Part further includes transition bracket, transition bracket be used for when the installation hole location of slide unit and the installation hole location of box body not to it is corresponding when and box
The corresponding new installation hole location of the installation hole location of body, transition bracket are set between slide unit and box body.
The distance of ray source to ray receiving end in the present embodiment can be with consecutive variations, and spatial position is adjustable, penetrates
The X-ray that line source end issues is incident on the variable-angle of ray receiving end, and the present embodiment is counted by obtaining nature light image
Central point, ray receiving end central point and the ray source central point for calculating patient position to be detected, then in conjunction with ray source
Angle (i.e. the angle of radiographic source transverse plane normal vector and ray receiving end plane normal vector), ray source object table into space
The distance in face realizes the purpose of each portion's physical alignment of adjustment X-ray imaging system, easy to use, improves the in blocks of x-ray image
Quality, and avoid human body by unnecessary radiation, it is suitable for promoting the use of；And in the present embodiment the key point of various pieces position
Confidence breath can intuitively show X-ray techmician, avoid as experience it is insufficient caused by can not accurately to adjust X-ray imaging system each
The case where a component locations, realize multi-angle, multiple spurs from shooting X-ray image, it is more flexible, be easy to use；Meanwhile this implementation
The whole system of example gets rid of the physical structure of complexity using linking ray source and ray receiving end by the way of software coupling,
Reduce manufacture, maintenance and management cost；The X-ray imaging systems of no coupled modes is avoided using cumbersome, it is accurate to be not easy to
The problem of bring is not convenient to use in the case of the shortcomings that adjusting module position, and fixed ray source and ray receiving end.
Embodiments described above is only schematical, can if being related to unit as illustrated by the separation member
It is physically separated with being or may not be；If being related to component shown as a unit, can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
Need that some or all of the units may be selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case where paying creative labor, it can understand and implement.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are each under the inspiration of the present invention
The product of kind form.Above-mentioned specific embodiment should not be understood the limitation of pairs of protection scope of the present invention, protection of the invention
Range should be subject to be defined in claims, and specification can be used for interpreting the claims.
Claims (7)
1. a kind of method of each component physical alignment in adjustment X-ray imaging system is based on X-ray imaging system, the X-ray imaging
System includes ray receiving end and image collecting device, further includes the consistent laser source in light field region and X-ray source；It is special
Sign is: including the following steps:
Obtain the location information to be detected and pendulum position information of current human body to be detected；
Preset laser pattern is projected to current human body to be detected, and obtain include current human body to be detected, laser pattern and
Then the natural light image of flat panel detector detects the human body key point information obtained in current natural light image, laser pattern
Key point information and ray receiving end key point information；
Current location information to be detected and the corresponding reference point information of pendulum position information are obtained, and it is corresponding to obtain current reference point information
The distance between multiple reference points information；
According to current human's key point information, laser pattern key point information, ray receiving end key point information, obtain currently to
The central point information of the central point information of detection position, the central point information of X-ray source and ray receiving end, and obtain to be checked
Survey the spatial positional information of position central point, the spatial positional information of X-ray source central point and ray receiving end central point
Spatial positional information；
It is received according to the spatial positional information of position central point to be detected, the spatial positional information of X-ray source central point, ray
Spatial positional information, reference point information and the range information for holding central point information, so that the central point of ray receiving end, X-ray
The central point of source and the central point three point on a straight line at position to be detected.
2. the method for each component physical alignment in adjustment X-ray imaging system according to claim 1, it is characterised in that: institute
The spatial positional information stated includes elevation information and horizontal position information.
3. the method for each component physical alignment in adjustment X-ray imaging system according to claim 2, it is characterised in that: make
After the central point, the central point of X-ray source and the central point three point on a straight line at position to be detected that obtain ray receiving end, ray is received
The height of the height of the central point at end, the height of the central point of X-ray source and the central point at position to be detected is all the same, and three
Point is in same horizontal line.
4. the method for each component physical alignment in adjustment X-ray imaging system according to claim 1, it is characterised in that: penetrate
Line receiving end includes flat panel detector and the box body around flat panel detector setting；2 or more boxes are provided on the box body
Body key point；The box body key point that the ray receiving end key point is 2 or more.
5. the method for each component physical alignment in adjustment X-ray imaging system according to claim 4, it is characterised in that: penetrate
Line receiving end further includes hand steered bracket；2 or more the spare key points of bracket are provided on the hand steered bracket；Work as natural light
When box body key point being not detected in image, using the spare key point of bracket as ray receiving end key point.
6. the method for each component physical alignment, feature in adjustment X-ray imaging system according to any one of claims 1 to 5
Be: the human body key point information includes position key point information and joint key point information.
7. the method for each component physical alignment, feature in adjustment X-ray imaging system according to any one of claims 1 to 5
It is: obtains the current spatial positional information of position central point to be detected, the spatial positional information of X-ray source central point and penetrate
After the spatial positional information of line receiving end central point, by the spatial positional information of position central point to be detected, X-ray source center
The spatial positional information of point and the spatial positional information of ray receiving end central point are exported to display end, and will include that human body is crucial
The natural light image of point, laser pattern key point and ray receiving end key point is exported to display end.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748560.8A CN110338831B (en) | 2019-08-14 | 2019-08-14 | Method for adjusting physical alignment of each component in X-ray imaging system |
| PCT/CA2020/050438 WO2020198870A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
| AU2020255687A AU2020255687A1 (en) | 2019-04-02 | 2020-04-02 | An integrated X-ray precision imaging device |
| CA3135998A CA3135998A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
| US17/268,949 US20220079544A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748560.8A CN110338831B (en) | 2019-08-14 | 2019-08-14 | Method for adjusting physical alignment of each component in X-ray imaging system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110338831A true CN110338831A (en) | 2019-10-18 |
| CN110338831B CN110338831B (en) | 2022-12-02 |
Family
ID=68184972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910748560.8A Active CN110338831B (en) | 2019-04-02 | 2019-08-14 | Method for adjusting physical alignment of each component in X-ray imaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110338831B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111420305A (en) * | 2020-03-20 | 2020-07-17 | 北京东软医疗设备有限公司 | Irradiation region determination method, device and equipment and radiotherapy system |
| CN113081006A (en) * | 2019-12-23 | 2021-07-09 | 锐珂（上海）医疗器材有限公司 | Guiding device, ray inspection device, using method of ray inspection device and computer-readable storage medium |
| CN114712734A (en) * | 2022-05-05 | 2022-07-08 | 上海伽玛星科技发展有限公司 | Radiotherapy ray shooting device |
| WO2024008210A1 (en) * | 2022-07-04 | 2024-01-11 | 合肥美亚光电技术股份有限公司 | Control method for cone beam ct apparatus, cone beam ct apparatus, and medium |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672564A (en) * | 1984-11-15 | 1987-06-09 | Honeywell Inc. | Method and apparatus for determining location and orientation of objects |
| US5212720A (en) * | 1992-01-29 | 1993-05-18 | Research Foundation-State University Of N.Y. | Dual radiation targeting system |
| CA2320230A1 (en) * | 1997-12-01 | 1999-06-10 | Eric R. Cosman | Surgical positioning system |
| US5967982A (en) * | 1997-12-09 | 1999-10-19 | The Cleveland Clinic Foundation | Non-invasive spine and bone registration for frameless stereotaxy |
| CN1917812A (en) * | 2003-10-31 | 2007-02-21 | 明拉德股份有限公司 | Targeting system and method of targeting |
| JP2008197574A (en) * | 2007-02-15 | 2008-08-28 | Funai Electric Co Ltd | Hologram device and hologram recording apparatus |
| CN202776338U (en) * | 2012-09-20 | 2013-03-13 | 北京朗视仪器有限公司 | Radiation imaging equipment |
| CN104168830A (en) * | 2012-03-16 | 2014-11-26 | 西安电子科技大学 | Device and method for endoscopic x ray luminescence tomography imaging |
| CN104257397A (en) * | 2014-09-30 | 2015-01-07 | 清华大学 | Tomography-based calibration method of geometric position relationship of X-ray machine and detector |
| CN107874768A (en) * | 2016-09-30 | 2018-04-06 | 通用电气公司 | Mobile radiation image-forming system and its alignment schemes |
| CN108670280A (en) * | 2018-05-28 | 2018-10-19 | 上海联影医疗科技有限公司 | Medical Imaging System and the method for shooting medical image |
| CN108670279A (en) * | 2018-05-28 | 2018-10-19 | 上海联影医疗科技有限公司 | Shoot method, Medical Imaging System, computer and the storage medium of medical image |
| CN109924994A (en) * | 2019-04-02 | 2019-06-25 | 晓智科技（成都）有限公司 | A kind of x photo-beat take the photograph during detection position automatic calibrating method and system |
| CN209018753U (en) * | 2018-03-23 | 2019-06-25 | 上海西门子医疗器械有限公司 | X-ray medical system |
| CN110120045A (en) * | 2019-06-14 | 2019-08-13 | 晓智科技（成都）有限公司 | A kind of X-ray Imagewise exposure parameter determination method based on regression model |
-
2019
- 2019-08-14 CN CN201910748560.8A patent/CN110338831B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4672564A (en) * | 1984-11-15 | 1987-06-09 | Honeywell Inc. | Method and apparatus for determining location and orientation of objects |
| US5212720A (en) * | 1992-01-29 | 1993-05-18 | Research Foundation-State University Of N.Y. | Dual radiation targeting system |
| CA2320230A1 (en) * | 1997-12-01 | 1999-06-10 | Eric R. Cosman | Surgical positioning system |
| US5967982A (en) * | 1997-12-09 | 1999-10-19 | The Cleveland Clinic Foundation | Non-invasive spine and bone registration for frameless stereotaxy |
| CN1917812A (en) * | 2003-10-31 | 2007-02-21 | 明拉德股份有限公司 | Targeting system and method of targeting |
| JP2008197574A (en) * | 2007-02-15 | 2008-08-28 | Funai Electric Co Ltd | Hologram device and hologram recording apparatus |
| CN104168830A (en) * | 2012-03-16 | 2014-11-26 | 西安电子科技大学 | Device and method for endoscopic x ray luminescence tomography imaging |
| CN202776338U (en) * | 2012-09-20 | 2013-03-13 | 北京朗视仪器有限公司 | Radiation imaging equipment |
| CN104257397A (en) * | 2014-09-30 | 2015-01-07 | 清华大学 | Tomography-based calibration method of geometric position relationship of X-ray machine and detector |
| CN107874768A (en) * | 2016-09-30 | 2018-04-06 | 通用电气公司 | Mobile radiation image-forming system and its alignment schemes |
| CN209018753U (en) * | 2018-03-23 | 2019-06-25 | 上海西门子医疗器械有限公司 | X-ray medical system |
| CN108670280A (en) * | 2018-05-28 | 2018-10-19 | 上海联影医疗科技有限公司 | Medical Imaging System and the method for shooting medical image |
| CN108670279A (en) * | 2018-05-28 | 2018-10-19 | 上海联影医疗科技有限公司 | Shoot method, Medical Imaging System, computer and the storage medium of medical image |
| CN109924994A (en) * | 2019-04-02 | 2019-06-25 | 晓智科技（成都）有限公司 | A kind of x photo-beat take the photograph during detection position automatic calibrating method and system |
| CN110120045A (en) * | 2019-06-14 | 2019-08-13 | 晓智科技（成都）有限公司 | A kind of X-ray Imagewise exposure parameter determination method based on regression model |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113081006A (en) * | 2019-12-23 | 2021-07-09 | 锐珂（上海）医疗器材有限公司 | Guiding device, ray inspection device, using method of ray inspection device and computer-readable storage medium |
| CN111420305A (en) * | 2020-03-20 | 2020-07-17 | 北京东软医疗设备有限公司 | Irradiation region determination method, device and equipment and radiotherapy system |
| CN111420305B (en) * | 2020-03-20 | 2022-05-17 | 北京东软医疗设备有限公司 | Irradiation region determination method, device and equipment and radiotherapy system |
| CN114712734A (en) * | 2022-05-05 | 2022-07-08 | 上海伽玛星科技发展有限公司 | Radiotherapy ray shooting device |
| WO2024008210A1 (en) * | 2022-07-04 | 2024-01-11 | 合肥美亚光电技术股份有限公司 | Control method for cone beam ct apparatus, cone beam ct apparatus, and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110338831B (en) | 2022-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110338831A (en) | A method of each component physical alignment in adjustment X-ray imaging system | |
| CN104619254B (en) | The vision adjustment based on camera of removable x-ray imaging system | |
| EP3907986A1 (en) | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications | |
| CN103035008B (en) | A kind of weighted demarcating method of multicamera system | |
| CN102917646B (en) | Pipe for portable radiography system is aimed at | |
| Ribo et al. | A new optical tracking system for virtual and augmented reality applications | |
| CN106199964B (en) | The binocular AR helmet and depth of field adjusting method of the depth of field can be automatically adjusted | |
| US8147139B2 (en) | Dynamic biplane roentgen stereophotogrammetric analysis | |
| JP4002983B2 (en) | Projection apparatus, projection apparatus control method, composite projection system, projection apparatus control program, and recording medium on which projection apparatus control program is recorded | |
| CN113243990A (en) | Surgical system | |
| KR20170069171A (en) | Modular device for high-speed video vibration analysis | |
| CN104812304A (en) | Scan geometry corrections for tomosynthesis mobile radiographic apparatus | |
| CN104125803A (en) | Mobile radiographic apparatus/methods with tomosynthesis capability | |
| US11737831B2 (en) | Surgical object tracking template generation for computer assisted navigation during surgical procedure | |
| CN207529431U (en) | A kind of camera calibration system | |
| KR20170074435A (en) | X-ray imaging apparatus, control method for the same and x-ray detector | |
| CA3135998A1 (en) | An integrated x-ray precision imaging device | |
| CN105555221A (en) | Medical needle path display | |
| CN113768621B (en) | Camera tracking system for computer-aided navigation during surgery | |
| CN104871176A (en) | Scanning device and method for positioning a scanning device | |
| KR20180086709A (en) | X-ray imaging apparatus and control method for the same | |
| JP6222835B2 (en) | X-ray diagnostic equipment | |
| CN110074807A (en) | The portable engaging member of the imaging region of patient is determined in panorama, computerized tomography or cephalometry x-ray imaging | |
| CN109363701A (en) | A kind of mthods, systems and devices of adjustment scanning gantry interference | |
| CN105872527A (en) | Binocular AR (Augmented Reality) head-mounted display device and information display method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 610000 north of Chengdu modern industrial port, PI Du District, Chengdu, Sichuan, No. 269 North Road, Hong Kong. Applicant after: Xiaozhi future (Chengdu) Technology Co.,Ltd. Address before: 610000 north of Chengdu modern industrial port, PI Du District, Chengdu, Sichuan, No. 269 North Road, Hong Kong. Applicant before: XIAOZHI TECHNOLOGY (CHENGDU) Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |