CN111449670B - Stepping imaging method of mobile CT system - Google Patents
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Abstract
The invention discloses a step imaging method of a mobile CT system, which comprises the following steps: dividing the whole region to be scanned into a plurality of step scanning regions, starting scanning from the first step scanning region by the CT machine to obtain scanning data, and reconstructing to obtain a scanning image; calculating an ideal step, moving to the next step scanning area in a stepping mode, and scanning and reconstructing to obtain a scanning image; calculating and estimating the actual scanning center position after stepping and moving according to the reference stepping and the scanning images of the two stepping scanning areas before and after moving calculated by the inertial navigation unit; judging whether the scanning area covers the whole area to be scanned; and if the scanning is finished, fusing the scanning image of each step scanning area obtained by the previous calculation and the estimated step into the final reconstructed volume data. The method provided by the invention can accurately estimate the motion trail of the scanning center of the CT machine under the condition of no guide rail, obtain more accurate scanning images and reduce artifacts and geometric distortion.
Description
Technical Field
The invention belongs to the field of medical imaging, and particularly relates to a stepping imaging method of a mobile CT system.
Background
A CT system is a large medical system that can perform 3D scanning of a patient and obtain 3D image information. However, conventional CT systems have stringent site requirements, necessitating special shielded rooms and comparable site requirements. The whole system is fixed on the ground, so that the use scene is greatly limited. Especially for operating rooms, intensive Care Units (ICU) and other situations, conventional fixed CT does not meet the requirements. Therefore, in recent years, head-specific CT systems have begun to appear, and as shown in fig. 1, a movable wheeled small CT gantry is generally used, and the skull is scanned by pushing the gantry to the bedside of the patient. The traditional fixed CT system adopts the mode that a patient is translated through a special sickbed, and meanwhile, a rack continuously rotates to realize CT scanning. However, in the case of the special head CT system, since a critical patient is aimed in many cases, the patient cannot be moved and there is no special bed. The scanning process is realized by pushing the whole rotating frame through a special guide rail.
The existing CT system only needs a specially-made guide rail, the scanning range is limited, usually only about 10-20cm, and for the scanning of limbs such as 30-50cm which requires a larger scanning moving range, the guide rail method cannot be used. And the special guide rail needs additional cost and has higher requirement on machining. There is thus greater flexibility in using a movable CT system without the constraint of guide rails, but without providing precise positioning of the guide rails, the trajectory of the machine is difficult to guarantee, as shown in fig. 2. The existing image reconstruction technology is based on classical reconstruction theory and is based on circular scanning or spiral scanning. These reconstruction techniques are directed to stationary CT systems, and therefore require that the dedicated CT systems are based on dedicated guide rails to achieve precise movement, and have high machining precision and process requirements. Without precise movement of the guide rail in the mobile CT system, severe artifacts and geometric distortions are introduced based on the conventional CT algorithm, as shown in fig. 3. These motions, if not corrected, can lead to severe artifacts and geometric distortions.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problem of how to realize accurate movement of a guide-rail-free moving CT system in the prior art, the invention discloses a stepping imaging method of a moving CT system, which can accurately estimate the motion track of a CT machine under the condition of no guide rail, obtain more accurate scanning images and reduce artifacts and geometric distortion.
The technical scheme is as follows: the invention adopts the following technical scheme: a step imaging method of a mobile CT system is characterized by comprising the following steps:
when the step A, CT machine scans a patient, an ideal motion track of a scanning center is determined according to an integral region to be scanned and an initial scanning center position of a CT machine, the integral region to be scanned is divided into a plurality of step scanning regions, the CT machine starts scanning from a first step scanning region to obtain scanning data of the first step scanning region, and a first scanning image is obtained through reconstruction according to the scanning data;
b, according to the ideal motion track and the scanning center position of the current step scanning area of the CT machine, calculating the ideal step of the CT machine moving to the next step scanning area, according to the ideal step, moving the CT machine to the next step scanning area in a step mode, scanning by the CT machine to obtain the scanning data of the next step scanning area, and according to the scanning data, reconstructing to obtain the scanning image of the step scanning area;
step C, calculating a step reference value, namely a reference step, according to the actual step of the CT machine in the step B, calculating an estimated step according to the reference step and the scanning images of two step scanning areas before and after the movement of the CT machine in the step B, wherein the estimated step is used for calculating the actual scanning center position of the step scanning area after the movement of the CT machine;
d, judging whether the scanned area of the CT machine covers the whole area to be scanned or not, entering the next step scanning area if the scanned area of the CT machine does not cover the whole area to be scanned, and repeating the steps B to C to continue step scanning; if the whole area to be scanned is covered, turning to the step E;
and E, fusing the scanning images of all the stepping scanning areas obtained by calculation and the estimated steps into final overall reconstructed volume data.
Preferably, there is an overlap between adjacent step-and-scan regions.
Preferably, the step movement of the CT machine is effected by means of drive wheels.
Preferably, in the step C, the step (L) is estimated by using bayesian theory k ，Δθ k ) The method comprises the following steps:
where Bel is the Bayesian estimation of the estimation step, L k And Δ θ k Respectively estimating the stepping length and the stepping angle;
is the scan center position, delta theta, of the step scan region before the movement of the CT machine k-1 Is the estimated step angle of the step-and-scan area before movement;
and
respectively a calculated reference step length and a reference step angle; vol k And vol k-1 Scanning images of two stepping scanning areas before and after the movement of the CT machine respectively; β and γ are constants; sigma θ Is the angular tolerance of the drive wheel, σ l Is the distance tolerance of the drive wheel; sigma v Is a noise parameter.
Preferably, the constants β and γ are 1, and the noise parameter σ is v And 10 is taken.
Preferably, in the step a, if the CT machine moves on a two-dimensional plane, the CT machine is ideally stepped
Satisfies the following conditions:
wherein, the first and the second end of the pipe are connected with each other,
and
respectively an ideal stepping length and an ideal stepping angle; (x) k-1 ，y k-1 ，θ k-1 ) The scanning center position, x, of the step scanning area before the movement of the CT machine k-1 And y k-1 Two-dimensional plane coordinates of the scan center, θ k-1 The inclination angle formed by the step scanning area and an ideal motion track;
the ideal scanning center position of the step scanning area after the movement of the CT machine is located on the ideal motion track.
Preferably, the length of each step of the CT machine is less than the width of a single scan.
Preferably, in step F, the fusion method is as follows:
wherein Vol (x, y, z) is the fused integral reconstructed volume data, vol k And vol k (x k ，y k ，z k ) The volume data pixel value of the scanned image and the scanned image of the k step scanning area for the CT machine.
Preferably, the CT machine employs a circular scan in each step-scan region.
Preferably, the scan data is reconstructed by a classical convolution back-projection method to obtain a three-dimensional scan image.
Has the advantages that: the invention has the following beneficial effects:
1. the method can accurately estimate the motion trail of the CT machine under the condition of no guide rail, obtain more accurate scanning images and reduce artifacts and geometric distortion;
2. the method provided by the invention is applied to the accurate estimation of the motion trail of the CT machine without the guide rail, reduces the scanning limitation of the CT system in real life, can adopt the movable CT system without the guide rail at the positions where the four limbs and the like can not be scanned by the CT machine with the guide rail, has greater flexibility, does not need extra cost, and can ensure accurate positioning.
Drawings
FIG. 1 is a schematic diagram of a mobile CT system, wherein FIG. 1 (a) is a side view and FIG. 1 (b) is a top view;
FIG. 2 is a comparative diagram of the moving track of the moving CT machine with or without a guide rail, wherein FIG. 2 (a) shows the CT machine moving along a special track, and FIG. 2 (b) shows the CT machine moving by means of a driving wheel;
FIG. 3 is a comparison graph of an ideal image and a reconstructed image of a mobile CT system under a condition without a guide rail, wherein FIG. 3 (a) is the ideal image, and FIG. 3 (b) is the reconstructed image of the mobile CT system under the condition without the guide rail based on a traditional CT algorithm;
FIG. 4 is a flowchart of step scanning and image reconstruction of a mobile CT system according to the method of the present invention;
FIG. 5 is a diagram showing the relative positions of the scanning regions of the mobile CT system according to the method of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention discloses a stepping imaging method of a mobile CT system, which is applied to the mobile CT system, does not depend on a guide rail for scanning, but depends on the movement of a driving wheel to control a CT machine, and carries out stepping scanning on a patient at different positions and obtains a CT image meeting clinical requirements.
The method divides the whole area to be scanned into a plurality of step scanning areas, each step scanning area uses circular scanning to scan, and after all step scanning is finished, all data are integrated according to an inertial navigation unit (IMU for short) and the information of the scanned image to obtain a whole reconstructed image. Here each step-and-scan movement is usually effected by means of a drive wheel. For example, for a CT machine moving on the ground, this is a movement in a two-dimensional plane (if the ground is not flat, three-dimensional motion can also be calculated using a similar method).
In the method proposed by the invention, after the circular scanning of a step-by-step scanning area is completed, the driving wheel is used to drive the CT machine to perform appropriate step-by-step movement (L) k ，Δθ k ) And scanning the next section of area to obtain a scanned image vol k Wherein L is k For distance moved, i.e. step length, Δ θ k Is the angle of movement, i.e. the stepping angle. The areas of the two scans partially overlap. Because there is no way to accurately control the movement of the CT machine, although an IMU may be provided to estimate the movement trajectory of the CT machine, the estimation usually has a relatively large error, and the error will gradually accumulate with the movement and time of the CT machine. Therefore, a more accurate estimation method is also provided to estimate the movement track of the CT machine, and the IMU and the information of the scanned image are combinedMore accurate estimation of current CT machine step (L) k ，Δθ k ) And determining the moving direction of the next step scanning according to the position estimation of the current scanning center and the position difference of the ideal scanning center.
A step imaging method for moving CT system takes the movement of two-dimensional plane as an example, as shown in FIG. 5, the ideal motion track is the linear motion track between the initial scanning center position of CT machine and the center of the whole area to be scanned, a plane rectangular coordinate system is established, the X axis is parallel to the ideal motion track, the Y axis is perpendicular to the ideal motion track, and the ideal motion track is set as Y = Y 0 。
As shown in fig. 4, the method specifically includes the following steps:
step A, CT, when scanning a patient, determining an ideal motion trajectory of a scanning center according to an integral region to be scanned and an initial scanning center position of a CT machine, dividing the integral region to be scanned into a plurality of step scanning regions, starting scanning from a first step scanning region by the CT machine to obtain scanning data of the first step scanning region, and reconstructing according to the scanning data to obtain a first three-dimensional scanning image.
Step B, according to the scanning center position (x) of the current step scanning area k-1 ，y k-1 ，θ k-1 ) And ideal motion trajectory y = y 0 Calculating the ideal step for the CT machine to move to the next step scanning area
In principle, the final step length L is smaller than the width of a single scan of the CT machine, for example, the width of a single scan is 2cm, and the step length may be L =1.6cm;
is chosen to allow the scan center position to be on the desired motion trajectory.
Because there is a certain error between the ideal step length and the real step length of the CT machine, when the ideal step length is small enough, the real step length of the CT machine can be smaller than the scan width, and the ideal step length is preferably 80% of the scan width.
Ideal stepping of CT machine
The following formula is satisfied:
wherein, the first and the second end of the pipe are connected with each other,
in order to achieve the desired step length,
an ideal stepping angle; (x) k-1 ，y k-1 ，θ k-1 ) For the scan center position, x, of the current step-scan area k-1 And y k-1 Two-dimensional plane coordinates of the scan center, θ k-1 The inclination angle formed by the step scanning area and an ideal motion track;
the ideal scan center position for the next step-scan region is located on the ideal motion trajectory, i.e. y k Should satisfy y k ＝y 0 。
According to the ideal stepping, the CT machine is moved to the next stepping scanning area by the driving wheel in a stepping way, and the scanning data Prj is obtained by performing circular scanning k According to the scan data Prj k Reconstructing to obtain a three-dimensional scan image vol by a classical convolution back-projection method k And volume data pixel value vol of scan image k (x，y，z)。
Step C, IMU calculates step reference value, i.e. reference step, from actual step of CT machine
According to the reference step and the scanning image vol of two step scanning areas before and after the movement of the CT machine k-1 And vol k The estimation results in a more accurate estimated step (L) k ，Δθ k ) Further, the actual scanning center position (x) of the moved CT machine is obtained more accurately k ，y k ，θ k )。
The reference step can also be calculated by a drive wheel encoder.
Estimating the estimated step of the CT machine based on Bayesian theory:
wherein Bel is a Bayesian estimation of the motion trajectory based on historical motion state information and reconstructed image information. L is k And Δ θ k Respectively estimating the stepping length and the stepping angle;
is the scan center position of the k-1 st step scan region, wherein
As a two-dimensional vector representation of the location of the scan centre, i.e.
Δθ k-1 The step angle is estimated when the CT machine moves from the k-2 th step scanning area to the k-1 th step scanning area, and the inclination angle theta of the k-1 st step scanning area can be obtained by the superposition of all the estimated step angles moved by the CT machine before the k-1 st step scanning area k-1 ；vol k And vol k-1 Respectively, are scanned images of two step-scan areas before and after the movement. The two images have partially overlapping regions.
Beta and gamma are constants, and can be 1; sigma θ Is the angular tolerance of the drive wheel, σ l Are the distance tolerances of the drive wheels, which are determined by the factory performance parameters of the particular device.
σ v Is a noise parameter, which is used to control the probability distribution of the image, which may be 10; vol k (x a ，y a ，z a ) Representing volume data pixel values in an overlapping region of the shifted scanned images; vol k-1 (x b ，y b ，z b ) Representing the pixel value of the volume data in the scanned image before moving, wherein if the pixel point (x) in the k-1 th scanned image b ，y b ，z b ) The corresponding actual point is A, and after the given movement, the corresponding pixel point of the actual point A in the kth scanning image is (x) a ，y a ，x a )。
The above formula is a calculation method for representing the probability distribution of the relative position of the overlapping region, and the difference between the data of the overlapping region in two different images under the real geometric transformation of the overlapping region is very small, and the probability is the maximum. The probability distribution can be defined in many ways, and a common gaussian distribution is used here.
More accurate scan center position (x) of kth step scan region k ，y k ，θ k ) Is composed of
(x k ，y k ，θ k )＝(x k-1 ，y k-1 ，θ k-1 )+(L k cos(θ k-1 +Δθ k )，L k sin(θ k-1 +Δθ k )，Δθ k )
Wherein (x) k-1 ，y k-1 ，θ k-1 ) The scan center position of the k-1 step scan region.
And D, calculating the current total stepping of the CT machine through the estimated stepping of the CT machine between all adjacent stepping scanning areas, thereby judging whether the scanning area covers the whole scanning area.
If the scanning is not carried out in the other areas, entering the next step scanning area, and repeating the steps B to C to continue the step scanning; if the scan is complete, go to step E.
Step E, if the whole scanning area is covered, then obtaining the scanning image vol of each step scanning area according to the previous calculation k And estimating step (L) k ，Δθ k ) The scanned image data is fused into final overall reconstructed volume data.
The generation of the overall reconstructed volume data is mainly fused according to the mapping relation between the volume data of the three-dimensional scanning image obtained from each step scanning area and the overall volume data. The specific method of fusion is as follows:
wherein, vol (x, y, z) is the pixel value of the whole reconstructed volume data, and the final output scanning whole area Vol can be obtained; vol k (x k ，y k ，z k ) Is the volume data pixel value of the kth step-and-scan region.
The moving CT machine obtains the scanning center position of the kth step scanning area through k-1 step movements from the scanning center position of the first step scanning area:
(x k ，y k ，θ k ，z k )＝(x k-1 ，y k-1 ，θ k-1 ，z k )+(L k cos(θ k-1 +Δθ k )，L k sin(θ k-1 +Δθ k )，Δθ k ，z k )
the fusion method is to continuously fuse the partial images obtained from each scan based on the coordinate transformation relationship of each step-scan area given above until all the scanned images are processed.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. A step imaging method of a mobile CT system is characterized by comprising the following steps:
when the step A, CT machine scans a patient, an ideal motion track of a scanning center is determined according to an integral region to be scanned and an initial scanning center position of a CT machine, the integral region to be scanned is divided into a plurality of step scanning regions, the CT machine starts scanning from a first step scanning region to obtain scanning data of the first step scanning region, and a first scanning image is obtained through reconstruction according to the scanning data;
b, according to the ideal motion track and the scanning center position of the current step-scanning area of the CT machine, calculating the ideal step of the CT machine moving to the next step-scanning area, according to the ideal step, moving the CT machine to the next step-scanning area in a stepping mode, scanning by the CT machine to obtain the scanning data of the next step-scanning area, and according to the scanning data, reconstructing to obtain the scanning image of the step-scanning area;
step C, calculating a step reference value, namely a reference step, according to the actual step of the CT machine in the step B, calculating an estimated step according to the reference step and the scanning images of two step scanning areas before and after the movement of the CT machine in the step B, wherein the estimated step is used for calculating the actual scanning center position of the step scanning area after the movement of the CT machine;
wherein the step (L) is estimated by Bayesian theory k ,Δθ k ) The method comprises the following steps:
wherein Bel is a Bayesian estimation of the estimation step, L k And Δ θ k Respectively estimating the stepping length and the stepping angle;
is the scan center position, delta theta, of the step scan region before the movement of the CT machine k-1 Is the estimated step angle of the step-and-scan area before movement;
and
respectively a calculated reference step length and a reference step angle; vol k And vol k-1 Scanning images of two stepping scanning areas before and after the movement of the CT machine respectively; β and γ are constants; sigma θ Is the angular tolerance of the driving wheel, σ l Is the distance tolerance of the drive wheel; sigma v Is a noise parameter;
d, judging whether the scanned area of the CT machine covers the whole area to be scanned or not, entering the next step scanning area if the scanned area of the CT machine does not cover the whole area to be scanned, and repeating the steps B to C to continue step scanning; if the whole area to be scanned is covered, turning to the step E;
and E, fusing the scanning images of all the stepping scanning areas obtained by calculation and the estimated steps into final overall reconstructed volume data.
2. The step imaging method of claim 1, wherein adjacent step scan regions overlap.
3. The step imaging method of claim 2, wherein the step movement of the CT machine is performed by driving wheels.
4. A step imaging method for a mobile CT system according to claim 3 wherein the constants β and γ are 1 and the noise parameter σ is a noise parameter v And 10 is taken.
5. The step imaging method of claim 2, wherein in step A, if the CT machine moves on a two-dimensional plane, the ideal step of the CT machine is determined
Satisfies the following conditions:
wherein the content of the first and second substances,
and
respectively an ideal stepping length and an ideal stepping angle; (x) k-1 ,y k-1 ,θ k-1 ) The scanning center position, x, of the step scanning area before the movement of the CT machine k-1 And y k-1 Two-dimensional plane coordinates of the scan center, θ k-1 The inclination angle formed by the step scanning area and an ideal motion track;
the ideal scanning center position of the step scanning area after the movement of the CT machine is located on the ideal motion track.
6. The step imaging method of claim 5, wherein the length of each step of the CT machine is less than the width of a single scan.
7. The step-by-step imaging method of a mobile CT system of claim 2, wherein in step E, the fusion method is as follows:
wherein Vol (x, y, z) is the fused integral reconstructed volume data, vol k And vol k (x k ,y k ,z k ) Is CTThe volume data pixel values of the scanned image and the scanned image of the k-th step scanning area of the machine.
8. The step imaging method of claim 1, wherein the CT machine employs a circular scan in each step scanning area.
9. The step imaging method of claim 1, wherein the scan data is reconstructed into a three-dimensional scan image by a classical convolution back-projection method.
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