CN115024740B - Virtual radiation field display method for common X-ray photography - Google Patents
Virtual radiation field display method for common X-ray photography Download PDFInfo
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Abstract
The application discloses a virtual radiation field display method for common X-ray photography, which comprises an interactive panel terminal device for displaying a shot picture and a virtual radiation field, a depth camera for shooting a real-time picture, interactive software and back-end processing software which are installed on the interactive panel terminal device, wherein the interactive panel terminal device comprises the step of acquiring any point of a plane where a known beam limiter opening is locatedv n And converting the coordinate into a portal plane pixel coordinate, and displaying through the interactive panel terminal equipment. The invention can accurately calculate the size and the shape of each radiation field of X-rays passing through the opening of the beam limiter on the plane of the SOD by combining the homogeneous conversion matrix from the camera coordinates to the image coordinates and the homogeneous conversion matrix from the world coordinates to the camera coordinates obtained by combining the internal reference and the external reference of the depth camera on the premise of knowing the shape, the size and the SID of the opening of the beam limiter, thereby displaying the relative position relation between the radiation field and the shot object in real time through the interactive panel terminal equipment and finally achieving the aim of accurate contraposition shooting.
Description
Technical Field
The invention relates to the field of computers, in particular to an image data processing method based on electric digital data processing, which belongs to an augmented reality technology, and specifically relates to a virtual field display method for common X-ray photography.
Background
In a common radiography system, a beam limiter is positioned between an X-ray source and an irradiated object, and has the main functions of: 1. limiting the range and shape of the X-ray and avoiding unnecessary ionizing radiation from being applied to the irradiated object; 2. blocking scattered rays; 3. the size, shape and center of the X-ray irradiation field (hereinafter referred to as the radiation field) are marked by using LED projection light field (hereinafter referred to as the light field) and black cross projection.
During the actual X-ray photography, the operator of the X-ray photography system (hereinafter referred to as a technician) needs to adjust the size of the opening of the beam limiter before the radiography each time so as to adapt to different examination items. Because the SID (distance from the X-ray source to the image receiver) of each X-ray photograph is uncertain, the height of each patient is uncertain, and the technician can usually determine the approximate field of view only by observing the LED field of the beam limiter, which is a time-consuming and labor-consuming process, and the technician needs to go back and forth to adjust the opening of the beam limiter in the photographing room; due to the technical limitation of the LED light source, the edge of the light field may become blurred as the shooting distance increases, the brightness of the light field may also be attenuated, and the black cross line may also become thick and blurred, so that the technician may misjudge the size and the center of the current light field.
The virtual radiation field display method is provided for accurately judging the shooting position and the radiation field position and enabling the X-ray film in the interest area to be shot, the part of the shot object is synchronously displayed with the virtual radiation field in real time, a technician does not need to repeatedly go between the observation object and the X-ray machine for adjustment, the precision is higher, the convenience is better, and the shooting efficiency is higher.
Disclosure of Invention
In order to solve the technical problems that the irradiation field is visually indicated by an LED light source in the prior X-ray photography technology, such as the irradiation field cannot be clearly identified due to the influence of factors such as the change of the shooting distance and the like, and the irradiation field needs to be adjusted repeatedly, the application provides a common X-ray photography virtual irradiation field display party which is used for displaying the shot object and the irradiation field through an interactive panel terminal in real time, avoids the trouble that a technician needs to repeatedly check the relative position of a light spot of the LED light source on the shot object to determine the position of the irradiation field, can completely cancel the arrangement of the LED light source, avoids the desynchrony of the light field displayed by the LED light source and the actual irradiation field and the congenital error caused by the desynchrony, and further ensures that the judgment of the technician before the shooting is more consistent with the actual shooting condition and is accurate.
In order to achieve the purpose, the application adopts the following specific technical scheme:
the virtual radiation field display method for common X-ray photography comprises interactive panel terminal equipment for displaying a photographed picture and a virtual radiation field, a depth camera for photographing a real-time picture, interactive software and back-end processing software which are installed on the interactive panel terminal equipment, and comprises the following steps:
STP100, establishing a world coordinate system with the X-ray source as an origin O through back-end processing software, and acquiring any point on the opening plane of the beam limiterv n Has world coordinates of
Passing through any one pointv n Spatial rotation matrix occurring relative to originTCalculating to obtain the rotated point
World coordinate
Step STP200, decision point
If the current position is within the known opening range of the beam limiter, if the judgment result is yes, the step STP300 is carried out, if the judgment result is no, the step STP100 is repeated, and the next point is judgedv n+1 Until all points within the range of the known beam limiter opening are traversedv n To whichn≥1；
Step STP300, according to the point
Obtaining rays
Intersection point with field planep v World coordinate ofp vw 
；
Step STP400, by reading the depth phaseExternal reference torque of machineK 2 Calculating to obtain an intersection pointp v Camera coordinates ofp vc And then acquiring internal reference torque of the depth camera through back-end processing softwareK 1 Calculating to obtain an intersection pointp v Image coordinates ofp vI Torque of external referenceK 2 The torque is expressed as follows:
wherein, the first and the second end of the pipe are connected with each other,
is a matrix of rotations of the optical system,
is a translation vector;
internal reference torqueK 1 The torque is expressed as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the focal length of the camera and,
and
respectively the actual object distance in two directionsThe ratio of the number of pixels to the number of pixels,
is the translation vector from the origin of coordinates of the depth camera to the origin of coordinates of the image;
step STP500, using interactive software to coordinate the image obtained in step STP400p vI Finally displayed on the interactive panel terminal,
wherein SED is the distance from the X-ray source to the opening plane of the beam limiter;
the opening plane of the beam limiter is a plane on the beam limiter, which is perpendicular to the X central ray;
the opening range of the beam limiter refers to the maximum cross-sectional range of the beam limiter for allowing X-rays to pass through;
the field plane is a plane passing through the field center and parallel to the image receiving surface;
the field is the area formed by the intersection of all the X-rays passing through the beam limiter opening and the field plane.
Furthermore, the simplest method for obtaining the rotation matrix R is to establish a trigonometric function relationship of an X-ray shooting scene through data of an IMU accelerometer, which is also the most common calculation method, but this method is not the optimal and most efficient method in practical application; in order to optimize the calculation accuracy of the rotation matrix R, the rotation matrix R in step STP100 is obtained by:
step STP110, passing any point
The spatial rotation generated by the X-ray is divided into a roll angle alpha, a pitch angle beta and a yaw angle gamma;
STP120, respectively calculating a rolling angle alpha, a pitch angle beta and a yaw angle gamma;
based on the X-ray photography principle, if the change of the rolling angle alpha is not involved, the rolling angle alpha is 0;
the pitch angle β is calculated as follows:
the formula for calculating the yaw angle γ is as follows:
step STP130, the rotation matrices for pitch and yaw are calculated separately as follows:
step STP140, according to the pitch angle beta and the yaw angle gamma, compounding an X-ray rotation matrix R as follows:
wherein rolling means winding
The rotary movement of the axes, pitch, being about
Rotational movement of the shaft, yaw being about
The rotational movement of the shaft is such that,
、
、
are respectively anThree components of an IMU accelerometer housed within a beam limiter.
Still further, the camera coordinates in step STP400p vc The calculation method of (c) is as follows:
p
vc
image coordinatesp vI The calculation method is as follows:
p vI 
。
has the advantages that:
according to the invention, the homogeneous conversion matrix from the camera coordinate to the image coordinate and the homogeneous conversion matrix from the world coordinate to the camera coordinate are obtained by combining the internal reference and the external reference of the depth camera, so that the size and the shape of the radiation field of each X-ray passing through the beam limiter opening on the plane where the SOD is located can be accurately calculated on the premise of knowing the shape, the size and the SID of the beam limiter opening, the relative position relation between the radiation field and the shot object is displayed in real time through the interactive panel terminal equipment, and the problem of accurate alignment shooting is finally achieved.
Because the existing LED light source is not needed to be used as visible light for indication, the existing method for judging the error influence by using the light field indicated by the LED light source to replace the radiation field can radically eliminate the error influence in the application, and further reduce the error introduction link; meanwhile, due to the fact that visible light indication is cancelled, a technician can directly judge through the interactive panel terminal, and therefore high efficiency, convenience and accuracy of visual shooting work are improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of the present invention in a shooting scenario.
Figure 2 is a schematic view of the pitch and yaw of the X-ray source.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The preferred embodiment:
since the present application has not been applied in the field of X-ray photography, and belongs to a completely new invention, and meanwhile, since the present invention belongs to the field of computer electrical digital data processing, many terms will be involved, in order to show the present invention more thoroughly and clearly, and to understand the present invention better, first, the applicant makes the following description on the relevant terms and the necessary principles involved in the present invention, and aims to provide a better reading environment for facilitating quick and accurate understanding of the present invention.
Before understanding the present invention, first, the working principle of X-ray is clarified, and in combination with the principle of the present invention shown in fig. 1, the X-ray source emits X-ray toward the detector for receiving X-ray and imaging to form a macroscopic X-ray film, and the detector is located at the imaging plane position as shown in the figure. The most popular image receiver is now the flat panel detector, and therefore the flat panel detector is also discussed herein as an image receiver. The flat panel detector can be seen as a square in space, which is always perpendicular to the horizontal plane in X-ray photography, and has X-ray sensing components thereon for receiving all the X-rays attenuated by the irradiated object and converting them into digital images. It is known that, because X-rays have radiation damage to living bodies, the radiation range of X-rays is controllable and strictly limited in X-ray detection, however, a device for limiting the X-ray range is called a beam limiter and is installed between an X-ray source and an imaging plane, only the position where the beam limiter allows the X-rays to pass through can the X-rays reach the imaging plane smoothly for imaging, and other positions where the X-rays are not allowed can be completely blocked to avoid unnecessary radiation damage, and the blocked material is generally an existing material such as a lead plate. The cross section of the beam limiter that allows X-rays to pass through is called the beam limiter opening.
Then, after understanding the basic principles of X-ray operation, the following definitions of the relevant terms are needed.
Definition 1: starting from the X-ray source, the X-ray starting right along the inclination angle direction of the X-ray source is taken as a central ray. If the direction of the X-ray source is exactly perpendicular to the vertically mounted detector, the X-ray in the horizontal direction and perpendicular to the vertical plane is the central ray.
Definition 2: the plane where the image receiver (i.e. flat panel detector) is located is the image receiving surface.
The central symmetry point of the image receiver is simply referred to as the midpoint of the image receiver.
In radiography, all intersection points of X-rays with the image receiving surface are on the image receiver, and the central ray intersects the image receiving surface at a midpoint of the image receiver.
Definition 3: the projection of the central ray on the surface of the irradiated object is the center of the field.
Definition 4: the plane parallel to the image receiving surface passes through the field center is the field plane.
Definition 5: and all X-rays pass through the beam limiter, and the area formed by the intersection point of the beam limiter opening and the field plane is the field.
Definition 6: in any plane perpendicular to the central ray, a region can be chosen to equivalently describe the effect of the beam limiter on limiting the field, which is called the beam limiter opening.
During X-ray photography, a large number of X-rays are emitted from the X-ray source in a conical shape along the inclination angle direction of the X-ray source, and the X-rays just pass through points in the opening range of the beam limiter and are projected on a radiation field plane, and each single X-ray propagation path is the ray taking the X-ray source as an end point. It is to be noted that the plane of the beam limiter opening is the plane of the beam limiter opening, and in the initial position, the plane of the beam limiter opening is selected as the plane z = SED, which is the distance from the X-ray source to the plane of the beam limiter opening.
Let the X-ray source be the origin O of the world coordinate system.
Then, assuming a point p in the beam limiter opening plane, the intersection of the ray Op and the field plane is within the field if and only if the point p is within the beam limiter opening range.
That is, any point p of the beam limiter aperture plane, if the point p is within the aperture range, is on some X-ray path, and its intersection point with the field plane is in the field according to definition 5; if the point p is not within the aperture, it is not necessarily on the optical path of any X-ray, and its intersection with the field plane is not in the field according to definition 5.
Definition 7: the distance of the X-ray source to the imaging plane is SID.
In a certain X-ray photograph, the midpoint of the image receiver is denoted as point I, and the distance OI between the X-ray source and the midpoint of the image receiver is:
OI=D=SID/(cosβ∙cosγ )
the image receiving surface is a plane where the SID is located.
Definition 8: the distance from the X-ray source to the radiation field plane is SOD.
If SOD is obtained, the ejection field plane is the plane where SOD is located.
Definition 9: the distance from the X-ray source to the optical center plane of the depth camera is SCD.
The SCD is determined after the depth camera installation is complete.
After the above definitions are clarified, the general X-ray photography virtual portal display method shown in fig. 1 and fig. 2 in conjunction with the description includes an interactive panel terminal device for displaying a photographed picture and a virtual portal, a depth camera for photographing a real-time picture, and interactive software and back-end processing software installed on the interactive panel terminal device, including the following steps:
STP100, establishing a world coordinate system with the X-ray source as an origin O through back-end processing software, and acquiring any point on the opening plane of the beam limiterv n Has world coordinates of
Passing through any one pointv n Spatial rotation matrix occurring relative to originTCalculating to obtain the rotated point
World coordinate
Further, as a preferred embodiment of the present application, the method for obtaining the rotation matrix R in the present embodiment is not obtained by using the simplest existing method, that is, the trigonometric function relationship of the X-ray shooting scene is established by using data of the IMU accelerometer, which is also the most common calculation method, but this method is not the optimal and most efficient method in practical application; in order to optimize the calculation accuracy of the rotation matrix R, the rotation matrix R in step STP100 in this implementation is obtained by the following method:
step STP110, passing any point
The spatial rotation generated by the X-ray is divided into a roll angle alpha, a pitch angle beta and a yaw angle gamma;
STP120, respectively calculating a rolling angle alpha, a pitching angle beta and a yaw angle gamma;
based on the X-ray photography principle, if the change of the roll angle alpha is not involved, the roll angle alpha is 0;
the pitch angle β is calculated as follows:
the formula for calculating the yaw angle γ is as follows:
step STP130, the rotation matrices for pitch and yaw are calculated separately as follows:
step STP140, compounding an X-ray rotation matrix R by a pitch angle beta and a yaw angle gamma as follows:
wherein rolling means winding
The rotary movement of the axes, pitch, being about
Rotational movement of the shaft, yaw being about
The rotational movement of the shaft is such that,
、
、
respectively, three components of an IMU accelerometer mounted within the beam limiter.
Step STP200, decision point
If the current position is within the known opening range of the beam limiter, if the judgment result is yes, the step STP300 is carried out, if the judgment result is no, the step STP100 is repeated, and the next point is judgedv n+1 Until all points within the range of the known beam limiter opening are traversedv n To whichn≥1；
Step STP300, according to the point
Obtaining rays
Intersection point with field planep v World coordinate ofp vw 
；
Specifically, the position of the portal plane is z =d+SCD，p vw 
The calculation method is as follows:
the principle of linear light propagation is as follows:
wherein
Is a similar ratio, so:
namely:
step STP400, by reading the external reference torque of the depth cameraK 2 Calculating to obtain an intersection pointp v Camera coordinates ofp vc And then obtaining the internal reference torque of the depth camera through back-end processing softwareK 1 Calculating to obtain an intersection pointp v Image coordinates of (2)p vI Torque of external referenceK 2 The expression is as follows:
wherein the content of the first and second substances,
is a matrix of rotations of the optical system,
is a translation vector;
internal reference torqueK 1 The expression is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the focal length of the camera and,
and
respectively the ratio of the actual object distance to the pixel in the two directions,
is a translation vector from the origin of coordinates of the depth camera to the origin of coordinates of the image; further, in this embodiment, the camera coordinates are described in STP400 of this stepp vc The calculation of (c) is as follows:
p
vc
image coordinatesp vI The calculation method is as follows:
p vI 
。
step STP500, using interactive software to coordinate the image obtained in step STP400p vI Finally displayed on the interactive panel terminal,
wherein SED is the distance from the X-ray source to the opening plane of the beam limiter;
the opening plane of the beam limiter is a plane on the beam limiter, which is perpendicular to the X central ray;
the opening range of the beam limiter refers to the maximum cross-sectional range of the beam limiter for allowing X-rays to pass through;
the field plane is a plane passing through the field center and parallel to the image receiving surface;
the field is the area formed by the intersection of all the X-rays passing through the beam limiter opening and the field plane.
It should be noted that the beam limiter opening is usually rectangular, but the method of the present application includes, but is not limited to, only being applied to a rectangle, and since the present application can convert any point world coordinate on a specific known plane (e.g. the plane where the known SED is located) into a pixel coordinate on a plane where another specific distance (e.g. the plane where the SOD is located), the application scenario includes, but is not limited to, a rectangular cross section, as long as the cross section is closed, the cross section can be shown, and the cross section can be applied to circular, triangular, polygonal, elliptical and other closed and irregular cross sections. Of course, in order to simplify the application, only the boundary line can be displayed on the interactive panel terminal, and the virtual field can be indicated by using the highlighted boundary line, so that the purpose of visually indicating the field to assist the technician in quickly positioning the shooting part can be achieved.
From the above conclusion, as another extended application of the present invention, when the field shape, size and SID required by the illuminated object are known, the required shape and size of the beam limiter opening can be obtained. The specific principle is as follows:
the world coordinate of any point p of the portal plane is
。
Since the size and shape of the field are known, it can be determined whether the point p is in the field. If the point p is in the field, according to conclusion 1, the intersection point of Op and the plane of the beam limiter opening at that moment is in the beam limiter opening. At this time, the world coordinates of the intersection point v are easily solved. According to a point p in the opening plane of the beam limiter, the intersection point of the ray Op and the field plane is in the field and only if the point p is in the range of the opening of the beam limiter, finding out the points in all fields, and repeating the algorithm to obtain the size and the shape of the opening of the beam limiter.
In practical implementation, since the field can be approximated by a quadrilateral and the beam limiter opening is a rectangle, the above process can be simplified as follows: the world coordinates of the four vertexes of the field quadrilateral are selected, so that the world coordinates of the four vertexes of the opening rectangle of the beam limiter can be determined, and the size and the shape of the opening of the beam limiter can be determined.
It follows that the invention can be applied to two opposite scenarios, namely:
the first situation is as follows: when the shape, the size and the SID of the opening of the beam limiter are known, the shape, the size and the center of the radiation field can be obtained;
case two: knowing the desired field shape, size and SID of the illuminated object, the desired shape and size of the beam limiter opening can be obtained. Although the two scenarios are different, the actual calculation has no essential difference, and in practical applications, the technical problems to be solved by the two application scenarios can be solved in the present invention.
The concrete brief description is as follows:
suppose any point on the portal plane
Has world coordinates of
。
Since the size and shape of the field are known, the point can be identified
Whether it is in the field. If point
In the field of emission, the light source is
The intersection point with the plane of the beam limiter opening at this moment is within the beam limiter opening. The intersection point is solved below
The world coordinates of (2) can be solved first
Corresponding point when the X-ray is not rotated
，
There is also a corresponding point when the X-ray is not rotated
：
Intersection point
Corresponding point when the X-ray is not rotated
Can be regarded as
With the field plane when the X-ray is not rotated
The intersection of (a), in this case, by the nature of a similar triangle, is:
wherein
Is a similar ratio, so:
namely:
the size and shape of the beam limiter opening can be obtained by repeating the above algorithm after finding out the points in all fields of view.
In practical implementation, since the field can be approximated by a quadrilateral and the beam limiter opening is rectangular, the above process can be simplified as follows: the world coordinates of the four vertexes of the field quadrilateral are selected, so that the world coordinates of the four vertexes of the opening rectangle of the beam limiter can be determined, and the size and the shape of the opening of the beam limiter can be determined.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (2)
1. The virtual radiation field display method for common X-ray photography comprises an interactive panel terminal device for displaying a photographed picture and a virtual radiation field, a depth camera for photographing a real-time picture, interactive software and back-end processing software which are installed on the interactive panel terminal device, and is characterized in that: the method comprises the following steps:
STP100, establishing a world coordinate system with the X-ray source as an origin O through back-end processing software, and acquiring any point on the opening plane of the beam limiterv n Has world coordinates of
Pass through any pointv n Spatial rotation matrix occurring relative to originTCalculating to obtain the rotated point
World coordinate
Step STP200, decision point
If the current position is within the known opening range of the beam limiter, the step STP300 is carried out, if the current position is not within the known opening range of the beam limiter, the step STP100 is repeated, and the next point is judgedv n+1 Until all points within the range of the known beam limiter opening are traversedv n To therein, whereinn≥1；
Step STP300, according to the points
Obtaining rays
Point of intersection with field planep v World coordinates ofp vw 
；
Step STP400, by reading the external reference torque of the depth cameraK 2 Calculating to obtain an intersection pointp v Camera coordinates ofp vc And then acquiring internal reference torque of the depth camera through back-end processing softwareK 1 Calculating to obtain an intersection pointp v Image coordinates of (2)p vI Torque of external referenceK 2 The expression is as follows:
wherein, the first and the second end of the pipe are connected with each other,Ris a matrix of rotations of the optical system,
is a translation vector;
internal reference torqueK 1 The expression is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is the focal length of the camera and,
and
respectively the ratio of the actual object distance to the pixel in the two directions,
is a translation vector from the origin of coordinates of the depth camera to the origin of coordinates of the image;
step STP500, using interactive software to coordinate the image obtained in step STP400p vI Finally displayed on the interactive panel terminal,
wherein SED is the distance from the X-ray source to the opening plane of the beam limiter;
the opening plane of the beam limiter is a plane on the beam limiter, which is perpendicular to the X central ray;
the opening range of the beam limiter refers to the maximum cross-sectional range of the beam limiter for allowing X-rays to pass through;
the field plane is a plane passing through the field center and parallel to the image receiving surface;
the field is a region formed by all X-rays passing through the beam limiter opening and the intersection point on the field plane;
the rotation matrix R in step STP100 is obtained by the following method:
step STP110, passing any point
The spatial rotation generated by the X-ray is divided into a roll angle alpha, a pitch angle beta and a yaw angle gamma;
STP120, respectively calculating a rolling angle alpha, a pitch angle beta and a yaw angle gamma;
based on the X-ray photography principle, if the change of the roll angle alpha is not involved, the roll angle alpha is 0;
the pitch angle β is calculated as follows:
the formula for calculating the yaw angle γ is as follows:
step STP130, the rotation matrices for pitch and yaw are calculated separately as follows:
step STP140, according to the pitch angle beta and the yaw angle gamma, compounding an X-ray rotation matrix R as follows:
wherein rolling means winding
The rotary movement of the axes, pitch, being about
The rotary movement of the shaft, yaw being about
The rotational movement of the shaft is such that,
、
、
respectively, three components of an IMU accelerometer mounted within the beam limiter.
2. The method of displaying a virtual portal for general radiography according to claim 1, wherein: the camera coordinates in step STP400p vc The calculation of (c) is as follows:
p
vc
image coordinatesp vI The calculation method is as follows:
p vI 
。
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