CN115530870A - Accurate positioning system and method for CBCT scanning area - Google Patents
Accurate positioning system and method for CBCT scanning area Download PDFInfo
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- 238000007408 cone-beam computed tomography Methods 0.000 title claims abstract 7
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 238000004364 calculation method Methods 0.000 claims abstract description 7
- 210000001738 temporomandibular joint Anatomy 0.000 claims abstract description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 18
- 230000001815 facial effect Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 3
- 238000013135 deep learning Methods 0.000 claims description 3
- 210000001508 eye Anatomy 0.000 claims description 3
- 238000010801 machine learning Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 210000000214 mouth Anatomy 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 210000001331 nose Anatomy 0.000 description 2
- 208000028169 periodontal disease Diseases 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010023146 Jaw cyst Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000028911 Temporomandibular Joint disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 210000002455 dental arch Anatomy 0.000 description 1
- 239000004053 dental implant Substances 0.000 description 1
- 210000004262 dental pulp cavity Anatomy 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 210000003027 ear inner Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000003695 paranasal sinus Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- 230000036339 tooth positioning Effects 0.000 description 1
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- 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
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
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- 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
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
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- 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
- A61B6/4064—Arrangements for generating radiation specially adapted for radiation diagnosis specially adapted for producing a particular type of beam
- A61B6/4085—Cone-beams
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/48—Diagnostic techniques
- A61B6/488—Diagnostic techniques involving pre-scan acquisition
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5294—Devices using data or image processing specially adapted for radiation diagnosis involving using additional data, e.g. patient information, image labeling, acquisition parameters
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- 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
- A61B6/545—Control of apparatus or devices for radiation diagnosis involving automatic set-up of acquisition parameters
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Abstract
The invention discloses a CBCT scanning area accurate positioning system and a method, belonging to the technical field of oral CBCT scanning area positioning, comprising the following steps: s1: setting a scanning region of interest, such as the oral cavity or temporomandibular joint; s2: the end of the spherical pipe of the frame faces the face of the human body, and the double cameras acquire the face image of the human body; s3: detecting key points of the human face; s4: calculating the position of a relevant key point according to a preset region of interest; s5: and adjusting the machine, such as lifting the scanning frame, according to the calculation result to finish scanning. And (4) calculating the position Y of the key point in the step 4, namely the distance deviation between the focus of the bulb and the position to be detected. The method automatically locates to the region of interest, has low requirements on the experience of doctors, is suitable for a system with a small visual angle and simultaneously reduces the dosage of a patient.
Description
Technical Field
The invention relates to the technical field of oral CBCT scanning area positioning, in particular to a CBCT scanning area accurate positioning system and a CBCT scanning area accurate positioning method.
Background
The oral CBCT (cone beam CT) is a promising and revolutionary device in the existing oral skull imaging device, and the principle of the oral CBCT is that an X-ray generator makes annular projection around an examination object with lower ray dose, and then the projected data is reconstructed in a computer to obtain a three-dimensional image, so that the actual conditions of teeth, root canals, dental arches, temporomandibular joints and the like can be intuitively and clearly reflected.
The method is mainly applied to: 1. an orthodontic department. The method comprises the following steps: orthodontic treatment of dentition disorder, maxillofacial deformity, and periodontal disease-assisted orthodontic treatment. 2. Department of stomatology. The method comprises the following steps: dental implant, occlusion/multiple tooth positioning, periodontal disease, temporomandibular joint disease. 3. Jaw cyst and tumor assessment. 4. Ear-nose-throat department. The method comprises the following steps: paranasal sinus diagnosis, inner ear simulation endoscope and airway assessment. 5. Department of orthopaedics. The method comprises the following steps: mandibular angle osteotomy, chin filling, and zygomatic bone milling.
It is well known that the further away from the central plane (the plane in which the corner of the bulb lies), the more severe the image artifacts. X-rays can cause some degree of radiation damage to the human body. In the traditional positioning method, an operator determines the position of an irradiation center in a shielding room through a laser positioning lamp on a machine, and then moves a scanning frame to enable an irradiation field to move to an interested area. Or the positioning image is used for positioning the region of interest, a positioning image is shot before CT scanning, and an operator accurately determines a scanning part by dragging a positioning frame on the positioning image.
Through the laser positioning method, the positioning may have deviation in different operations due to human interference, and positioning errors may occur to inexperienced operators. And the doctor and the patient are in the same room, increasing the risk of cross-infection. By means of the scout image, the patient receives additional radiation, causing unnecessary damage to the patient.
At present, CBCT systems comprise different models for scanning visual fields, such as small visual fields, medium visual fields and large visual fields, and the application range is wider and wider, such as orthodontics, implants, temporomandibular joints, ear-nose-throat diagnosis and the like. The accurate positioning and the small-field scanning can be selected aiming at the region of interest, and the radiation dose of the patient can be reduced as much as possible on the premise of meeting the diagnosis requirement.
The patent "system and method for automatically adjusting the patient radiation position in CBCT" proposes a method of acquiring the center of the head by means of front and side cameras and scanning according to the center area. The method can not meet the condition of small visual field, the center of the bulb tube is positioned at the center of the head and is not positioned on the plane of the region of interest, the image precision is reduced due to cone beam artifacts, and the diagnosis result is influenced.
Disclosure of Invention
The invention is provided in view of the problems existing in the existing oral CBCT scanning area positioning.
In order to solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions: a CBCT scanning area accurate positioning system and a method thereof comprise a set interested area, and are characterized in that an output end of the set interested area is connected with an input end for acquiring a face image, an output end for acquiring the face image is connected with an input end for extracting key points of the face, and an output end for extracting the key points of the face is connected with an input end for calculating the positions of the key points.
A CBCT scanning area accurate positioning method comprises the following steps:
s1: setting a scan region of interest, such as the oral or temporomandibular joint;
s2: the end of the spherical pipe of the frame faces the face of the human body, and the double cameras acquire the face image of the human body;
s3: detecting key points of the human face;
s4: calculating the position of a relevant key point according to a preset region of interest;
s5: adjusting the machine, e.g. raising or lowering the gantry, according to the result of the calculation
As a preferred embodiment of the CBCT scanning area precise positioning method of the present invention, wherein: the S3 comprises the following steps:
the method comprises the steps of detecting key points of an eyeball center, an eye corner, a nose tip, a mouth corner and a face outline part from a given face image, processing and analyzing a two-dimensional face image through a face key point detection algorithm by utilizing an asm (active shape model) algorithm, an aam (active appearance model) algorithm, a cpr (cascaded posture regression) algorithm, a machine learning algorithm and a deep learning algorithm, and finally obtaining a positioning result of the two-dimensional face key points in the two-dimensional face image.
As a preferred embodiment of the CBCT scanning area accurate positioning method according to the present invention, wherein: the S4 comprises the following steps:
and calculating the position and the distance of the object or the mark point according to the visual difference and the similar triangle principle, wherein the process comprises camera calibration, binocular correction, binocular matching and distance calculation.
Compared with the prior art, the invention has the beneficial effects that:
the method automatically locates to the region of interest, has low requirements on the experience of doctors, is suitable for a system with a small visual angle and simultaneously reduces the dosage of a patient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts. Wherein:
FIG. 1 is an overall view of the binocular camera ranging of the present invention;
FIG. 2 is a schematic diagram of a first dual-purpose camera according to the present invention;
FIG. 3 is a schematic diagram of a second dual-purpose camera of the present invention;
FIG. 4 is a third binocular camera ranging diagram of the present invention;
FIG. 5 is a schematic view of the focal position of the camera head of the present invention relative to the bulb;
fig. 6 is an overall flow chart of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Examples
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-6, a CBCT scanning area precise positioning system includes a region of interest, and is characterized in that an output end of the region of interest is connected to an input end for acquiring a facial image, an output end for acquiring the facial image is connected to an input end for extracting facial key points, and an output end for extracting the facial key points is connected to an input end for calculating the position of the key points.
A CBCT scanning area accurate positioning method comprises the following steps:
s1: setting a scanning area of interest, such as the oral cavity or temporomandibular joint;
s2: the end of the frame ball tube faces the face of a human body, and the double cameras acquire the face image of the human body;
s3: detecting key points of the human face;
s4: calculating the position of a relevant key point according to a preset region of interest;
s5: and adjusting a machine, such as a lifting scanning frame, according to the calculation result to finish scanning. And (4) calculating the position Y of the key point in the step 4, namely the distance deviation between the focus of the bulb and the position to be detected.
In this example, S3, includes:
key points of parts such as an eyeball center, an eye corner, a nose tip, a mouth corner, a face contour, and the like are detected from a given face image, using an asm (active shape model) algorithm, an aam (active appearance model) algorithm, a cpr (cascaded posture regression) algorithm, a machine learning algorithm, a deep learning algorithm, and the like. And processing and analyzing the two-dimensional face image by the face key point detection algorithm to finally obtain a positioning result of the two-dimensional face key points in the two-dimensional face image.
In this example, S4, includes:
and calculating the position and the distance of the object or the marking point according to the visual difference and the similar triangle principle, wherein the process comprises camera calibration, binocular correction, binocular matching and distance calculation.
It should be noted that, the present invention is a system and method for accurately positioning CBCT scanning area, first, as shown in fig. 1, OL and OR are two camera lens positions of left and right cameras, respectively, b is the distance between the two lenses, and the length of the imaging plane of the left and right cameras is L and is parallel to baseline (OL and OR connecting line). A point P (X, Y, Z) in the view angle, at PL and PR positions of the left and right image planes, XL and XR are the indoor distances from the image point to the leftmost side of the image plane, respectively, the focal length of the lens is f, and the triangle PPLPR is similar to the triangle POLOR, there are fig. 2 and 3, where d is the pixel position difference, dx is the unit wafer length (unit size), and similarly, assuming the target position (u, v) and the optical center position (u 0, v 0) in the pixel coordinate system, there is fig. 4;
in order to realize accurate positioning of an interested area, binocular distance measurement and face key point detection technologies are applied to a CBCT system, so that the dosage of a patient is reduced, the positioning accuracy is improved, and the operation process is reduced. The relative positions of the binocular camera and the bulb as shown in fig. 1.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (4)
1. The accurate positioning system for the CBCT scanning area comprises an interested area, and is characterized in that the output end of the interested area is connected with the input end for acquiring a facial image, the output end for acquiring the facial image is connected with the input end for extracting facial key points, and the output end for extracting the facial key points is connected with the input end for calculating the positions of the key points.
2. A CBCT scanning area accurate positioning method is characterized by comprising the following steps:
s1: setting a scan region of interest, such as the oral or temporomandibular joint;
s2: the end of the frame ball tube faces the face of a human body, and the double cameras acquire the face image of the human body;
s3: detecting key points of the human face;
s4: calculating the position of a relevant key point according to a preset region of interest;
s5: and adjusting the machine, such as lifting the scanning frame, according to the calculation result to finish scanning.
3. The method for accurately positioning the CBCT scanning area according to claim 2, wherein: the S3 comprises the following steps:
the method comprises the steps of detecting key points of an eyeball center, an eye corner, a nose tip, a mouth corner and a face outline part from a given face image, processing and analyzing a two-dimensional face image through a face key point detection algorithm by utilizing an asm (active shape model) algorithm, an aam (active appearance model) algorithm, a cpr (cascaded posture regression) algorithm, a machine learning algorithm and a deep learning algorithm, and finally obtaining a positioning result of the two-dimensional face key points in the two-dimensional face image.
4. The method for accurately positioning the CBCT scanning area according to claim 2, wherein: the S4 comprises the following steps:
and calculating the position and the distance of the object or the marking point according to the visual difference and the similar triangle principle, wherein the process comprises camera calibration, binocular correction, binocular matching and distance calculation.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117332704A (en) * | 2023-12-01 | 2024-01-02 | 福建医科大学附属第一医院 | Temporomandibular joint cavity flushing and injection guide plate generating method and terminal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117332704A (en) * | 2023-12-01 | 2024-01-02 | 福建医科大学附属第一医院 | Temporomandibular joint cavity flushing and injection guide plate generating method and terminal |
| CN117332704B (en) * | 2023-12-01 | 2024-05-28 | 福建医科大学附属第一医院 | Temporomandibular joint cavity flushing and injection guide plate generating method and terminal |
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