WO2024027124A1 - Dynamic multi-leaf collimator-based three-dimensional c-arm imaging method and system - Google Patents
Dynamic multi-leaf collimator-based three-dimensional c-arm imaging method and system Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/022—Stereoscopic imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/06—Diaphragms
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- A—HUMAN NECESSITIES
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- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/504—Clinical applications involving diagnosis of blood vessels, e.g. by angiography
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- A—HUMAN NECESSITIES
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- A61B6/00—Apparatus for radiation diagnosis, e.g. 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
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- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/542—Control of apparatus or devices for radiation diagnosis involving control of exposure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. 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
Definitions
- the invention relates to the field of X-ray machine imaging technology, and in particular to a three-dimensional C-arm imaging method and system based on dynamic multi-leaf gratings.
- DSA Digital Subtraction Angiography
- C-arm C-arm X-ray machine
- Three-dimensional C-arm/DSA is based on the traditional two-dimensional C-arm/DSA technology. It collects a series of projection data within a certain angle range around the imaging area and performs three-dimensional image reconstruction.
- the three-dimensional C-arm/DSA stereoscopic image has no overlap, is clearer, and provides more accurate three-dimensional spatial positioning. It can also generate transverse, sagittal, coronal, or other arbitrary section images to improve surgical procedures. Accuracy.
- three-dimensional imaging often requires higher imaging dose, and some clinical applications require multiple three-dimensional imaging, making the problem of high imaging dose more prominent. How to reduce the imaging dose of three-dimensional C-arm/DSA has become an urgent problem that needs to be solved.
- the purpose of the present invention is to provide a three-dimensional C-arm imaging method and system based on dynamic multi-leaf grating to solve the above problems.
- the present invention at least includes the following beneficial effects:
- the target image library is formed in a variety of ways, which provides convenience for subsequent selection of three-dimensional imaging target areas;
- the C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform (conform) the designated imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. , to minimize the imaging dose.
- Figure 1 is a flow chart of a three-dimensional C-arm imaging method in an embodiment of the present invention
- Figure 2 is a flow chart of dynamic multi-leaf grating three-dimensional C-arm low-dose imaging based on the first normal-dose three-dimensional C-arm imaging as prior information in an embodiment of the present invention
- Figure 3 is a schematic diagram of the pseudo-form (conformal) state of the dynamic multi-leaf grating in the embodiment of the present invention
- Figure 4 is a flow chart of three-dimensional C-arm low-dose imaging based on dynamic multi-leaf grating using preoperative CT imaging as prior information in an embodiment of the present invention
- Figure 5 is a schematic structural diagram of a three-dimensional C-arm imaging system in an embodiment of the present invention.
- connection can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
- fixing can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
- the present invention provides a three-dimensional C-arm imaging method based on dynamic multi-leaf grating, including the steps:
- the C-arm imaging technology proposed by the present invention can achieve high-quality three-dimensional imaging while minimizing the imaging dose.
- the target image library there are two sources of the target image library: one is the first normal-dose three-dimensional C-arm imaging image, and the other is the preoperative CT imaging image.
- the image obtained by the first normal-dose three-dimensional C-arm imaging was used as the extracted
- the image library of conformal target images required for subsequent low-dose three-dimensional C-arm imaging is shown in Figure 2.
- the dynamic multi-leaf grating blades are first fully opened to perform image acquisition and image reconstruction of normal-dose three-dimensional C-arm imaging to generate a three-dimensional C-arm imaging database, which is used as the target image library.
- the dynamic multi-leaf grating consists of multiple metal blades and a linear drive motor that drives each metal blade to translate independently. Multiple metal blades are closely arranged in two rows on the left and right to form a split X-ray shielding plate.
- a linear drive motor is connected to the outside of each metal blade.
- the linear drive motor is controlled by a programmable program. According to the control program, it can flexibly form a fully closed state, a fully open state, and can conform to the designated imaging area of interest.
- ⁇ i, 1 and ⁇ i, 2 respectively represent the distance from the end of the left and right metal blades to the center line of the i-th (1 ⁇ i ⁇ I, I is the total number of blade pairs) metal blades set according to the target image.
- L 1 and L 2 are respectively the distances from the left and right edges of the target image imaging area of interest to the midline
- h 1 and h 2 are respectively the vertical distances from the focus to the dynamic multi-leaf grating and the focus to the target imaging plane.
- the images obtained by preoperative CT are used as the image library to extract the conformal target images required for subsequent low-dose three-dimensional C-arm imaging.
- the workflow is shown in Figure 4.
- the main difference from the previous source is that its image library is already generated by diagnostic CT before surgery, and only the CT imaging and C-arm imaging need to be registered. There are two purposes of registration. One is to adjust the patient's position during C-arm imaging to be the same as that during preoperative CT imaging. The other is to adjust the imaging position of the C-arm equipment to the CT setting. The imaging position is the same.
- the establishment of a target image library can be achieved in a variety of ways, laying the foundation for subsequent low-dose three-dimensional C-arm imaging.
- the target position of each conformable blade is calculated through a preset algorithm, which is specifically implemented through the algorithm of the dynamic multi-leaf grating operating mechanism;
- the blades of the dynamic multi-leaf grating are driven by the motor to quickly move to the target position to form a conformal shape
- the C-arm rotates to the preset frame angle and performs exposure, and the projection data of the preset frame angle is collected.
- multiple sets of projection data of the target area are collected by adjusting the angle of the C-arm gantry.
- the data collection process is completed until N sets of projection data collection are completed.
- the reconstruction algorithm that uses the collected projection data to reconstruct three-dimensional images is a common CBCT three-dimensional image reconstruction algorithm.
- the C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform the specified imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. Keep dosage to a minimum.
- Another aspect of the present invention also provides a three-dimensional C-arm imaging system based on dynamic multi-leaf grating, as shown in Figure 5, including:
- the area selection module is used to select the three-dimensional imaging target area from the target image library
- Projection collection module used to collect projection data of multiple sets of target areas at multiple C-arm frame angles
- the image reconstruction module is used to reconstruct three-dimensional images using the collected projection data of multiple sets of target areas.
- the target image library there are two sources of the target image library: one is the first normal-dose three-dimensional C-arm imaging image, and the other is the preoperative CT imaging image.
- the step of obtaining the full-area three-dimensional C-arm imaging image is to perform image acquisition and three-dimensional image reconstruction of the three-dimensional C-arm imaging with the dynamic multi-leaf grating fully open, thereby obtaining the target image. Library.
- the dynamic multi-leaf grating consists of multiple metal blades and a linear drive motor that drives each metal blade to translate independently. Multiple metal blades are closely arranged in two rows on the left and right to form a split X-ray shielding plate.
- a linear drive motor is connected to the outside of each metal blade.
- the linear drive motor is controlled by a programmable program. According to the control program, it can flexibly form a fully closed state, a fully open state, and can conform to the designated imaging area of interest.
- the target image library is obtained by registering the preoperative CT imaging images with the C-arm imaging.
- the projection acquisition module includes:
- the imaging image selection unit is used to extract the maximum projection density map that matches the frame angle from the target image library
- a conformal calculation unit used to calculate the target position of each conformable blade through a preset algorithm
- Adaptive shaping unit is used to drive the blades of the dynamic multi-leaf grating to quickly move to the target through the motor.
- the target position forms a conformable shape
- the data acquisition unit is used to rotate the C-arm to a preset frame angle and perform exposure while the blades of the dynamic multi-leaf grating move to the target position, and collect the projection data of the preset frame angle.
- the reconstruction algorithm that uses the collected projection data to reconstruct three-dimensional images is a common CBCT three-dimensional image reconstruction algorithm.
- the C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform the specified imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. Keep dosage to a minimum.
Abstract
The present invention belongs to the technical field of X-ray machine imaging and provides a dynamic multi-leaf collimator-based three-dimensional C-arm imaging method and system. The method comprises the steps: S1, selecting a three-dimensional imaging target area from a target image library; S2, acquiring projection data of the target area at a preset initial C-arm rack angle; S3, acquiring a plurality of groups of projection data of the target area by means of adjusting the C-arm rack angle; and S4, reconstructing a three-dimensional image by means of using the acquired plurality of groups of projection data of the target area. The present invention reduces the imaging dose to the minimum while achieving high-quality three-dimensional imaging.
Description
本发明涉及X射线机成像技术领域，尤其涉及一种基于动态多叶光栅的三维C臂成像方法及***。The invention relates to the field of X-ray machine imaging technology, and in particular to a three-dimensional C-arm imaging method and system based on dynamic multi-leaf gratings.
数字减影血管造影(Digital Subtraction Angiography,简称DSA)技术已成为全身各种血管性疾病影像检查的首选，也是脑血管和心脏大血管诊断成像的“金标准”。对于介入诊疗，DSA和C型臂X光机(简称C型臂)是支撑介入诊疗的核心设备，广泛应用于介入手术、微创手术及复合手术的影像导航。三维C型臂/DSA是在传统二维C型臂/DSA技术的基础上，围绕成像区域采集一定角度范围的系列投影数据，并进行三维图像重建。相比二维C臂/DSA图像，三维C臂/DSA立体图像无重叠、更清晰、提供更准确三维空间定位，还可以生成横断面、矢状面、冠状面或其他任意切面图像，提高手术精准度。然而，另一方面，三维成像往往需要更高的成像剂量，有的临床应用过程中需要多次进行三维成像，使得成像剂量高的问题更加突出。如何降低三维C臂/DSA的成像剂量已成为一个亟需解决的问题。Digital Subtraction Angiography (DSA) technology has become the first choice for imaging examinations of various vascular diseases throughout the body, and is also the "gold standard" for diagnostic imaging of cerebrovascular and cardiac large vessels. For interventional diagnosis and treatment, DSA and C-arm X-ray machine (referred to as C-arm) are the core equipment supporting interventional diagnosis and treatment, and are widely used in image navigation for interventional surgery, minimally invasive surgery and hybrid surgery. Three-dimensional C-arm/DSA is based on the traditional two-dimensional C-arm/DSA technology. It collects a series of projection data within a certain angle range around the imaging area and performs three-dimensional image reconstruction. Compared with the two-dimensional C-arm/DSA image, the three-dimensional C-arm/DSA stereoscopic image has no overlap, is clearer, and provides more accurate three-dimensional spatial positioning. It can also generate transverse, sagittal, coronal, or other arbitrary section images to improve surgical procedures. Accuracy. However, on the other hand, three-dimensional imaging often requires higher imaging dose, and some clinical applications require multiple three-dimensional imaging, making the problem of high imaging dose more prominent. How to reduce the imaging dose of three-dimensional C-arm/DSA has become an urgent problem that needs to be solved.
发明内容Contents of the invention
本发明的目的在于提供一种基于动态多叶光栅的三维C臂成像方法及***，用以解决上述问题。The purpose of the present invention is to provide a three-dimensional C-arm imaging method and system based on dynamic multi-leaf grating to solve the above problems.
为了实现上述目的，本发明采用的技术方案为：In order to achieve the above objects, the technical solutions adopted by the present invention are:
本发明与现有技术相比，至少包含以下有益效果：
Compared with the prior art, the present invention at least includes the following beneficial effects:
(1)以多种方式形成目标影像库，为后续选定三维立体成像目标区域提供了便捷；(1) The target image library is formed in a variety of ways, which provides convenience for subsequent selection of three-dimensional imaging target areas;
(2)本发明所提出的C型臂成像技术，通过动态多叶光栅对指定的成像感兴趣区域进行拟形(适形)，将成像区域缩小至目标区域，在实现高质量三维成像的同时，将成像剂量降到最低。(2) The C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform (conform) the designated imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. , to minimize the imaging dose.
图1是本发明实施例中三维C臂成像方法的流程图；Figure 1 is a flow chart of a three-dimensional C-arm imaging method in an embodiment of the present invention;
图2是本发明实施例中以首次正常剂量三维C臂成像为先验信息的基于动态多叶光栅三维C臂低剂量成像流程图；Figure 2 is a flow chart of dynamic multi-leaf grating three-dimensional C-arm low-dose imaging based on the first normal-dose three-dimensional C-arm imaging as prior information in an embodiment of the present invention;
图3是本发明实施例中动态多叶光栅的拟形(适形)状态示意图；Figure 3 is a schematic diagram of the pseudo-form (conformal) state of the dynamic multi-leaf grating in the embodiment of the present invention;
图4是本发明实施例中以术前CT成像为先验信息的基于动态多叶光栅三维C臂低剂量成像流程图；Figure 4 is a flow chart of three-dimensional C-arm low-dose imaging based on dynamic multi-leaf grating using preoperative CT imaging as prior information in an embodiment of the present invention;
图5是本发明实施例中三维C臂成像***的架构示意图。Figure 5 is a schematic structural diagram of a three-dimensional C-arm imaging system in an embodiment of the present invention.
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiment of the present invention are only used to explain the relationship between components in a specific posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.
另外，在本发明中如涉及“第一”、“第二”、“一”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，
例如两个，三个等，除非另有明确具体的限定。In addition, descriptions such as "first", "second", "a", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the indicated technical features. quantity. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, For example, two, three, etc., unless otherwise clearly and specifically limited.
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly stated and limited, the terms "connection", "fixing", etc. should be understood in a broad sense. For example, "fixing" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
另外，本发明各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on what a person of ordinary skill in the art can implement. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions is possible. It does not exist and is not within the protection scope required by the present invention.
以下是本发明的具体实施例，并结合附图对本发明的技术方案作进一步的描述，但本发明并不限于这些实施例。The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.
如图1所示，本发明提供了一种基于动态多叶光栅的三维C臂成像方法，包括步骤：As shown in Figure 1, the present invention provides a three-dimensional C-arm imaging method based on dynamic multi-leaf grating, including the steps:
S1、从目标影像库中选定三维立体成像目标区域；S1. Select the three-dimensional imaging target area from the target image library;
S2、在预先设定的初始C臂机架角度下采集目标区域的投影数据；S2. Collect the projection data of the target area at the preset initial C-arm frame angle;
S3、通过调整C臂机架角度采集多组目标区域的投影数据；S3. Collect projection data of multiple sets of target areas by adjusting the angle of the C-arm frame;
S4、利用所采集的多组目标区域的投影数据进行三维图像的重建。S4. Use the collected projection data of multiple sets of target areas to reconstruct the three-dimensional image.
本发明所提出的C型臂成像技术，相比于传统三维C臂成像技术，在实现高质量三维成像的同时，将成像剂量降到最低。Compared with traditional three-dimensional C-arm imaging technology, the C-arm imaging technology proposed by the present invention can achieve high-quality three-dimensional imaging while minimizing the imaging dose.
在实际应用场景中，目标影像库的来源有两种：一种是来源于首次正常剂量的三维C臂成像影像，另一种来源为术前CT成像影像。In actual application scenarios, there are two sources of the target image library: one is the first normal-dose three-dimensional C-arm imaging image, and the other is the preoperative CT imaging image.
对于前一种来源，以首次正常剂量三维C臂成像获得的图像作为提取
后续低剂量三维C臂成像所需适形目标图像的影像库，其工作流程图如图2所示。具体而言，先将动态多叶光栅叶片全开，进行正常剂量的三维C臂成像的图像采集和图像重建，产生三维C臂成像数据库，由三维C臂成像数据库作为目标影像库。For the former source, the image obtained by the first normal-dose three-dimensional C-arm imaging was used as the extracted The image library of conformal target images required for subsequent low-dose three-dimensional C-arm imaging is shown in Figure 2. Specifically, the dynamic multi-leaf grating blades are first fully opened to perform image acquisition and image reconstruction of normal-dose three-dimensional C-arm imaging to generate a three-dimensional C-arm imaging database, which is used as the target image library.
如图3所示，动态多叶光栅由包括多个金属叶片和驱动每个金属叶片独立平移的线性驱动电机组成。多个金属叶片紧密排成左右两列，形成分体式X射线遮挡板，每个金属叶片外侧连接一个线性驱动电机。线性驱动电机由可编程程序控制，根据控制程序，可灵活形成全关状态、全开状态和对指定的成像感兴趣区域进行拟形(适形)。As shown in Figure 3, the dynamic multi-leaf grating consists of multiple metal blades and a linear drive motor that drives each metal blade to translate independently. Multiple metal blades are closely arranged in two rows on the left and right to form a split X-ray shielding plate. A linear drive motor is connected to the outside of each metal blade. The linear drive motor is controlled by a programmable program. According to the control program, it can flexibly form a fully closed state, a fully open state, and can conform to the designated imaging area of interest.
计算准直叶片适形目标位置的公式如下：
The formula for calculating the conformal target position of the collimation blade is as follows:
The formula for calculating the conformal target position of the collimation blade is as follows:
其中，δi，1和δi，2分别表示根据目标图像来设定第i(1≤i≤I，I为叶片对总数)金属叶片中左侧和右侧金属叶片端部到中线的距离，L1和L2分别为目标图像成像感兴趣区域左侧和右侧边缘到中线的距离，h1和h2分别为焦点到动态多叶光栅和焦点到目标成像平面的垂直距离。Among them, δ i, 1 and δ i, 2 respectively represent the distance from the end of the left and right metal blades to the center line of the i-th (1≤i≤I, I is the total number of blade pairs) metal blades set according to the target image. , L 1 and L 2 are respectively the distances from the left and right edges of the target image imaging area of interest to the midline, h 1 and h 2 are respectively the vertical distances from the focus to the dynamic multi-leaf grating and the focus to the target imaging plane.
对于后一种来源，以术前CT获得的图像作为提取后续低剂量三维C臂成像所需适形目标图像的影像库，其工作流程如图4所示。与前一种来源的主要区别是其图像库已经在术前由诊断CT产生，只需要将CT成像和C臂成像进行配准即可。其中配准的目有两个，一是调整C臂成像时病人的***与在术前CT成像时的***相同，二是调整C臂设备成像位置与CT设
备成像位置相同。For the latter source, the images obtained by preoperative CT are used as the image library to extract the conformal target images required for subsequent low-dose three-dimensional C-arm imaging. The workflow is shown in Figure 4. The main difference from the previous source is that its image library is already generated by diagnostic CT before surgery, and only the CT imaging and C-arm imaging need to be registered. There are two purposes of registration. One is to adjust the patient's position during C-arm imaging to be the same as that during preoperative CT imaging. The other is to adjust the imaging position of the C-arm equipment to the CT setting. The imaging position is the same.
本发明所提出的C型臂成像技术，在选定三维立体成像目标区域时，目标影像库的建立可通过多种方式实现，为后续进行低剂量三维C臂成像奠定了基础。With the C-arm imaging technology proposed by the present invention, when selecting a target area for three-dimensional stereoscopic imaging, the establishment of a target image library can be achieved in a variety of ways, laying the foundation for subsequent low-dose three-dimensional C-arm imaging.
如图2和图4所示，在预先设定拟数据采集范围和拟采集投影个数N后，假设开始机架角为θ0、结束机架角为θend，则投影间隔
As shown in Figure 2 and Figure 4, after pre-setting the intended data collection range and the number of projections to be collected N, assuming that the starting rack angle is θ 0 and the ending rack angle is θ end , then the projection interval
然后进行采集目标区域投影数据的步骤，包括：Then proceed to the steps of collecting projection data of the target area, including:
从目标影像库中提取与机架角度匹配的最大投影密度图MIPθ；Extract the maximum projection density map MIPθ that matches the frame angle from the target image library;
通过预设算法计算出每个适形叶片的目标位置，其具体通过动态多叶光栅运行机制的算法所实现；The target position of each conformable blade is calculated through a preset algorithm, which is specifically implemented through the algorithm of the dynamic multi-leaf grating operating mechanism;
通过电机驱动动态多叶光栅的叶片快速移动至目标位置形成适形；The blades of the dynamic multi-leaf grating are driven by the motor to quickly move to the target position to form a conformal shape;
在动态多叶光栅的叶片移动至目标位置的同时，C臂旋转至预设机架角度并进行曝光，采集得到预设机架角度的投影数据。While the blades of the dynamic multi-leaf grating move to the target position, the C-arm rotates to the preset frame angle and performs exposure, and the projection data of the preset frame angle is collected.
随后，通过调整C臂机架角度采集多组目标区域的投影数据，目标机架角位置θ＝θ0+(n-1)×Δθ，1≤n≤N，重复上述步骤进行多个角度投影数据采集流程，直到直到N组投影数据采集完成结束。Subsequently, multiple sets of projection data of the target area are collected by adjusting the angle of the C-arm gantry. The angular position of the target gantry is θ = θ 0 + (n-1) × Δθ, 1 ≤ n ≤ N. Repeat the above steps for multiple angle projections. The data collection process is completed until N sets of projection data collection are completed.
利用采集的投影数据进行三维图像重建的重建算法为常见CBCT三维图像重建算法。The reconstruction algorithm that uses the collected projection data to reconstruct three-dimensional images is a common CBCT three-dimensional image reconstruction algorithm.
本发明所提出的C型臂成像技术，通过动态多叶光栅对指定的成像感兴趣区域进行拟形(适形)，将成像区域缩小至目标区域，在实现高质量三维成像的同时，将成像剂量降到最低。
The C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform the specified imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. Keep dosage to a minimum.
本发明的另一方面还提供了一种基于动态多叶光栅的三维C臂成像***，如图5所示，包括：Another aspect of the present invention also provides a three-dimensional C-arm imaging system based on dynamic multi-leaf grating, as shown in Figure 5, including:
区域选取模块，用于从目标影像库中选定三维立体成像目标区域；The area selection module is used to select the three-dimensional imaging target area from the target image library;
投影采集模块，用于在多个C臂机架角度下采集多组目标区域的投影数据；Projection collection module, used to collect projection data of multiple sets of target areas at multiple C-arm frame angles;
图像重建模块，用于利用所采集的多组目标区域的投影数据进行三维图像的重建。The image reconstruction module is used to reconstruct three-dimensional images using the collected projection data of multiple sets of target areas.
在实际应用场景中，目标影像库的来源有两种：一种是来源于首次正常剂量的三维C臂成像影像，另一种来源为术前CT成像影像。In actual application scenarios, there are two sources of the target image library: one is the first normal-dose three-dimensional C-arm imaging image, and the other is the preoperative CT imaging image.
在前一种中，得到所述全区域的三维C臂成像影像的步骤为在动态多叶光栅全开的状态下，进行三维C臂成像的图像采集和三维图像重建，从而得到所述目标影像库。In the former method, the step of obtaining the full-area three-dimensional C-arm imaging image is to perform image acquisition and three-dimensional image reconstruction of the three-dimensional C-arm imaging with the dynamic multi-leaf grating fully open, thereby obtaining the target image. Library.
如图3所示，动态多叶光栅由包括多个金属叶片和驱动每个金属叶片独立平移的线性驱动电机组成。多个金属叶片紧密排成左右两列，形成分体式X射线遮挡板，每个金属叶片外侧连接一个线性驱动电机。线性驱动电机由可编程程序控制，根据控制程序，可灵活形成全关状态、全开状态和对指定的成像感兴趣区域进行拟形(适形)。As shown in Figure 3, the dynamic multi-leaf grating consists of multiple metal blades and a linear drive motor that drives each metal blade to translate independently. Multiple metal blades are closely arranged in two rows on the left and right to form a split X-ray shielding plate. A linear drive motor is connected to the outside of each metal blade. The linear drive motor is controlled by a programmable program. According to the control program, it can flexibly form a fully closed state, a fully open state, and can conform to the designated imaging area of interest.
后一种来源中，通过将术前CT成像影像与C臂成像进行配准后，得到目标影像库。In the latter source, the target image library is obtained by registering the preoperative CT imaging images with the C-arm imaging.
其中，投影采集模块包括：Among them, the projection acquisition module includes:
成像影像选取单元，用于从目标影像库中提取与机架角度匹配的最大投影密度图；The imaging image selection unit is used to extract the maximum projection density map that matches the frame angle from the target image library;
适形计算单元，用于通过预设算法计算出每个适形叶片的目标位置；A conformal calculation unit used to calculate the target position of each conformable blade through a preset algorithm;
适形成形单元，用于通过电机驱动动态多叶光栅的叶片快速移动至目
标位置形成适形；Adaptive shaping unit is used to drive the blades of the dynamic multi-leaf grating to quickly move to the target through the motor. The target position forms a conformable shape;
数据采集单元，用于在动态多叶光栅的叶片移动至目标位置的同时，C臂旋转至预设机架角度并进行曝光，采集得到预设机架角度的投影数据。The data acquisition unit is used to rotate the C-arm to a preset frame angle and perform exposure while the blades of the dynamic multi-leaf grating move to the target position, and collect the projection data of the preset frame angle.
利用采集的投影数据进行三维图像重建的重建算法为常见CBCT三维图像重建算法。The reconstruction algorithm that uses the collected projection data to reconstruct three-dimensional images is a common CBCT three-dimensional image reconstruction algorithm.
本发明所提出的C型臂成像技术，通过动态多叶光栅对指定的成像感兴趣区域进行拟形(适形)，将成像区域缩小至目标区域，在实现高质量三维成像的同时，将成像剂量降到最低。The C-arm imaging technology proposed by the present invention uses a dynamic multi-leaf grating to conform the specified imaging area of interest, reducing the imaging area to the target area, while achieving high-quality three-dimensional imaging. Keep dosage to a minimum.
本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。
The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or additions to the described specific embodiments or substitute them in similar ways, but this will not deviate from the spirit of the present invention or exceed the definition of the appended claims. range.
Claims (10)
- 一种基于动态多叶光栅的三维C臂成像方法，其特征在于，包括步骤：A three-dimensional C-arm imaging method based on dynamic multi-leaf grating, which is characterized by including the steps:S1、从目标影像库中选定三维立体成像目标区域；S1. Select the three-dimensional imaging target area from the target image library;S2、在预先设定的初始C臂机架角度下采集目标区域的投影数据；S2. Collect the projection data of the target area at the preset initial C-arm frame angle;S3、通过调整C臂机架角度采集多组目标区域的投影数据；S3. Collect projection data of multiple sets of target areas by adjusting the angle of the C-arm frame;S4、利用所采集的多组目标区域的投影数据进行三维图像的重建。S4. Use the collected projection data of multiple sets of target areas to reconstruct the three-dimensional image.
- 根据权利要求1所述的一种基于动态多页光栅的三维C臂成像方法，其特征在于，所述目标影像库的来源包括全区域三维C臂成像影像或术前CT成像影像。A three-dimensional C-arm imaging method based on dynamic multi-page grating according to claim 1, characterized in that the source of the target image library includes full-area three-dimensional C-arm imaging images or preoperative CT imaging images.
- 根据权利要求2所述的一种基于动态多叶光栅的三维C臂成像方法，其特征在于，得到所述全区域的三维C臂成像影像的步骤包括：A three-dimensional C-arm imaging method based on dynamic multi-leaf grating according to claim 2, characterized in that the step of obtaining the three-dimensional C-arm imaging image of the entire area includes:在动态多叶光栅全开的状态下，进行三维C臂成像的图像采集和三维图像重建，从而得到所述目标影像库。In the fully open state of the dynamic multi-leaf grating, image acquisition and three-dimensional image reconstruction of three-dimensional C-arm imaging are performed, thereby obtaining the target image library.
- 根据权利要求2所述的一种基于动态多叶光栅的三维C臂成像方法，其特征在于，将术前CT成像影像与C臂成像进行配准后，得到所述目标影像库。A three-dimensional C-arm imaging method based on dynamic multi-leaf grating according to claim 2, characterized in that the target image library is obtained after registering the preoperative CT imaging image and the C-arm imaging.
- 根据权利要求1所述的一种基于动态多叶光栅的三维C臂成像方法，其特征在于，采集目标区域投影数据的步骤包括：A three-dimensional C-arm imaging method based on dynamic multi-leaf grating according to claim 1, characterized in that the step of collecting target area projection data includes:从目标影像库中提取与机架角度匹配的最大投影密度图；Extract the maximum projection density map matching the rack angle from the target image library;通过预设算法计算出每个适形叶片的目标位置；The target position of each conformable blade is calculated through a preset algorithm;通过电机驱动动态多叶光栅的叶片快速移动至目标位置形成适形；The blades of the dynamic multi-leaf grating are driven by the motor to quickly move to the target position to form a conformal shape;在动态多叶光栅的叶片移动至目标位置的同时，C臂旋转至预设机架角度并进行曝光，采集得到预设机架角度的投影数据。While the blades of the dynamic multi-leaf grating move to the target position, the C-arm rotates to the preset frame angle and performs exposure, and the projection data of the preset frame angle is collected.
- 一种基于动态多叶光栅的三维C臂成像***，其特征在于，包括： A three-dimensional C-arm imaging system based on dynamic multi-leaf grating, which is characterized by including:区域选取模块，用于从目标影像库中选定三维立体成像目标区域；The area selection module is used to select the three-dimensional imaging target area from the target image library;投影采集模块，用于在多个C臂机架角度下采集多组目标区域的投影数据；Projection collection module, used to collect projection data of multiple sets of target areas at multiple C-arm frame angles;图像重建模块，用于利用所采集的多组目标区域的投影数据进行三维图像的重建。The image reconstruction module is used to reconstruct three-dimensional images using the collected projection data of multiple sets of target areas.
- 根据权利要求6所述的一种基于动态多叶光栅的三维C臂成像***，其特征在于，所述目标影像库的来源包括全区域三维C臂成像影像或术前CT成像影像。A three-dimensional C-arm imaging system based on dynamic multi-leaf grating according to claim 6, characterized in that the source of the target image library includes full-area three-dimensional C-arm imaging images or preoperative CT imaging images.
- 根据权利要求7所述的一种基于动态多叶光栅的三维C臂成像***，其特征在于，得到所述全区域的三维C臂成像影像的步骤包括：A three-dimensional C-arm imaging system based on dynamic multi-leaf grating according to claim 7, characterized in that the step of obtaining the three-dimensional C-arm imaging image of the entire area includes:在动态多叶光栅全开的状态下，进行三维C臂成像的图像采集和三维图像重建，从而得到所述目标影像库。In the fully open state of the dynamic multi-leaf grating, image acquisition and three-dimensional image reconstruction of three-dimensional C-arm imaging are performed, thereby obtaining the target image library.
- 根据权利要求7所述的一种基于动态多叶光栅的三维C臂成像***，其特征在于，将术前CT成像影像与C臂成像进行配准后，得到所述目标影像库。A three-dimensional C-arm imaging system based on dynamic multi-leaf grating according to claim 7, characterized in that the target image library is obtained after registering preoperative CT imaging images and C-arm imaging.
- 根据权利要求6所述的一种基于动态多叶光栅的三维C臂成像***，其特征在于，投影采集模块包括：A three-dimensional C-arm imaging system based on dynamic multi-leaf grating according to claim 6, characterized in that the projection acquisition module includes:成像影像选取单元，用于从目标影像库中提取与机架角度匹配的最大投影密度图；The imaging image selection unit is used to extract the maximum projection density map that matches the frame angle from the target image library;适形计算单元，用于通过预设算法计算出每个适形叶片的目标位置；A conformal calculation unit used to calculate the target position of each conformable blade through a preset algorithm;适形成形单元，用于通过电机驱动动态多叶光栅的叶片快速移动至目标位置形成适形；The conformal forming unit is used to drive the blades of the dynamic multi-leaf grating to quickly move to the target position through a motor to form conformable shapes;数据采集单元，用于在动态多叶光栅的叶片移动至目标位置的同时，C臂旋转至预设机架角度并进行曝光，采集得到预设机架角度的投影数据。 The data acquisition unit is used to rotate the C-arm to a preset frame angle and perform exposure while the blades of the dynamic multi-leaf grating move to the target position, and collect the projection data of the preset frame angle.
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