CN116269455B - Detection method and system for automatically acquiring human body contour in SPECT (single photon emission computed tomography) - Google Patents
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Abstract
The invention relates to the technical field of medical image processing, in particular to a detection method and a detection system for automatically acquiring human body contours in SPECT (single photon emission computed tomography). The invention provides a method for acquiring the surface profile of a human body by using a depth camera and combining with a human body posture detection method to fully automatically guide the detector of SPECT equipment to change the height dynamically along with the body table.
Description
Technical Field
The invention relates to the technical field of medical image processing, in particular to a detection method and a detection system for automatically acquiring human body contours in SPECT (single photon emission computed tomography).
Background
SPECT (Single-Photon Emission Computed Tomography) is a CT technique of nuclear medicine, in which the detector is required to be as close to the human body as possible in the SPECT device acquisition procedure in order to acquire a higher signal-to-noise ratio signal. In the parallel hole collimator, the imaging resolution is inversely proportional to the distance between the detector and the human body, and the closer the distance is, the higher the imaging resolution is, so the SPECT detector of the parallel hole collimator is required to be imaged as close to the human body as possible, but cannot squeeze and touch the human body. In the application of the most advanced full-ring SPECT equipment or the special collimator for the pinhole in the current nuclear medicine industry, the outline information is often acquired in advance to help the SPECT equipment to select a proper detection distance, so that the size and the resolution of an imaging visual field can be effectively guaranteed.
The prior art is completed by adding the correlation grating at the edge of the detector, as shown in fig. 1, the correlation grating can only confirm whether an object approaches the infrared detector during the movement of the probe, and if the light is blocked, the movement is stopped. On the one hand, the scheme occupies an external space, the replacement of the alignment device causes inconvenience, and on the other hand, the scheme cannot distinguish different parts of a human body, cannot directly acquire the contour information of the human body, and only provides a movement direction limiting function.
Disclosure of Invention
The invention aims to solve the problems that the prior art occupies external space and cannot distinguish human body parts when acquiring human body contours in the SPECT scanning process.
In order to solve the above technical problems, in a first aspect, the present invention provides a detection method for automatically acquiring a human body contour in SPECT, where the detection method is used for SPECT detection in an area where a human body detection object is located, where the area includes a current area and an area to be scanned that is connected, and the detection method includes the following steps:
s1, performing contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously, performing human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data;
s2, determining the positioning state of the human body detection object according to the human body posture data, and acquiring acquired posture and organ distribution information corresponding to the positioning state;
s3, sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, and confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to perform a SPECT detection task;
s4, taking the to-be-scanned areas connected with the current areas as new current areas, and iteratively executing the steps S1-S3 to enable all the to-be-scanned areas to complete the SPECT detection task.
Further, the human body region image is point cloud data.
Still further, the human body posture data is BlazePose key point data.
Further, in step S2, the step of determining the positioning state of the human body detection object according to the human body posture data and acquiring the acquired body state and organ distribution information corresponding to the positioning state includes the following substeps:
s21, matching the human body posture data with the left and right scapula positions and the left and right crotch positions of the human body standard model image skeleton according to the BlazePose key point data, and solving an affine transformation matrix according to an image affine change formula;
s22, calculating an organ space coordinate range according to the affine transformation matrix to obtain the corresponding positioning state;
s23, based on the positioning state, combining the organ space coordinate range to obtain the acquired body state and the organ distribution information corresponding to the positioning state.
Still further, the image affine variation formula satisfies the following relation:
wherein x and y are coordinate information of the human body standard model image, x 'and y' are coordinate information of the human body posture data, deltax and Deltay are preset coordinate offset, and a, b, c, d is BlazePose key point data.
Further, in step S3, the fluctuation of the body surface height of the human body detection object is confirmed according to the human body posture data, and the movement track position of the SPECT detector is controlled to perform the SPECT detection task, so that the SPECT detector is moved from the current region to the connection position with the region to be scanned according to the position of the acquired posture.
Further, in the steps S1-S3, the method further comprises the steps of:
acquiring the position of the SPECT detector in the human body region image through a preset image matching algorithm;
and acquiring a human body part image in the human body region image through a preset background removal algorithm, constructing a space position relation of the SPECT detector according to the position of the SPECT detector and the human body part image, and avoiding the touch of the SPECT detector and the human body detection object through a judging mechanism.
In a second aspect, the present invention further provides a detection system for automatically acquiring a human body contour in SPECT, where the detection system is used for SPECT detection in an area where a human body detection object is located, the area including a current area and a contiguous area to be scanned, and the detection system includes:
the camera recognition module is used for carrying out contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously carrying out human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data;
the image recognition module is used for determining the positioning state of the human body detection object according to the human body posture data and acquiring acquired body state and organ distribution information corresponding to the positioning state;
the detection module is used for sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to carry out a SPECT detection task;
and the iteration module is used for taking the to-be-scanned area connected with the current area as a new current area, and controlling the camera identification module, the image identification module and the detection module to perform iteration work so that all the to-be-scanned areas complete a SPECT detection task.
The invention has the beneficial technical effects that a method for acquiring the surface profile of the human body by using a depth camera and combining with the human body posture detection is provided, so that the method for dynamically changing the height of the detector of the full-automatic SPECT equipment along with the body table change is fully-automatically guided, meanwhile, different human body areas can be divided according to the scanning task, the position of the capacity equipment can be automatically adjusted according to the profile information, the manual setting is effectively reduced, and the imaging quality and the automation level are improved.
Drawings
FIG. 1 is a schematic view of a prior art scene of acquiring a human body contour through an correlation grating;
fig. 2 is a schematic step flow diagram of a detection method for automatically acquiring a human body contour in SPECT according to an embodiment of the present invention;
fig. 3 is a schematic view of a scene when a top depth camera according to an embodiment of the present invention performs contour gesture recognition on the current area;
FIG. 4 is a schematic diagram of BlazePose keypoint data provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a key point of a human body according to an embodiment of the present invention;
fig. 6 is a view schematic diagram of a depth camera according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 2, fig. 2 is a schematic step flow diagram of a detection method for automatically acquiring a human body contour in SPECT according to an embodiment of the present invention, where the detection method is used for SPECT detection in an area where a human body detection object is located, the area includes a current area and a connected area to be scanned, and the detection method includes the following steps:
s1, performing contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously, performing human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data.
Specifically, a schematic view of a scene when the top depth camera is used for carrying out contour gesture recognition on the current area is shown in fig. 3, and the top depth camera is arranged right above an inspection bed carrying a human body detection object and is used for collecting human body contours by adopting a 3D depth camera; in addition, another 3D depth camera is arranged behind the dual-probe SPECT equipment as a monitoring camera, and is aligned with the field area in the cylinder of the dual-probe SPECT equipment so as to automatically detect the motion condition of the SPECT detector.
Further, the human body region image is point cloud data.
Still further, the human body posture data is BlazePose key point data. The schematic diagrams of the BlazePose key point data and the corresponding schematic diagrams of the human body key points are shown in fig. 4 and 5 respectively.
S2, determining the positioning state of the human body detection object according to the human body posture data, and acquiring acquired posture and organ distribution information corresponding to the positioning state.
Specifically, based on BlazePose key point data, the position information of the left shoulder, the right shoulder, the left hip and the right hip can be combined, the standard medical model image of known organ distribution and the truly acquired human body image are designed in a key point matching way, and a possible visual field range of a main organ such as a heart, a liver, a spleen, a lung and a kidney is estimated approximately, so that the visual field of the SPECT detector is guided to cover a single area, and organ scanning tasks are performed.
Further, in step S2, the step of determining the positioning state of the human body detection object according to the human body posture data and acquiring the acquired body state and organ distribution information corresponding to the positioning state includes the following substeps:
and S21, matching the human body posture data with the left and right scapula positions and the left and right crotch positions of the human body standard model image skeleton according to the BlazePose key point data, and solving an affine transformation matrix according to an image affine change formula.
Still further, the image affine variation formula satisfies the following relation:
wherein x and y are coordinate information of the human body standard model image, x 'and y' are coordinate information of the human body posture data, deltax and Deltay are preset coordinate offset, and a, b, c, d is BlazePose key point data.
The mannequin image may be a picture of the location of the targeted bone key points and organs.
S22, calculating an organ space coordinate range according to the affine transformation matrix to obtain the corresponding positioning state.
S23, based on the positioning state, combining the organ space coordinate range to obtain the acquired body state and the organ distribution information corresponding to the positioning state.
S3, sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, and confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to carry out a SPECT detection task.
Preferably, in order to improve the detection effect, the SPECT detector is controlled to detect at a movement track position far from the outer contour of the human body in each direction of 1 CM.
Further, in step S3, the fluctuation of the body surface height of the human body detection object is confirmed according to the human body posture data, and the movement track position of the SPECT detector is controlled to perform the SPECT detection task, so that the SPECT detector is moved from the current region to the connection position with the region to be scanned according to the position of the acquired posture.
S4, taking the to-be-scanned areas connected with the current areas as new current areas, and iteratively executing the steps S1-S3 to enable all the to-be-scanned areas to complete the SPECT detection task.
Further, in the steps S1-S3, the method further comprises the steps of:
acquiring the position of the SPECT detector in the human body region image through a preset image matching algorithm;
and acquiring a human body part image in the human body region image through a preset background removal algorithm, constructing a space position relation of the SPECT detector according to the position of the SPECT detector and the human body part image, and avoiding the touch of the SPECT detector and the human body detection object through a judging mechanism. At this time, a view of the depth camera is schematically shown in fig. 6.
The invention has the beneficial technical effects that a method for acquiring the surface profile of the human body by using a depth camera and combining with the human body posture detection is provided, so that the method for dynamically changing the height of the detector of the full-automatic SPECT equipment along with the body table change is fully-automatically guided, meanwhile, different human body areas can be divided according to the scanning task, the position of the capacity equipment can be automatically adjusted according to the profile information, the manual setting is effectively reduced, and the imaging quality and the automation level are improved.
The invention also provides a detection system for automatically acquiring the human body contour in SPECT, wherein the detection system is used for SPECT detection in an area where a human body detection object is located, the area comprises a current area and a connected area to be scanned, and the detection system comprises:
the camera recognition module is used for carrying out contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously carrying out human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data;
the image recognition module is used for determining the positioning state of the human body detection object according to the human body posture data and acquiring acquired body state and organ distribution information corresponding to the positioning state;
the detection module is used for sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to carry out a SPECT detection task;
and the iteration module is used for taking the to-be-scanned area connected with the current area as a new current area, and controlling the camera identification module, the image identification module and the detection module to perform iteration work so that all the to-be-scanned areas complete a SPECT detection task.
The detection system for automatically acquiring the human body contour in SPECT can realize the steps of the detection method for automatically acquiring the human body contour in SPECT according to any one of the above embodiments, and can realize the same technical effects, and is not repeated here to avoid repetition.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM) or the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
While the embodiments of the present invention have been illustrated and described in connection with the drawings, what is presently considered to be the most practical and preferred embodiments of the invention, it is to be understood that the invention is not limited to the disclosed embodiments, but on the contrary, is intended to cover various equivalent modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. A detection method for automatically acquiring a human body contour in SPECT, the detection method being used for SPECT detection in an area where a human body detection object is located, the area including a current area and a contiguous area to be scanned, the detection method comprising the steps of:
s1, performing contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously, performing human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data;
s2, determining the positioning state of the human body detection object according to the human body posture data, and acquiring acquired posture and organ distribution information corresponding to the positioning state;
s3, sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, and confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to perform a SPECT detection task;
s4, taking the to-be-scanned areas connected with the current areas as new current areas, and iteratively executing the steps S1-S3 to enable all the to-be-scanned areas to complete the SPECT detection task.
2. The method of claim 1, wherein the human region image is point cloud data.
3. The method of claim 1, wherein the human body posture data is blazePose key point data.
4. A method for automatically acquiring a human body contour in SPECT as defined in claim 3, wherein in step S2, a positioning state of the human body detection object is determined according to the human body posture data, and a step of acquiring acquired body state and organ distribution information corresponding to the positioning state includes the following sub-steps:
s21, matching the human body posture data with the left and right scapula positions and the left and right crotch positions of the human body standard model image skeleton according to the BlazePose key point data, and solving an affine transformation matrix according to an image affine change formula;
s22, calculating an organ space coordinate range according to the affine transformation matrix to obtain the corresponding positioning state;
s23, based on the positioning state, combining the organ space coordinate range to obtain the acquired body state and the organ distribution information corresponding to the positioning state.
5. The method for automatically acquiring human contours in SPECT of claim 4 wherein the image affine variation formula satisfies the relationship:
wherein x and y are coordinate information of the human body standard model image, x 'and y' are coordinate information of the human body posture data, deltax and Deltay are preset coordinate offset, and a, b, c, d is BlazePose key point data.
6. The method according to claim 1, wherein in step S3, a body surface height fluctuation of the human body detection object is confirmed according to the human body posture data, and the motion track position of the SPECT detector is controlled to perform a SPECT detection task, and the SPECT detector is moved from the current region to a position in contact with the region to be scanned according to the position of the acquired posture.
7. The method for automatically acquiring a contour of a human body in SPECT as defined in claim 1, further comprising the steps of:
acquiring the position of the SPECT detector in the human body region image through a preset image matching algorithm;
and acquiring a human body part image in the human body region image through a preset background removal algorithm, constructing a space position relation of the SPECT detector according to the position of the SPECT detector and the human body part image, and avoiding the touch of the SPECT detector and the human body detection object through a judging mechanism.
8. A detection system for automatically acquiring a human body contour in SPECT, the detection system being configured to perform SPECT detection in an area where a human body detection subject is located, the area including a current area and a contiguous area to be scanned, the detection system comprising:
the camera recognition module is used for carrying out contour gesture recognition on the current region by using a top depth camera to obtain a human body region image, and simultaneously carrying out human body key point detection on the human body region image by using a preset human body gesture detection algorithm to obtain human body gesture data;
the image recognition module is used for determining the positioning state of the human body detection object according to the human body posture data and acquiring acquired body state and organ distribution information corresponding to the positioning state;
the detection module is used for sending the human body detection object in the current area into a detection area of a SPECT detector according to the acquired body state and the organ distribution information, confirming the fluctuation change condition of the body surface height of the human body detection object according to the human body posture data, and controlling the movement track position of the SPECT detector to carry out a SPECT detection task;
and the iteration module is used for taking the to-be-scanned area connected with the current area as a new current area, and controlling the camera identification module, the image identification module and the detection module to perform iteration work so that all the to-be-scanned areas complete a SPECT detection task.
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| KR20160147466A (en) * | 2015-06-15 | 2016-12-23 | 한양대학교 산학협력단 | Customized human body modeling apparatus and method |
| CN111743565A (en) * | 2020-07-15 | 2020-10-09 | 北京永新医疗设备有限公司 | Four-dimensional dynamic tomography positioning method, detector and nuclear medicine equipment |
| CN113440156A (en) * | 2021-07-14 | 2021-09-28 | 南京安科医疗科技有限公司 | Mobile CT intelligent scanning positioning system, positioning method and storage medium |
| CN114187609A (en) * | 2021-11-30 | 2022-03-15 | 北京奕斯伟计算技术有限公司 | Human body posture estimation method and device |
| CN114495273A (en) * | 2022-01-24 | 2022-05-13 | 香港中文大学（深圳） | Robot gesture teleoperation method and related device |
| CN114724241A (en) * | 2022-03-29 | 2022-07-08 | 平安科技（深圳）有限公司 | Motion recognition method, device, equipment and storage medium based on skeleton point distance |
| CN114897879A (en) * | 2022-06-08 | 2022-08-12 | 北京永新医疗设备有限公司 | Axial scanning path planning method for intelligent fitting of SPECT-CT (single photon emission computed tomography-computed tomography) human body contour |
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