CN104224212A - CT system, CT system scanning positioning method and CT system calibration method - Google Patents
CT system, CT system scanning positioning method and CT system calibration method Download PDFInfo
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Abstract
The invention relates to a CT system, a CT system scanning positioning method and a CT system calibration method. The CT system comprises a hospital bed, CT scanning and imaging equipment, a 3D video camera and a processing unit. The hospital bed is used for supporting a patient to be scanned on the hospital bed. The CT scanning and imaging equipment is used for conducting CT scanning and imaging on the patient to be scanned. The 3D video camera is used for shooting a 3D image of the patient to be scanned on the hospital bed. The processing unit is used for acquiring human anatomy structural information of the patient to be scanned according to the 3D image shot by the 3D video camera so as to determine the range to be scanned and for converting the range to be scanned of the 3D video camera under a space coordinate system to the range to be scanned of the CT scanning and imaging equipment under a space coordinate system. The CT scanning and imaging equipment conducts scanning and imaging on the patient to be scanned according to the converted range to be scanned of the CT scanning and imaging equipment under the space coordinate system. By means of the CT system, the CT system scanning positioning method and the CT system calibration method, the precision of the scanned range can be improved, scanning time is shortened, and radiation dosage is lowered.
Description
Technical field
The present invention relates to CT technical field of imaging, relate to CT system, its Scan orientation method and calibration steps particularly.
Background technology
Use CT system treat scan patients carry out scanning imagery time, generally include two stages: first stage is the Scan orientation stage, namely determines the stage of scope to be scanned, it is for determining the angle of inclination of the original position, end position and the frame that scan; Second stage is the stage of carrying out real scanning imagery according to the scope to be scanned determined.
At present, be all utilize x-ray imaging to determine scope to be scanned when carrying out Scan orientation in first stage.Although the X-ray radiation dosage of this x-ray imaging is within safety range, reduces in Scan orientation process further and the pursuit all the time of CT technical field of imaging is still to the radiation dose of patient.
In addition, existing location scanning positions by laser lamp, consuming time longer, troublesome poeration.
Summary of the invention
According to an aspect of the present invention, provide a kind of CT system, it comprises:
Sick bed, for support level patient to be scanned thereon;
CT scan and imaging device, carry out CT scan and imaging for treating scan patients;
3D video camera, for taking the 3D rendering of the patient to be scanned be positioned on sick bed; And
Processing unit, for obtaining the human anatomic structure information of patient to be scanned according to the 3D rendering of 3D shot by camera to determine scope to be scanned, and under the scope to be scanned under the space coordinates of 3D video camera is transformed into the space coordinates of CT scan and imaging device, wherein said CT scan and imaging device are treated scan patients according to the scope to be scanned under the space coordinates of changed CT scan and imaging device and are carried out scanning and imaging.
According to one embodiment of present invention, wherein said processing unit comprises further:
Pattern recognition device, for obtaining the human anatomic structure information of patient to be scanned by image recognition technology according to the 3D rendering of 3D shot by camera.
According to one embodiment of present invention, wherein said processing unit comprises further:
Coordinate system calibrating installation, for the transformational relation calibrating to obtain therebetween to the space coordinates of 3D video camera and the space coordinates of CT scan and imaging device; And
Ordinate transform device, under being transformed into the space coordinates of CT scan and imaging device according to the described transformational relation obtained by calibration by the scope to be scanned under the space coordinates of 3D video camera.
According to one embodiment of present invention, wherein said transformational relation is the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device.
According to one embodiment of present invention, wherein said coordinate system calibrating installation is according to the 3D video data about caliberator from 3D video camera and obtain the space coordinates of 3D video camera and the transformational relation between CT scan and the space coordinates of imaging device from the CT scan data about this caliberator of CT scan and imaging device.
According to a further aspect in the invention, provide a kind of Scan orientation method for CT system, it comprises:
The 3D rendering of the patient to be scanned be positioned on the sick bed of CT is obtained by 3D video camera;
Image recognition technology is utilized to identify obtained described 3D rendering, to obtain the human anatomic structure information of patient to be scanned;
On described 3D rendering, scope to be scanned is determined based on described human anatomic structure information; And
Under scope described to be scanned under the space coordinates of described 3D video camera is transformed into the space coordinates of CT scan and imaging device.
According to one embodiment of present invention, wherein, comprise under the scope described to be scanned under the space coordinates of described 3D video camera being transformed into the space coordinates of CT scan and imaging device:
The space coordinates of 3D video camera and the space coordinates of CT scan and imaging device are calibrated to the transformational relation obtained therebetween; And
Under the scope to be scanned under the space coordinates of 3D video camera being transformed into the space coordinates of CT scan and imaging device according to the described transformational relation obtained by calibration.
According to one embodiment of present invention, wherein, described transformational relation is the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device.
According to one embodiment of present invention, wherein, described calibration is realized by following process: according to the 3D video data about caliberator from 3D video camera and obtain the space coordinates of 3D video camera and the transformational relation between CT scan and the space coordinates of imaging device from the CT scan data about this caliberator of CT scan and imaging device.
According to another aspect of the invention, a kind of calibration steps for the space coordinates conversion in detection system is provided, 3D video camera in the space that described detection system comprises examinating couch for carrying caliberator, be arranged on above examinating couch and checkout equipment, described calibration steps comprises:
A) caliberator is positioned on examinating couch;
B) height of bed of examinating couch is set;
C) checkout equipment is utilized to detect to obtain the data of the detected image of caliberator to the caliberator on examinating couch;
D) 3D video camera is utilized to take to obtain the data of the shooting image of caliberator to the caliberator on examinating couch;
E) caliberator is carried out horizontal-shift relative to 3D video camera and checkout equipment;
F) steps d is repeated) and e), until obtain the data of the shooting image of the described caliberator of the abundant horizontal extent covering examinating couch;
G) the examinating couch height of bed is changed;
H) step c is repeated) to g), until obtain the data of shooting image and the data of detected image of the described caliberator of the abundant vertical range covering examinating couch; And
I) utilize the data of the shooting image of the data obtaining the detected image of described caliberator by described checkout equipment and the described caliberator obtained by 3D video camera, calculate the relation between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment.
According to one embodiment of present invention, wherein, described detection system is CT system, and described examinating couch is removable sick bed, and described checkout equipment is CT scan and imaging device, and the data of described detected image are the data of CT scan image.
According to one embodiment of present invention, wherein step I) comprise further:
I-1) coordinate data of specified point under the space coordinates of described checkout equipment on caliberator according to the data identification of described detected image;
I-2) coordinate data of obtained described specified point is added horizontal-shift described in each respectively, to obtain the coordinate data of described specified point in the covering described horizontal extent of examinating couch and the space of described vertical range under the space coordinates of described checkout equipment;
The coordinate data of the described specified point i-3) on caliberator according to obtained described captured image data identification, to obtain the coordinate data of described specified point in the covering described horizontal extent of examinating couch and the space of described vertical range under the space coordinates of described 3D video camera; And
I-4) according to the coordinate data of described specified point under the space coordinates of described checkout equipment and the coordinate data under the space coordinates of described 3D video camera, the relation between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment is calculated.
According to one embodiment of present invention, wherein said step I-1) comprise further:
Utilize Feature Extraction Technology, determine the pixel region of described specified point according to described detection data;
Each determined pixel region application is asked to the method for center of gravity, to determine the coordinate of described specified point in the detected image comprising described specified point; And
The parameter of detected image and the coordinate of described specified point in this detected image according to comprising described specified point try to achieve the three-dimensional coordinate data of each described specified point under the space coordinates of described checkout equipment.
According to one embodiment of present invention, the parameter of wherein said detected image comprises the height of bed of examinating couch when obtaining described detected image.
According to one embodiment of present invention, wherein said step I-3) comprise further:
The RGB image corresponding with each horizontal-shift of each examinating couch height of bed and caliberator and point cloud chart picture is extracted from the captured image data of described 3D video camera shooting;
Identify the 2-d index of each described specified point in RGB image; And
In corresponding point cloud chart picture, the three-dimensional coordinate data of this specified point under the space coordinates of described 3D video camera is tried to achieve according to the 2-d index of each described specified point.
According to one embodiment of present invention, wherein when extracting the RGB image corresponding with each horizontal-shift of each examinating couch height of bed and caliberator from captured image data, to be averaged to the RGB image within the scope of a period of time RGB image obtained as described corresponding RGB image, wherein said a period of time scope refers to a period of time centered by the moment of taking this corresponding RGB image.
According to one embodiment of present invention, wherein extract from captured image data the point cloud chart corresponding with each horizontal-shift of each examinating couch height of bed and caliberator as time, using ask intermediate value to obtain to the point cloud chart picture within the scope of a period of time point cloud chart picture as described corresponding point cloud chart picture, wherein said a period of time scope refers to a period of time centered by the moment of taking this corresponding point cloud chart picture.
According to one embodiment of present invention, the pass between the space coordinates of wherein said 3D video camera and the space coordinates of described checkout equipment is the affine transition matrix between them, wherein tries to achieve described affine transition matrix by following formula:
M=Y/X，
Wherein, M is described affine transition matrix, and X is the matrix of the coordinate data composition of described specified point under the space coordinates of described 3D video camera, and Y is the matrix of the coordinate data composition of described specified point under the space coordinates of described checkout equipment.
According to one embodiment of present invention, wherein said step I-4) comprising:
The selected multiple selected coordinate position kept at a certain distance away in the covering described horizontal extent of examinating couch and the space of described vertical range;
Each selected coordinate position in described multiple selected coordinate position:
Solve the local affine invariant transition matrix M between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment
local=Y
local/ X
local, wherein X
localthe matrix that with this selected coordinate position coordinate data under the space coordinates of described 3D video camera in the spatial dimension of preset distance forms is dropped on, Y for described specified point
localthe matrix that with this selected coordinate position coordinate data under the space coordinates of described checkout equipment in the spatial dimension of this preset distance forms is dropped on for described specified point.
According to one embodiment of present invention, described calibration steps also comprises: carry out matching to tried to achieve multiple local affine invariant transition matrixes corresponding with described multiple selected coordinate position, thus obtain the function F of affine transition matrix about arbitrary coordinate position
m(X, Y, Z).
According to one embodiment of present invention, wherein in step I) also comprise before: validation verification is carried out to the data of obtained detected image and the data of shooting image, and rejects not by the abnormal data of validation verification.
According to one embodiment of present invention, described calibration steps also comprises: by the relational storage between the space coordinates of obtained described 3D video camera and the space coordinates of described checkout equipment in described detection system.
By CT system, its Scan orientation method or the calibration steps for its Scan orientation according to an embodiment of the invention, the accuracy of sweep limits can be improved, shorten sweep time and also reduce radiation dose.
Accompanying drawing explanation
In order to more thoroughly understand content of the present disclosure, below with reference to following description carried out by reference to the accompanying drawings, in the accompanying drawings:
Fig. 1 shows the composition schematic diagram of an embodiment according to CT system of the present invention;
Fig. 2 shows the schematic flow sheet of the Scan orientation method of the CT system for Fig. 1;
Fig. 3 shows the schematic flow sheet of an embodiment according to the calibration steps for obtaining the transformational relation between two coordinate systems of the present invention;
Fig. 4 shows the schematic flow sheet obtaining specified point the caliberator coordinate data under the space coordinates of CT scan and imaging device from CT view data according to an embodiment of the invention; And
Fig. 5 shows according to an embodiment of the invention three-dimensional from 3D() view data of shot by camera obtains the schematic flow sheet of the coordinate data of specified point under the space coordinates of 3D video camera caliberator.
Detailed description of the invention
Describe in detail below with reference to the accompanying drawings and be used for realizing specific embodiments of the invention.But should be understood that, the present invention is not limited to following specific embodiment.
Fig. 1 shows the composition schematic diagram of an embodiment according to CT system of the present invention.In this embodiment, CT system comprises 3D video camera 2, sick bed 3, CT scan and imaging device 4 and processing unit (not shown in FIG.).Sick bed 3 is the adjustable and removable sick bed that can move horizontally of the height of bed, for support level patient to be scanned thereon.3D video camera 2 is for taking the image of the patient to be scanned be positioned on sick bed 3.3D video camera mentioned herein refers to the video camera that simultaneously can gather RGB data and depth data.Usually, 3D video camera 2 is arranged in the space above sick bed 3, such as, is arranged on the ceiling 1 above sick bed (as shown in Figure 1).The acquisition range of 3D video camera 2 has certain subtended angle.The position of video camera 2 in CT system and setting angle θ can be adjusted, to cover whole sick bed scope according to the length of the subtended angle size of video camera 2 and sick bed 3.
CT scan and imaging device 4 carry out CT scan and imaging for treating scan patients.Processing unit communicates with imaging device 4 with CT scan with 3D video camera 2, the human anatomic structure information of its Image Acquisition patient to be scanned captured by 3D video camera 2 is to determine scope to be scanned, and ordinate transform is carried out to the scope to be scanned under the space coordinates of 3D video camera, thus the scope to be scanned under obtaining the space coordinates of CT scan and imaging device, use for CT scan and imaging device 4.CT scan and imaging device 4 are treated scan patients according to the scope to be scanned under the space coordinates of the CT scan after conversion and imaging device and are carried out scanning and imaging.
In order to the human body image captured by video camera 2 determines scope to be scanned, processing unit comprise for the image applications image recognition technology captured by video camera 2 to obtain the pattern recognition device of the human anatomic structure information of patient to be scanned.After image recognition, processing unit determines scope to be scanned based on the human anatomic structure information of the patient to be scanned illustrated, thus the scope to be scanned under obtaining the space coordinates of 3D video camera.Afterwards, under processing unit needs that this scope to be scanned is transformed into the space coordinates of CT scan and imaging device.For this reason, processing unit comprises further: coordinate system calibrating installation, for the transformational relation calibrating to obtain therebetween to the space coordinates of 3D video camera and the space coordinates of CT scan and imaging device; And ordinate transform device, under the scope to be scanned under the space coordinates of 3D video camera being transformed into the space coordinates of CT scan and imaging device according to the described transformational relation obtained by calibration.
In one embodiment, coordinate system calibrating installation obtains the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device, as the transformational relation between them by calibration.Alternatively, coordinate system calibrating installation calculates affine transition matrix between two kinds of coordinate systems according to the 3D rendering data about caliberator from 3D video camera and the CT scan data about this caliberator from CT scan and imaging device.
Fig. 2 shows the schematic flow sheet of an embodiment of the Scan orientation method for the CT system shown in Fig. 1.In step 201, the image of the patient to be scanned be positioned on the sick bed of CT is obtained by 3D video camera.Afterwards, obtained the human anatomic structure information (step 202) of patient to be scanned from captured image by image recognition technology.In step 203, on captured patient image to be scanned, determine scope to be scanned according to human anatomic structure information, thus the scope to be scanned under obtaining the space coordinates of video camera.Then, ordinate transform is carried out with the scope (step 204) to be scanned under the space coordinates obtaining CT scan and imaging device.Like this, CT scan and imaging device just can be treated scan patients and carry out scanning and imaging according to the scope to be scanned be switched under its space coordinates.
In the embodiment of CT system recited above and Scan orientation method thereof, from traditional to carry out the method for Scan orientation (determining scope to be scanned) by CT prescan different, CT system of the present invention and Scan orientation method thereof are by video camera shooting patient image and carry out image recognition and determine scope to be scanned, and carry out space coordinates conversion with the scope to be scanned under the space coordinates obtaining CT scan and imaging device to determined scope to be scanned afterwards.Therefore, by CT system according to the present invention and/or its Scan orientation method, the accuracy of sweep limits can be improved, shorten whole sweep time and reduce the radiation dose to patient.
In superincumbent description, refer to the conversion of the space coordinates being tied to CT scan and imaging device from the space coordinates of video camera.Before carrying out this conversion, first should determine the transformational relation between these two kinds of space coordinates, such as, calculate the affine transition matrix between these two kinds of space coordinates.The determination of transformational relation realizes according to calibration steps of the present invention.Therefore, calibration steps according to the present invention realizes the important step according to Scan orientation method of the present invention.Accurate space coordinates transformational relation can be obtained by calibration steps according to the present invention, thus desirable Scan orientation effect can be obtained.The precision that this calibration process can reach will directly affect the precision of CT system scan location.
Should be understood that, although be described for CT system in the following description, but other detection system is also may be used for according to calibration steps of the present invention, set up the ordinate transform relation between 3D video camera and other checkout equipments, solve the space coordinates interaction problems between 3D video camera and multiple checkout equipment.
The schematic flow sheet of an embodiment of the calibration steps of the transformational relation between Fig. 3 shows according to two or more coordinate systems for obtaining in detection system of the present invention.In this embodiment, calibration steps is used to CT system, this CT system comprises sick bed, be arranged on above sick bed space in 3D video camera and CT scan and imaging device.Calibration needs collection two class data, i.e. the captured image data of the CT scan data of such as DICOM data that obtain of CT scan and the such as video data and depth data of camera acquisition.Distance the so-called degree of depth refers to from the photographic head of 3D video camera to measured point.Usually, the actual scope of application is 1m to 2.6m.In captured data, the degree of depth of each pixel and rgb value are one to one.In order to enable the transformational relation of the such as affine transition matrix of trying to achieve be suitable in larger spatial dimension, need to gather under the different height of bed and horizontal-shift of sick bed.
Assembling CT system, comprise adjust 3D video camera installation site and setting angle after, start calibration.First, in step 301, caliberator is positioned on sick bed.Caliberator is furnished with at least one specified point, is identified in the image that this specified point had both been taken at 3D video camera by image recognition technology, identified in the CT image that can be formed in CT scan and imaging device again.
Then, in step 302, sick bed is set in certain height of bed.Then, CT scan and imaging device is utilized to carry out CT scan (step 303) to the caliberator on sick bed, to obtain the CT image of caliberator.3D video camera is also utilized to take (step 304) the caliberator on sick bed, to obtain the shooting image of caliberator.Although be depicted as after step 303 by step 304 in figure 3, be understandable that, their order is not fixing, can first perform step 304 yet and perform step 303 again, or both carries out simultaneously.
In order to obtain abundant data, the caliberator on sick bed is carried out horizontal-shift (step 305) relative to 3D video camera and CT scan and imaging device.In one embodiment, the horizontal-shift of caliberator relative to 3D video camera and CT scan and imaging device is realized by the caliberator moved horizontally on sick bed instead of Mobile sickbed.Which ensure that the displacement can not introducing other directions in operation.Then, the shooting image (step 304) of the caliberator after 3D camera acquisition horizontal-shift is utilized.Like this, step 305 and 304 is repeated to obtain abundant data.After or before carrying out horizontal-shift operation (step 305) and/or shooting operation (step 304) at every turn, first can judge obtained data whether enough (step 306), namely the photographed data of the described caliberator of the abundant horizontal extent covering sick bed whether is obtained, such as, whether the horizontal-shift of sick bed is throughout all horizontal mobile range of sick bed.If data deficiencies is enough, then continue horizontal-shift operation and shooting operation.If data enough, then enter next step 307.Alternatively, the shooting of 3D video camera can be carried out constantly, even if also do not stop during the relative level skew of adjustment caliberator.In figure 3, after inquiry step 306 is shown in step 304 and 305, but as mentioned above, it also can perform after step 304 or step 305, or performs before step 304 or step 305.
In step 307, for obtaining the abundant data covering vertical direction, the height of bed of sick bed is changed.Then step 303-306 is repeated, until be judged as the CT view data and the captured image data (step 308) that obtain the abundant vertical range covering sick bed.Equally, after in figure 3 step 308 being shown in step 307, but be understandable that, it also can perform before step 307.
By above data acquisition, the corresponding two kind data of caliberator in the space covering enough large horizontal extent and vertical range can be obtained, i.e. captured image data and CT view data.According to these gathered two kinds of corresponding datas, the space coordinates of 3D video camera and the transformational relation (step 309) between CT scan and the space coordinates of imaging device can be calculated.
In one embodiment of the invention, the space coordinates of 3D video camera and the transformational relation between CT scan and the space coordinates of imaging device are solved as affine transition matrix.By gathered data, the corresponding coordinate data of specified point under two space coordinates on caliberator when caliberator is in each locus (each locus corresponds to certain sick bed height of bed and sick bed horizontal offset positions) can be obtained.For each locus corresponding to certain sick bed height of bed and sick bed horizontal offset positions, all there is the coordinate data of specified point under the space coordinates of 3D video camera and corresponding coordinate data under the space coordinates of CT scan and imaging device.
If the homogeneous coordinates of i-th specified point under the space coordinates of 3D video camera are:
If the homogeneous coordinates of this specified point under the space coordinates of CT scan and imaging device are:
Space coordinates due to 3D video camera can be passed through the space coordinates of rotation and/or translation CT scan and imaging device and obtain (vice versa), therefore there is the affine transition matrix of a 4*4, make the many groups specified point coordinate collected meet following relational expression:
Wherein, M is the affine transition matrix between Two coordinate system.
For each locus corresponding to certain sick bed height of bed and sick bed horizontal offset positions, the coordinate data of specified point under the space coordinates of 3D video camera directly can be obtained from the view data of shot by camera by image recognition.But, owing to only gathering a CT image for each sick bed height of bed as mentioned above, therefore, the coordinate data under the space coordinates of CT imaging and scanning device of specified point for the horizontal level horizontal-shift of sick bed (be in the embodiment show in figure 3 be the horizontal level of zero) of each sick bed height of bed and sick bed can only be obtained from CT view data.In order to obtain the coordinate data under the space coordinates of CT scan and imaging device of specified point for each sick bed height of bed and sick bed horizontal offset positions, also need the obtained CT coordinate data for each sick bed height of bed and sick bed zero level deviation post to add each horizontal-shift data.
Fig. 4 shows the schematic flow sheet obtaining specified point the caliberator coordinate data under the space coordinates of CT scan and imaging device from CT view data according to an embodiment of the invention.
In step 401, utilize Feature Extraction Technology, determine the pixel region of each specified point from CT scan view data.As mentioned above, specified point can be identified in CT image.This is because such as, the material preparing specified point is selected as the density that density is significantly different from adjacent material on caliberator.In one embodiment, by the setting of gray threshold, first the pixel region with specified point identical material can be found in CT image.Then, then pass through Feature Extraction Technology, get rid of the interference of other materials, thus determine the pixel region of specified point.
In step 402, each determined pixel region application is asked to the method for center of gravity, to determine the coordinate (x of each specified point in the CT scan image comprising this specified point
i', y
i').
In step 403, for each specified point, according to the parameter of CT scan image and the coordinate (x of this specified point in this CT scan image that comprise this specified point
i', y
i') try to achieve the three-dimensional coordinate data (x of this specified point under the space coordinates of CT scan and imaging device
i', y
i', z
i').Such as, owing to including the parameter of this image in each CT image of collecting, the height of bed etc. of sick bed.Therefore can utilize parameter and the coordinate position of specified point in CT image of CT image, calculate the three-dimensional coordinate data of specified point under CT coordinate system (space coordinates of CT scan and imaging device).
As mentioned above, this three-dimensional coordinate data is the data of specified point when certain sick bed height of bed and the skew of sick bed zero level.In order to obtain the coordinate data of each horizontal-shift for sick bed, need to add corresponding horizontal-shift (step 404).Suppose that direction that sick bed moves horizontally is the Z-direction of CT coordinate system, then specified point is (x for the coordinate data of each horizontal-shift of sick bed
i', y
i', z
i'+Δ z
i).Wherein, Δ z
ifor the horizontal-shift vector of sick bed, its value is identical with Z axis positive direction or mutually just getting on the contrary or getting negative according to the moving direction of sick bed.
Fig. 5 shows the schematic flow sheet that the view data from 3D shot by camera according to an embodiment of the invention obtains the coordinate data of specified point under the space coordinates of 3D video camera caliberator.In the present embodiment, the view data of 3D shot by camera is video data.Be understandable that, 3D video camera also can take the still image corresponding with each sick bed height of bed and sick bed horizontal offset positions (comprising the position that horizontal-shift is zero).As shown in Figure 5:
In step 501, from the video data of 3D video camera shooting, the RGB image corresponding with each sick bed height of bed and each horizontal-shift (comprising the position that horizontal-shift is zero) and point cloud chart picture is extracted.Video camera can be subject to extraneous interference in the process of image data.For ensureing the reliability of data, according to one embodiment of present invention, when extracting corresponding with each sick bed height of bed and horizontal-shift RGB image from video data, will be averaged to the RGB image within the scope of a period of time RGB image obtained as this corresponding RGB image.Described a period of time scope refers to a period of time centered by the moment of taking this corresponding RGB picture frame.In addition, according to one embodiment of present invention, extract from video data the point cloud chart corresponding with each sick bed height of bed and each horizontal-shift as time, using ask intermediate value to obtain to the point cloud chart picture within the scope of a period of time point cloud chart picture as this corresponding point cloud chart picture, wherein said a period of time scope refers to a period of time centered by the moment of taking this corresponding point cloud chart picture.
In step 502, the 2-d index of each specified point in each RGB image is identified.In one embodiment, the findchesscorner () function in OpenCV is utilized to find the 2-d index (x of each specified point in each RGB image
i, y
i).OpenCV is the data base of 3D video camera, its full name is computer vision storehouse of increasing income (Open Source Computer Vision Library), be a cross-platform computer vision library of issuing based on (increasing income), may operate in the operating systems such as Linux, Windows and Mac OS.Be understandable that, scope of the present invention be not limited to listed above go out OpenCV data base and built-in function findchesscorner (), those skilled in the art will recognize that and any applicable algorithmic tool and/or built-in function can be used to find the 2-d index of each specified point in each RGB image.
In step 503, in corresponding point cloud chart picture, the three-dimensional coordinate data (x of this specified point under the space coordinates of described 3D video camera is tried to achieve according to the 2-d index of each specified point in each RGB image
i, y
i, z
i).
By the above-described embodiment obtaining the coordinate data of specified point under two coordinate systems for each locus, for each locus that specified point travels through, a pair coordinate data laid respectively under two coordinate systems can be obtained.We by these coordinate datas to called after " point coordinates to ".
In order to accurately try to achieve the space coordinates of the 3D video camera being applicable to larger space scope and the affine transition matrix between CT scan and the space coordinates of imaging device, acquire a large amount of data in a calibration process.Because data volume is comparatively large, at data sampling and processing with ask some mistakes of introducing artificial possibly in the process of specified point coordinate, thus affect the final result of affine transition matrix.Therefore, before utilizing these data to solve affine transition matrix, validation verification can be carried out to these data alternatively.
Checking Main Basis be: between specified point from specified point, corresponding varying level skew video data between and the corresponding different height of bed data between there is certain spatial relation in the X, Y, Z direction.Draw the coordinate figure on three directions respectively, will the coordinate curve that there is certain rule be obtained.By finding the abnormal coordinate points that exists in curve and being rejected in time, the degree of accuracy of the result of calculation of affine transition matrix can be guaranteed.
According to one embodiment of present invention, the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device is tried to achieve by following formula:
M=Y/X，
Wherein, M is described affine transition matrix, X is the matrix be made up of the coordinate data under the space coordinates of 3D video camera of all point coordinates centerings, and Y is the matrix be made up of the coordinate data under the space coordinates of CT scan and imaging device of all point coordinates centerings.
Affine transition matrix M can be obtained by above-described embodiment.Whether can realize the correct conversion of camera coordinate system to CT coordinate system for this matrix M, and whether its precision can meet the demand of practical application, can perform certain method to test.
In one embodiment, the data collected can be divided into two groups, one group of data is used for solving of M, and another group data are used for the validation verification of calibration result.Specified point coordinates matrix X and Y is drawn from rear one group of data.Utilize the Metzler matrix of trying to achieve according to last group of data to be changed to Y by X, then transformed error is:
Δ=M·X-Y
Utilize the methods such as rectangular histogram, the error of Δ on X, Y, Z tri-directions is analyzed respectively, M conversion accuracy in three directions can be obtained respectively.Thus can judge, whether M meets the requirement of practical application.
In fact, the resolution of 3D video camera is not constant.Usually, along with the increase of detecting distance, resolution can be worse and worse.This has very bad impact to the degree of accuracy of the output of 3D video camera.Therefore, the affine transition matrix obtained by formula is above only applicable in certain spatial dimension, and the size of spatial dimension is determined by the ability of photographic head.
In order to obtain more accurate transition matrix, in one embodiment of the invention, local affine invariant transition matrix M is defined
local.In this embodiment, comprising the selected multiple selected coordinate position kept at a certain distance away in all spatial dimensions corresponding to the locus of each sick bed height of bed and sick bed horizontal-shift.For each selected coordinate position, obtain the local affine invariant transition matrix M corresponding to this selected coordinate position by following formula
local:
M
local=Y
local/X
local，
Wherein X
localfor being dropped on the matrix that the coordinate data under the space coordinates of 3D video camera of selected coordinate position in the spatial dimension of preset distance forms with this by point coordinates centering position, Y
localfor being dropped on the matrix that with this selected coordinate position coordinate data under the space coordinates of CT scan and imaging device in the spatial dimension of this preset distance forms by point coordinates centering position.
Can try to achieve a local affine invariant transition matrix corresponding to each selected coordinate position, this local affine invariant transition matrix is applicable to all coordinate positions of selected coordinate position in the spatial dimension of described preset distance with this.Like this, the multiple local affine invariant transition matrixes corresponding with described multiple selected coordinate position are just obtained.
In one embodiment of the invention, matching can be carried out further to obtained multiple local affine invariant transition matrixes, thus obtain the function F of affine transition matrix about arbitrary coordinate position
m(X, Y, Z).
Can by tried to achieve such as affine transition matrix M or affine transition matrix function F
mthe ordinate transform relational storage of (X, Y, Z), in CT system, is prepared against during the Scan orientation stage of CT system for the ordinate transform of scope to be scanned.
By the CT system according to any embodiment of the present invention, its Scan orientation method or the calibration steps for its Scan orientation, the accuracy of sweep limits can be improved, shorten sweep time, reduce equipment operating step and reduce radiation dose.
Although describe specific embodiments of the invention by reference to the accompanying drawings above-mentioned, those skilled in the art without departing from the spirit and scope of the present invention, can carry out various change, amendment and equivalent substitution to the present invention.These change, amendment and equivalent substitution all mean and fall within spirit and scope that the claim of enclosing limits.
Claims (22)
1. a CT system, comprising:
Sick bed, for support level patient to be scanned thereon;
CT scan and imaging device, carry out CT scan and imaging for treating scan patients;
3D video camera, for taking the 3D rendering of the patient to be scanned be positioned on sick bed; And
Processing unit, for obtaining the human anatomic structure information of patient to be scanned according to the 3D rendering of 3D shot by camera to determine scope to be scanned, and under the scope to be scanned under the space coordinates of 3D video camera is transformed into the space coordinates of CT scan and imaging device, wherein said CT scan and imaging device are treated scan patients according to the scope to be scanned under the space coordinates of changed CT scan and imaging device and are carried out scanning and imaging.
2. CT system according to claim 1, wherein said processing unit comprises further:
Pattern recognition device, for obtaining the human anatomic structure information of patient to be scanned by image recognition technology according to the 3D rendering of 3D shot by camera.
3. CT system according to claim 1, wherein said processing unit comprises further:
Coordinate system calibrating installation, for the transformational relation calibrating to obtain therebetween to the space coordinates of 3D video camera and the space coordinates of CT scan and imaging device; And
Ordinate transform device, under being transformed into the space coordinates of CT scan and imaging device according to the described transformational relation obtained by calibration by the scope to be scanned under the space coordinates of 3D video camera.
4. CT system according to claim 3, wherein said transformational relation is the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device.
5. CT system according to claim 3, wherein said coordinate system calibrating installation is according to the 3D video data about caliberator from 3D video camera and obtain the space coordinates of 3D video camera and the transformational relation between CT scan and the space coordinates of imaging device from the CT scan data about this caliberator of CT scan and imaging device.
6., for a Scan orientation method for CT system, comprising:
The 3D rendering of the patient to be scanned be positioned on the sick bed of CT is obtained by 3D video camera;
Image recognition technology is utilized to identify obtained described 3D rendering, to obtain the human anatomic structure information of patient to be scanned;
On described 3D rendering, scope to be scanned is determined based on described human anatomic structure information; And
Under scope described to be scanned under the space coordinates of described 3D video camera is transformed into the space coordinates of CT scan and imaging device.
7. Scan orientation method according to claim 6, wherein, comprises under the scope described to be scanned under the space coordinates of described 3D video camera is transformed into the space coordinates of CT scan and imaging device:
The space coordinates of 3D video camera and the space coordinates of CT scan and imaging device are calibrated to the transformational relation obtained therebetween; And
Under the scope to be scanned under the space coordinates of 3D video camera being transformed into the space coordinates of CT scan and imaging device according to the described transformational relation obtained by calibration.
8. Scan orientation method according to claim 7, wherein, described transformational relation is the space coordinates of 3D video camera and the affine transition matrix between CT scan and the space coordinates of imaging device.
9. Scan orientation method according to claim 7, wherein, described calibration is realized by following process: according to the 3D video data about caliberator from 3D video camera and obtain the space coordinates of 3D video camera and the transformational relation between CT scan and the space coordinates of imaging device from the CT scan data about this caliberator of CT scan and imaging device.
10. for a calibration steps for the space coordinates conversion in detection system, described detection system comprises examinating couch for carrying caliberator, be arranged on above examinating couch space in 3D video camera and checkout equipment, described calibration steps comprises:
A) caliberator is positioned on examinating couch;
B) height of bed of examinating couch is set;
C) checkout equipment is utilized to detect to obtain the data of the detected image of caliberator to the caliberator on examinating couch;
D) 3D video camera is utilized to take to obtain the data of the shooting image of caliberator to the caliberator on examinating couch;
E) caliberator is carried out horizontal-shift relative to 3D video camera and checkout equipment;
F) steps d is repeated) and e), until obtain the data of the shooting image of the described caliberator of the abundant horizontal extent covering examinating couch;
G) the examinating couch height of bed is changed;
H) step c is repeated) to g), until obtain the data of shooting image and the data of detected image of the described caliberator of the abundant vertical range covering examinating couch; And
I) utilize the data of the shooting image of the data obtaining the detected image of described caliberator by described checkout equipment and the described caliberator obtained by 3D video camera, calculate the relation between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment.
11. calibration steps according to claim 10, wherein, described detection system is CT system, and described examinating couch is removable sick bed, and described checkout equipment is CT scan and imaging device, and the data of described detected image are the data of CT scan image.
12. calibration steps according to claim 10, wherein step I) comprise further:
I-1) coordinate data of specified point under the space coordinates of described checkout equipment on caliberator according to the data identification of described detected image;
I-2) coordinate data of obtained described specified point is added horizontal-shift described in each respectively, to obtain the coordinate data of described specified point in the covering described horizontal extent of examinating couch and the space of described vertical range under the space coordinates of described checkout equipment;
The coordinate data of the described specified point i-3) on caliberator according to obtained described captured image data identification, to obtain the coordinate data of described specified point in the covering described horizontal extent of examinating couch and the space of described vertical range under the space coordinates of described 3D video camera; And
I-4) according to the coordinate data of described specified point under the space coordinates of described checkout equipment and the coordinate data under the space coordinates of described 3D video camera, the relation between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment is calculated.
13. calibration steps according to claim 12, wherein said step I-1) comprise further:
Utilize Feature Extraction Technology, determine the pixel region of described specified point according to described detection data;
Each determined pixel region application is asked to the method for center of gravity, to determine the coordinate of described specified point in the detected image comprising described specified point; And
The parameter of detected image and the coordinate of described specified point in this detected image according to comprising described specified point try to achieve the three-dimensional coordinate data of each described specified point under the space coordinates of described checkout equipment.
14. calibration steps according to claim 13, the parameter of wherein said detected image comprises the height of bed of examinating couch when obtaining described detected image.
15. calibration steps according to claim 12, wherein said step I-3) comprise further:
The RGB image corresponding with each horizontal-shift of each examinating couch height of bed and caliberator and point cloud chart picture is extracted from the captured image data of described 3D video camera shooting;
Identify the 2-d index of each described specified point in RGB image; And
In corresponding point cloud chart picture, the three-dimensional coordinate data of this specified point under the space coordinates of described 3D video camera is tried to achieve according to the 2-d index of each described specified point.
16. calibration steps according to claim 15, wherein when extracting the RGB image corresponding with each horizontal-shift of each examinating couch height of bed and caliberator from captured image data, to be averaged to the RGB image within the scope of a period of time RGB image obtained as described corresponding RGB image, wherein said a period of time scope refers to a period of time centered by the moment of taking this corresponding RGB image.
17. calibration steps according to claim 15, wherein extract from captured image data the point cloud chart corresponding with each horizontal-shift of each examinating couch height of bed and caliberator as time, using ask intermediate value to obtain to the point cloud chart picture within the scope of a period of time point cloud chart picture as described corresponding point cloud chart picture, wherein said a period of time scope refers to a period of time centered by the moment of taking this corresponding point cloud chart picture.
18. calibration steps according to claim 12, the pass between the space coordinates of wherein said 3D video camera and the space coordinates of described checkout equipment is the affine transition matrix between them, wherein tries to achieve described affine transition matrix by following formula:
M=Y/X，
Wherein, M is described affine transition matrix, and X is the matrix of the coordinate data composition of described specified point under the space coordinates of described 3D video camera, and Y is the matrix of the coordinate data composition of described specified point under the space coordinates of described checkout equipment.
19. calibration steps according to claim 12, wherein said step I-4) comprising:
The selected multiple selected coordinate position kept at a certain distance away in the covering described horizontal extent of examinating couch and the space of described vertical range;
Each selected coordinate position in described multiple selected coordinate position:
Solve the local affine invariant transition matrix M between the space coordinates of described 3D video camera and the space coordinates of described checkout equipment
local=Y
local/ X
local, wherein X
localthe matrix that with this selected coordinate position coordinate data under the space coordinates of described 3D video camera in the spatial dimension of preset distance forms is dropped on, Y for described specified point
localthe matrix that with this selected coordinate position coordinate data under the space coordinates of described checkout equipment in the spatial dimension of this preset distance forms is dropped on for described specified point.
20. calibration steps according to claim 19, also comprise: carry out matching to tried to achieve multiple local affine invariant transition matrixes corresponding with described multiple selected coordinate position, thus obtain the function F of affine transition matrix about arbitrary coordinate position
m(X, Y, Z).
21. calibration steps according to claim 10, wherein in step I) also comprise before: validation verification is carried out to the data of obtained detected image and the data of shooting image, and rejects not by the abnormal data of validation verification.
22. calibration steps according to claim 10, also comprise: by the relational storage between the space coordinates of obtained described 3D video camera and the space coordinates of described checkout equipment in described detection system.
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