CN105496438B - Multi-modality medical image coincidence status detection method and device - Google Patents
Multi-modality medical image coincidence status detection method and device Download PDFInfo
- Publication number
- CN105496438B CN105496438B CN201511008315.1A CN201511008315A CN105496438B CN 105496438 B CN105496438 B CN 105496438B CN 201511008315 A CN201511008315 A CN 201511008315A CN 105496438 B CN105496438 B CN 105496438B
- Authority
- CN
- China
- Prior art keywords
- space
- image
- spatial
- markers
- modality
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 239000003550 marker Substances 0.000 claims abstract description 70
- 238000002059 diagnostic imaging Methods 0.000 claims abstract description 35
- 238000013519 translation Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 15
- 238000012636 positron electron tomography Methods 0.000 description 36
- 238000010586 diagram Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 4
- 238000003759 clinical diagnosis Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000002600 positron emission tomography Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012879 PET imaging Methods 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
- A61B6/035—Mechanical aspects of CT
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/037—Emission tomography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4417—Constructional features of apparatus for radiation diagnosis related to combined acquisition of different diagnostic modalities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Veterinary Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Pulmonology (AREA)
- Theoretical Computer Science (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The application provides a kind of multi-modality medical image coincidence status detection method and device, a kind of multi-modality medical image coincidence status detection method, applied on multi-modal medical imaging devices, the equipment is scanned the tree-like support device for being equipped with multiple space indicate objects, it include: respectively under the different modalities of multi-modal medical imaging devices, the tree-like support device is scanned, image of the tree-like support device under different modalities is obtained；According to the spatial coordinated information of image coordinate system of the space indicate object under different modalities, judge space indicate object image under different modalities whether in coincidence status.The application can achieve the purpose that detect multi-modality medical image coincidence status based on the image coordinate information of space marker in medical image.
Description
Technical Field
The present application relates to the field of medical imaging technologies, and in particular, to a method and an apparatus for detecting a multi-modal medical image coincidence state.
Background
Integration of multi-modality medical imaging devices is a trend in the development of medical imaging today. Taking a PET/CT (Positron Emission Tomography/Computed Tomography) device as an example, the PET/CT device combines a PET device and a CT device into a whole and shares the same scanning bed and the same image processing workstation, which can fuse a PET image and a CT image together to generate a PET-CT fused image for medical diagnosis.
However, since the medical diagnosis is premised on the requirement of accurate registration of the images of the multi-modal medical imaging apparatus, how to provide a simple and feasible method for detecting the registration state of the multi-modal medical images has become a problem to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the above problems, the present application provides a method and an apparatus for detecting a multi-modal medical image registration state.
Specifically, the method is realized through the following technical scheme:
the application provides a tree strutting arrangement includes:
at least one vertical support bar and at least one horizontal support bar, every vertical support bar is connected with at least one horizontal support bar.
In one embodiment according to the present disclosure, at least one of the at least one vertical support bar is a support bar having a telescopic structure.
According to a specific implementation mode that this application provided, the connection mode of arbitrary two vertical support bars and the horizontal bracing piece that are connected is for dismantling the connection.
In one embodiment according to the present disclosure, at least one end of the at least one transverse strut is provided with a spatial marker having radioactivity.
According to a specific implementation mode that this application proposes, the tree strutting arrangement includes: the length of the first transverse supporting rod is smaller than that of the second transverse supporting rod, the two first transverse supporting rods are arranged at the upper parts of the vertical supporting rods, the second transverse supporting rod is arranged at the middle part of the vertical supporting rod, and the two first transverse supporting rods are arranged at the lower parts of the vertical supporting rods;
one ends of the two first transverse supporting rods at the upper part are respectively vertically arranged at two sides of the vertical supporting rod with different heights and are parallel to each other; the middle part of the second transverse supporting rod is vertically arranged on the vertical supporting rod and is mutually vertical to the two first transverse supporting rods at the upper part; one end of each of the two first transverse supporting rods at the lower part is vertically arranged on the two sides of the vertical supporting rod at different heights, is parallel to each other and is perpendicular to the second transverse supporting rod, and the two first transverse supporting rods at the upper part and the two first transverse supporting rods at the lower part are in the same plane.
The application provides a multi-modal medical image coincidence state detection method, which is applied to multi-modal medical imaging equipment, and the equipment scans any one of the tree-shaped supporting devices provided with a plurality of spatial markers, and the method comprises the following steps:
respectively scanning the tree-shaped supporting device under different modalities of the multi-modality medical imaging equipment to obtain images of the tree-shaped supporting device under different modalities;
and judging whether the images of the space markers are in a superposition state in different modes according to the space coordinate information of the image coordinate systems of the space markers in different modes.
According to a specific embodiment of the present application, the determining whether the spatial marker images are in a superposition state in different modalities according to spatial coordinate information of image coordinate systems of the spatial markers in the different modalities includes:
calculating three-dimensional translation deviation and angle deviation from an image coordinate system of a space marker image in a first modality to an image coordinate system of a space marker image in a second modality according to space coordinate information of the image coordinate system of the space marker in different modalities;
and judging whether the three-dimensional translation deviation and the angle deviation are both in a preset parameter interval, and if so, enabling the space marker images to be in a superposition state under different modalities.
According to a specific embodiment of the present application, the determining whether the spatial marker images are in a superposition state in different modalities according to spatial coordinate information of image coordinate systems of the spatial markers in the different modalities includes:
calculating the offset of the gravity centers of all the space markers in the space marker image under the first modality relative to the gravity centers of all the space markers in the space marker image under the second modality according to the space coordinate information of the image coordinate system of the space markers under different modalities;
and judging whether the offset is smaller than a preset threshold value H, if so, enabling the space marker image to be in a superposition state in different modes.
In one embodiment, the method further comprises:
and under the condition that the spatial marker images are in a non-coincident state under different modalities, adjusting the device coordinates of devices in different modalities in the multi-modality medical device according to at least one deviation parameter in the three-dimensional translation deviation and the angle deviation.
The application provides a multimode medical image coincidence state detection device, is applied to multimode medical imaging equipment on, and this equipment is to the aforesaid arbitrary tree-shaped strutting arrangement who installs a plurality of space marker scan, the device includes:
the scanning module is used for scanning the tree-shaped supporting device respectively in different modes of the multi-mode medical imaging equipment to obtain images of the tree-shaped supporting device in different modes;
and the judging module is used for judging whether the images of the space markers are in a superposition state in different modes according to the space coordinate information of the image coordinate systems of the space markers in different modes.
According to a specific embodiment of the present application, the determining module includes:
the first calculation submodule is used for calculating the three-dimensional translation deviation and the angle deviation from the image coordinate system of the space marker image in the first modality to the image coordinate system of the space marker image in the second modality according to the space coordinate information of the image coordinate system of the space marker in different modalities;
and the first judgment submodule is used for judging whether the three-dimensional translation deviation and the angle deviation are both in a preset parameter interval, and if the three-dimensional translation deviation and the angle deviation are both in the preset parameter interval, the space marker images are in a superposition state under different modalities.
According to a specific embodiment of the present application, the determining module includes:
the second calculation submodule is used for calculating the offset of the gravity centers of all the space markers in the space marker image under the first modality relative to the gravity centers of all the space markers in the space marker image under the second modality according to the space coordinate information of the image coordinate system of the space markers under different modalities;
and the second judgment submodule is used for judging whether the offset is smaller than a preset threshold value H or not, and if the offset is smaller than H, the space marker images are in a superposition state under different modes.
In one embodiment, the apparatus further comprises:
and the adjusting module is used for adjusting the device coordinates of the devices in different modalities in the multi-modality medical device according to at least one deviation parameter of the three-dimensional translation deviation and the angle deviation under the condition that the spatial marker images are in a non-coincident state in different modalities.
Based on the above principle, the embodiment can provide one tree-shaped supporting device capable of installing a plurality of spatial markers with radioactivity, scan the tree-shaped supporting device with a plurality of spatial markers in different modalities of the multi-modality medical imaging apparatus, and determine the image superposition state of the apparatus according to the position difference of the spatial markers in the images in different modalities, thereby achieving the purpose of detecting the superposition state of the multi-modality medical images.
Drawings
FIG. 1 is a block diagram of a tree support apparatus shown in an exemplary embodiment of the present application;
fig. 2 is a structural view of another tree support apparatus according to an exemplary embodiment of the present application;
FIG. 3 is a flow chart illustrating a multi-modality medical image registration status detection method according to an exemplary embodiment of the present application;
fig. 4(a) is an exemplary diagram of an application scenario of a multi-modality medical image registration state detection method according to an exemplary embodiment of the present application;
fig. 4(b) is an exemplary diagram of an application scenario of another multi-modal medical image registration status detection method according to an exemplary embodiment of the present application;
FIG. 5 is a flowchart illustrating one implementation of step 302 of FIG. 3, according to an exemplary embodiment of the present application;
FIG. 6 is a flowchart illustrating another implementation of step 302 of FIG. 3 according to an exemplary embodiment of the present application;
FIG. 7 is a block diagram of a multi-modality medical image registration status detection apparatus according to an exemplary embodiment of the present application;
FIG. 8 is a block diagram of another multi-modality medical image registration status detection apparatus according to an exemplary embodiment of the present application;
FIG. 9 is a block diagram of another multi-modality medical image registration state detection apparatus shown in an exemplary embodiment of the present application;
fig. 10 is a block diagram of another multi-modality medical image registration state detection apparatus according to an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Integration of medical imaging devices is a trend in the development of medical imaging today. Taking a PET/CT device as an example, a PET image and a CT image of a patient can be simultaneously delivered to a physician. In addition, the PET image and the CT image of the patient can be fused together to generate a PET-CT fused image, which is convenient for the clinical diagnosis of doctors, and the precondition of the clinical diagnosis of doctors is that: the imaging of the multi-modality medical imaging equipment is accurately overlapped, namely a PET/CT (positron emission tomography/computed tomography) equipment carries out PET imaging and CT imaging on the same object to obtain a PET image and a CT image which are overlapped as much as possible, so that the multi-modality medical imaging equipment has clinical diagnosis significance. Therefore, how to propose a simple and feasible method capable of detecting the registration state of the multi-modal medical images has become an urgent problem to be solved by those skilled in the art.
In order to solve the above problems, the present application provides a method and an apparatus for detecting a multi-modal medical image registration state. It should be noted that the images obtained by the multi-modality medical imaging apparatus can be regarded as being obtained by the scanned object under the field-of-view coordinate system of the apparatus, and the apparatus is in an ideal state of center alignment (without considering the deformation of the bed plate), and the spatial positions of the scanned object reflected by the images obtained by scanning under different modalities should be completely coincident. In view of this, the present application may obtain images of the scanned object in different modalities by scanning the scanned object, and then obtain the image registration state of the device according to the spatial position matching degree of the images of the scanned object in different modalities.
Based on the above principle, in one possible implementation manner, the present application proposes a tree-shaped support device as a scanned object, so that a multi-modal medical imaging apparatus scans the tree-shaped support device, and analyzes an image registration state of the apparatus according to images of the tree-shaped support device in different modalities of the apparatus.
First, a tree support device proposed in the present application will be described.
The application provides a tree strutting arrangement includes:
at least one vertical supporting rod and at least one horizontal supporting rod, every vertical supporting rod can dismantle or fixed connection with at least one horizontal supporting rod. For easy understanding, fig. 1 is taken as an example to describe the tree-shaped supporting device provided by the present application, in fig. 1, the vertical supporting rod is detachably connected to the horizontal supporting rod, and the tree-shaped supporting device shown in fig. 1 includes: a vertical support bar 1, four first horizontal bracing pieces 2 and a second horizontal bracing piece 3, wherein, the length of first horizontal bracing piece 2 is less than the length of second horizontal bracing piece 3, and two first horizontal bracing pieces 2 are installed on the upper portion of this vertical support bar 1, and the middle part at this vertical support bar 1 is installed to second horizontal bracing piece 3, and the lower part at this vertical support bar 1 is installed to two first horizontal bracing pieces 2. Because the installation parts of the vertical support rods 1 and the transverse support rods 2 in the embodiment are detachable, the subsequent disassembly and assembly are facilitated.
One ends of two first transverse supporting rods 2 at the upper part of the vertical supporting rod 1 are respectively vertically arranged at two sides of the vertical supporting rod 1 with different heights and are parallel to each other; the middle part of the second transverse supporting rod 3 is vertically arranged on the vertical supporting rod 1 and is mutually vertical to the two first transverse supporting rods 2 at the upper part of the vertical supporting rod 1; one end of two first horizontal supporting rods 2 at the lower part of the vertical supporting rod 1 is respectively vertically arranged at two sides of the vertical supporting rod 1 with different heights, is parallel to each other and is perpendicular to the second horizontal supporting rod 3, and the two first horizontal supporting rods 2 at the upper part and the two first horizontal supporting rods 2 at the lower part are in the same plane.
In this embodiment, vertical support rod 1 and horizontal bracing piece 2, 3 all adopt detachable connected mode to be connected, and vertical support rod further has the telescopic structure, and consequently vertical support rod's in this embodiment height is adjustable, can match different height of measurement, and the practicality is stronger. In addition, it should be noted that fig. 1 in this embodiment only shows one combination and connection manner of the vertical support rod and the horizontal support rod, but is not limited to the above connection manner, and the combination and connection manner of the vertical support rod and the horizontal support rod in this embodiment is not limited, and any possible combination and connection manner may be applied to this embodiment.
As can be seen from the above embodiments, the tree-shaped support device provided by this embodiment occupies a smaller space volume, and therefore, the attenuation of γ rays can be reduced; in addition, the device does not limit the placing position of the space marker, namely the placing position of the space marker can be set according to requirements, so that the device can adapt to different test scenes and has strong practicability; in a preferred embodiment, the apparatus can also disperse the spatial markers as much as possible within the field of view of the multi-modality medical imaging device, making the measurement more accurate.
Considering that in practical application, the bed board may have a certain deformation, therefore, it is preferable to use a lighter-weight tree-shaped support device as the scanned object when performing detection, and in addition, in order to reduce the probability of scattering and attenuating gamma rays by the object, the density of the tree-shaped support device cannot be too high, and the volume of the tree-shaped support device cannot be too large.
In another embodiment of the present application, at least one end of the lateral support bar is provided with a spatial marker having radioactivity. In addition, the spatial markers in this embodiment also need to have a certain density in order to be distinguished from air. The position of the spatial marker in the embodiment can be set according to actual needs so as to adapt to the visual field of the multi-modal medical imaging equipment, for example, the spatial marker is arranged at the positions of the transverse supporting rod in the up-down direction, the left-right direction and the front-back direction, so that the spatial test layout is convenient; in addition, in order to prevent the spatial marker from moving and affecting the measurement result, the pressing plate may be selected to fix the spatial marker, and in practical application, glue or a rubber band may be used instead of the pressing plate, which is not limited in this embodiment.
For the convenience of understanding, the use of the tree-shaped supporting device proposed in the present application is further described with reference to fig. 2, which is a diagram that a plurality of spatial markers 4 (only 6 spatial markers are shown in fig. 2, and in practical applications, the number of spatial markers can be freely set) are mounted on the first transverse supporting rod 2 and the second transverse supporting rod 3 of the tree-shaped supporting device shown in fig. 1, and in practical use, the tree-shaped supporting device shown in fig. 2 can be respectively placed in each modality of the multi-modality medical imaging apparatuses for scanning.
After the above tree-shaped support device is introduced, a method for detecting a multi-modal medical image registration state by means of the above tree-shaped support device with a plurality of spatial markers installed therein provided by the present application is introduced next.
As shown in fig. 3, fig. 3 is a flowchart of a multi-modality medical image registration state detection method according to an exemplary embodiment of the present application, applied to a multi-modality medical imaging apparatus that scans any one of the tree-shaped support devices with multiple spatial markers installed thereon, where the method may include:
in step 301, the tree-shaped supporting device is scanned in different modalities of the multi-modality medical imaging apparatus, so as to obtain images of the tree-shaped supporting device in different modalities.
For convenience of understanding, taking the PET/CT apparatus as an example, and referring to fig. 4(a) and 4(b), step 301 is described, in which the tree-shaped support device with the plurality of spatial markers mounted thereon is moved into the CT field of the PET/CT apparatus to acquire a CT image, and the tree-shaped support device with the plurality of spatial markers mounted thereon is moved into the PET field of the PET/CT apparatus to acquire a PET image.
It should be noted that, in order to avoid inaccurate measurement results, when the spatial markers are placed on the tree-shaped support device, it is necessary to ensure that the spatial markers on the tree-shaped support device fall within the CT field of view and the PET field of view of the PET/CT apparatus.
In step 302, it is determined whether the spatial marker images are in a superimposed state in different modalities according to the spatial coordinate information of the image coordinate systems of the spatial markers in the different modalities.
It can be understood that, knowing the coordinates of several points in two coordinate systems, the translation and rotation relationship of the two coordinate systems can be found according to the transformation matrix of the coordinate systems. Accordingly, in an embodiment of the present application, the determining the overlapping state of the images may be based on a translation and rotation relationship between two coordinate systems, as shown in fig. 5, and the step 302 may include:
in step 302a, a three-dimensional translational deviation and an angular deviation from an image coordinate system of a spatial marker image in a first modality to an image coordinate system of a spatial marker image in a second modality are calculated according to spatial coordinate information of the image coordinate systems of the spatial markers in different modalities.
Still taking the PET/CT apparatus as an example, the present embodiment will be described, and the present embodiment may be based on the relational expression between the PET image coordinate system and the CT image coordinate system:
wherein (x)CT，yCT，zCT) Is the three-dimensional coordinate of the spatial marker in the CT image, (x)PT，yPT，zPT) Is the three-dimensional coordinate, T, of a spatial marker in a PET imagex、Ty、TzX, y, z translation deviations, theta, from the PET image coordinate system to the CT image coordinate system, respectivelyx、θy、θzThe angular deviations around x, y and z from the PET image coordinate system to the CT image coordinate system respectively;
since when theta is equal toxVery small, there is sin θx≈θx，cosθx≈1，θy、θzSimilarly, therefore when θx、θy、θzWhen the values are all very small, the above relation (1) can be simplified approximately to obtain the following relation:
further, let
The above equation (3) is converted into an optimal solution for solving the following relation according to the least square method:
wherein,are respectively Tx、Ty、Tz、θx、θy、θz(T) conjugationx,Ty,Tz,θx,θy,θz)∈R6Representing a six-dimensional space vector, FTA transposed matrix that is F;
the above relation (4) is converted to solve the following linear equation system:
wherein,as the barycentric coordinates of the spatial marker i in the PET image, (x)CTi，yCTi，zCTi) The barycentric coordinates of the spatial markers i in the CT image are shown, N is the total number of spatial markers installed on the tree-shaped supporting device, and i is 1 … N.
In this step, the relationship (5) can be followed
Calculating x, y and z translation deviation T from PET image coordinate system to CT image coordinate systemx、Ty、TzAnd angular deviation theta around x, y, zx、θy、θz。
In step 302b, it is determined whether the three-dimensional translational deviation and the angular deviation are both within a preset parameter interval, and if both are within the preset parameter interval, the spatial marker images are in a superposition state in different modalities.
Still taking PET/CT equipment as an example, the x, y and z translation deviation T from the PET image coordinate system to the CT image coordinate system is calculatedx、Ty、TzAnd angular deviation theta around x, y, zx、θy、θzAnd then, further comparing whether the 6 parameters are all in the corresponding preset parameter intervals one by one, wherein if the 6 parameters are all in the corresponding preset parameter intervals, the PET image and the CT image of the PET/CT equipment are in a superposed state.
The parameter T is defined asx、Ty、Tz、θx、θyAnd thetazEach of the parameters in the above description corresponds to a corresponding preset parameter interval, and in practical application, the six preset parameter intervals may be set, which is not limited in this embodiment.
In another embodiment of the present application, the determining the coincidence state of the images based on the barycentric distances of all the spatial markers may be performed, as shown in fig. 6, and the step 302 may include:
in step 302c, the shift amount of the center of gravity of all spatial markers in the spatial marker image in the first modality relative to the center of gravity of all spatial markers in the spatial marker image in the second modality is calculated according to the spatial coordinate information of the image coordinate system of the spatial markers in different modalities.
The present embodiment will be described by taking a PET/CT apparatus as an example, and the present embodiment can be based on the relational expression
Calculating barycentric coordinates (x) of all spatial markers in PET imageC PT，yC PT，zC PT) Whereinis the barycentric coordinate of a space marker i in a PET image, N is the total number of the space markers installed on the tree-shaped supporting device, and i is 1 … N;
according to the relation
Calculating barycentric coordinates (x) of all spatial markers in CT imageC CT，yC CT，zC CT) Wherein (x)CTi，yCTi，zCTi) The gravity center coordinates of the spatial marker i in the CT image are obtained;
according to the relation
The shift D of the center of gravity of all spatial markers in the PET image relative to the center of gravity of all spatial markers in the CT image is calculated.
The larger the distance difference D, the worse the image registration state of the PET/CT apparatus, and the smaller D, the better the image registration state of the PET/CT apparatus.
In step 302d, it is determined whether the offset is smaller than a preset threshold H, and if so, the spatial marker images are in a superposition state in different modalities.
In practical application, a threshold H can be set, and the image registration state of the PET/CT apparatus is adjusted when the offset is greater than H.
As can be seen from the above embodiments, the embodiment can provide one tree-shaped support device on which a plurality of radioactive spatial markers can be mounted, scan the tree-shaped support device on which the plurality of spatial markers are mounted in different modalities of the multi-modality medical imaging apparatus, and determine the image overlapping state of the apparatus according to the position difference of the spatial markers in the images in the different modalities, thereby achieving the purpose of detecting the overlapping state of the multi-modality medical images.
In another embodiment provided by the present application, on the basis of the embodiment shown in fig. 5, the following steps may be added:
and under the condition that the spatial marker images are in a non-coincident state under different modalities, adjusting the device coordinates of devices in different modalities in the multi-modality medical device according to at least one deviation parameter in the three-dimensional translation deviation and the angle deviation.
Compared with the current blind adjustment, in the embodiment, when adjusting the device coordinates of the PET device and the CT device in different modalities of the PET/CT multi-modality medical imaging device, the calculated three-dimensional translation deviation and the calculated angle deviation such as T can be referred tox、Ty、Tz、θx、θyAnd thetazThe adjustment is completed, and the adjustment operation is targeted.
Corresponding to the foregoing embodiments of the method for detecting the multi-modal medical image registration state, the present application also provides embodiments of a device for detecting the multi-modal medical image registration state.
As shown in fig. 7, fig. 7 is a block diagram of a multi-modality medical image registration state detection apparatus according to an exemplary embodiment of the present application, which is applied to a multi-modality medical imaging device that scans any one of the aforementioned tree-shaped support apparatuses with multiple spatial markers installed thereon, where the apparatus may include:
the scanning module 710 is configured to scan the tree-shaped supporting device in different modalities of the multi-modality medical imaging apparatus, respectively, to obtain images of the tree-shaped supporting device in different modalities;
the determining module 720 is configured to determine whether the image of the spatial marker is in a superposition state in different modalities according to the spatial coordinate information of the image coordinate system of the spatial marker in different modalities.
As can be seen from the above embodiments, the embodiment can provide one tree-shaped support device on which a plurality of radioactive spatial markers can be mounted, scan the tree-shaped support device on which the plurality of spatial markers are mounted in different modalities of the multi-modality medical imaging apparatus, and determine the image overlapping state of the apparatus according to the position difference of the spatial markers in the images in the different modalities, thereby achieving the purpose of detecting the overlapping state of the multi-modality medical images.
As shown in fig. 8, fig. 8 is a block diagram of another multi-modal medical image registration status detection apparatus according to an exemplary embodiment of the present application, where the embodiment may be based on the embodiment shown in fig. 7, and the determining module 720 may include:
the first calculating submodule 721 is configured to calculate, according to the spatial coordinate information of the image coordinate system of the spatial marker in different modalities, a three-dimensional translation deviation and an angle deviation from the image coordinate system of the spatial marker image in the first modality to the image coordinate system of the spatial marker image in the second modality;
the first determining submodule 722 is configured to determine whether the three-dimensional translation deviation and the angle deviation are both within a preset parameter interval, and if so, the spatial marker image is in a coincidence state in different modalities.
As shown in fig. 9, fig. 9 is a block diagram of another multi-modal medical image registration status detection apparatus according to an exemplary embodiment of the present application, where the embodiment may be based on the embodiment shown in fig. 7, and the determining module 720 may include:
the second calculation submodule 723, which is configured to calculate offsets of the centers of gravity of all spatial markers in the spatial marker image in the first modality relative to the centers of gravity of all spatial markers in the spatial marker image in the second modality according to spatial coordinate information of image coordinate systems of the spatial markers in different modalities;
the second judging submodule 724 is configured to judge whether the offset is smaller than a preset threshold H, and if the offset is smaller than H, the spatial marker images are in a coincidence state in different modalities.
As shown in fig. 10, fig. 10 is a block diagram of another multi-modality medical image registration state detection apparatus according to an exemplary embodiment of the present application, where the embodiment may be based on the embodiment shown in fig. 8, and the apparatus may further include:
an adjusting module 810, configured to adjust device coordinates of devices in different modalities in the multi-modality medical device according to at least one deviation parameter of the three-dimensional translational deviation and the angular deviation when the spatial marker images are in a non-coincident state in different modalities.
The implementation process of the functions and actions of each module in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (12)
1. A tree support apparatus is characterized in that the tree support apparatus is used as a scanning object of a multi-modal medical imaging device under different modalities of the multi-modal medical imaging device; the tree-shaped supporting device is provided with a plurality of space markers with radioactivity, and comprises:
the length of the first transverse supporting rod is smaller than that of the second transverse supporting rod, the two first transverse supporting rods are arranged at the upper parts of the vertical supporting rods, the second transverse supporting rod is arranged at the middle part of the vertical supporting rod, and the two first transverse supporting rods are arranged at the lower parts of the vertical supporting rods;
one ends of the two first transverse supporting rods at the upper part are respectively vertically arranged at two sides of the vertical supporting rod with different heights and are parallel to each other; the middle part of the second transverse supporting rod is vertically arranged on the vertical supporting rod and is mutually vertical to the two first transverse supporting rods at the upper part; one end of each of the two first transverse supporting rods at the lower part is vertically arranged on the two sides of the vertical supporting rod at different heights, is parallel to each other and is perpendicular to the second transverse supporting rod, and the two first transverse supporting rods at the upper part and the two first transverse supporting rods at the lower part are in the same plane.
2. Tree support according to claim 1, wherein at least one of said at least one vertical support bars is a support bar with a telescopic structure.
3. The tree support apparatus of claim 1, wherein any two connected vertical support rods and horizontal support rods are detachably connected.
4. Tree support according to claim 1, wherein at least one end of at least one of said first and/or second lateral support bars is provided with a spatial marker having radioactivity.
5. A multi-modality medical image registration state detection method applied to a multi-modality medical imaging apparatus that scans any one of the tree-shaped support devices of claims 1 to 4 on which a plurality of spatial markers are mounted, the method comprising:
respectively scanning the tree-shaped supporting device under different modalities of the multi-modality medical imaging equipment to obtain images of the tree-shaped supporting device under different modalities;
and judging whether the images of the space markers are in a superposition state in different modes according to the space coordinate information of the image coordinate systems of the space markers in different modes.
6. The method according to claim 5, wherein the determining whether the spatial marker images are in a coincidence state in different modalities according to the spatial coordinate information of the image coordinate systems of the spatial markers in the different modalities comprises:
calculating three-dimensional translation deviation and angle deviation from an image coordinate system of a space marker image in a first modality to an image coordinate system of a space marker image in a second modality according to space coordinate information of the image coordinate system of the space marker in different modalities;
and judging whether the three-dimensional translation deviation and the angle deviation are both in a preset parameter interval, and if so, enabling the space marker images to be in a superposition state under different modalities.
7. The method according to claim 5, wherein the determining whether the spatial marker images are in a coincidence state in different modalities according to the spatial coordinate information of the image coordinate systems of the spatial markers in the different modalities comprises:
calculating the offset of the gravity centers of all the space markers in the space marker image under the first modality relative to the gravity centers of all the space markers in the space marker image under the second modality according to the space coordinate information of the image coordinate system of the space markers under different modalities;
and judging whether the offset is smaller than a preset threshold value H, if so, enabling the space marker image to be in a superposition state in different modes.
8. The method of claim 6, further comprising:
and under the condition that the spatial marker images are in a non-coincident state under different modalities, adjusting the device coordinates of devices in different modalities in the multi-modality medical imaging device according to at least one deviation parameter in the three-dimensional translation deviation and the angle deviation.
9. A multi-modality medical image registration state detection apparatus, applied to a multi-modality medical imaging device which scans any one of the tree-shaped support apparatuses of claims 1 to 4, on which a plurality of spatial markers are mounted, the apparatus comprising:
the scanning module is used for scanning the tree-shaped supporting device respectively in different modes of the multi-mode medical imaging equipment to obtain images of the tree-shaped supporting device in different modes;
and the judging module is used for judging whether the images of the space markers are in a superposition state in different modes according to the space coordinate information of the image coordinate systems of the space markers in different modes.
10. The apparatus of claim 9, wherein the determining module comprises:
the first calculation submodule is used for calculating the three-dimensional translation deviation and the angle deviation from the image coordinate system of the space marker image in the first modality to the image coordinate system of the space marker image in the second modality according to the space coordinate information of the image coordinate system of the space marker in different modalities;
and the first judgment submodule is used for judging whether the three-dimensional translation deviation and the angle deviation are both in a preset parameter interval, and if the three-dimensional translation deviation and the angle deviation are both in the preset parameter interval, the space marker images are in a superposition state under different modalities.
11. The apparatus of claim 9, wherein the determining module comprises:
the second calculation submodule is used for calculating the offset of the gravity centers of all the space markers in the space marker image under the first modality relative to the gravity centers of all the space markers in the space marker image under the second modality according to the space coordinate information of the image coordinate system of the space markers under different modalities;
and the second judgment submodule is used for judging whether the offset is smaller than a preset threshold value H or not, and if the offset is smaller than H, the space marker images are in a superposition state under different modes.
12. The apparatus of claim 10, further comprising:
and the adjusting module is used for adjusting the equipment coordinates of equipment in different modes in the multi-mode medical imaging equipment according to at least one deviation parameter in the three-dimensional translation deviation and the angle deviation under the condition that the spatial marker images are in a non-coincident state in different modes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008315.1A CN105496438B (en) | 2015-12-28 | 2015-12-28 | Multi-modality medical image coincidence status detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008315.1A CN105496438B (en) | 2015-12-28 | 2015-12-28 | Multi-modality medical image coincidence status detection method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105496438A CN105496438A (en) | 2016-04-20 |
| CN105496438B true CN105496438B (en) | 2019-07-12 |
Family
ID=55705008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511008315.1A Active CN105496438B (en) | 2015-12-28 | 2015-12-28 | Multi-modality medical image coincidence status detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105496438B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821411A (en) * | 2017-04-06 | 2017-06-13 | 上海联影医疗科技有限公司 | The machine frame system and its calibration method of a kind of image documentation equipment |
| CN109856169B (en) * | 2019-02-19 | 2021-04-20 | 首都师范大学 | High-resolution micro-energy spectrum CT imaging method and system |
| CN110301931B (en) * | 2019-07-24 | 2023-10-31 | 沈阳智核医疗科技有限公司 | Coordinate registration die body, multi-mode imaging system and image registration method thereof |
| CN111743565B (en) * | 2020-07-15 | 2023-09-26 | 北京永新医疗设备有限公司 | Four-dimensional dynamic tomographic positioning method, detector and nuclear medicine equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2499584A1 (en) * | 2005-03-04 | 2006-09-04 | Derek V. Cooke T. | Automated imaging and analysis using registration modules |
| CN102908160A (en) * | 2012-11-20 | 2013-02-06 | 新疆医科大学附属肿瘤医院 | Image guidance radiotherapy quality assurance die body |
| CN103260522A (en) * | 2010-12-16 | 2013-08-21 | 皇家飞利浦电子股份有限公司 | Apparatus for CT-RI and nuclear hybrid imaging, cross calibration, and performance assessment |
-
2015
- 2015-12-28 CN CN201511008315.1A patent/CN105496438B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2499584A1 (en) * | 2005-03-04 | 2006-09-04 | Derek V. Cooke T. | Automated imaging and analysis using registration modules |
| CN103260522A (en) * | 2010-12-16 | 2013-08-21 | 皇家飞利浦电子股份有限公司 | Apparatus for CT-RI and nuclear hybrid imaging, cross calibration, and performance assessment |
| CN102908160A (en) * | 2012-11-20 | 2013-02-06 | 新疆医科大学附属肿瘤医院 | Image guidance radiotherapy quality assurance die body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105496438A (en) | 2016-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11801097B2 (en) | Robotic fluoroscopic navigation | |
| CN105496438B (en) | Multi-modality medical image coincidence status detection method and device | |
| CN103181775B (en) | For detecting the method and system of patient body's cursor position | |
| CN103371824B (en) | System and method for the boundary mark correction in magnetic resonance imaging | |
| US9196082B2 (en) | Systems and methods for characterizing spatial distortion in 3D imaging systems | |
| CN102743184B (en) | Geometrical parameter calibration method of X-ray cone beam computed tomography system | |
| US8969829B2 (en) | Method and apparatus for aligning a multi-modality imaging system | |
| US20170035374A1 (en) | Interventional x-ray system with automatic iso-centering | |
| CN104567758B (en) | Stereo imaging system and its method | |
| CN106667512B (en) | Geometric correction method of X-ray imaging device and breast tomography device | |
| US10786310B2 (en) | Quality assurance and data coordination for electromagnetic tracking systems | |
| CN103654784A (en) | Method for acquiring movement of patient during medical imaging examination | |
| US7789562B2 (en) | Calibration of a multi-plane X-ray unit | |
| CN112258593B (en) | CT or PET-CT intelligent positioning scanning method under monocular camera | |
| US10049465B2 (en) | Systems and methods for multi-modality imaging component alignment | |
| US20030212320A1 (en) | Coordinate registration system for dual modality imaging systems | |
| CN105361955A (en) | Medical imaging unit, medical imaging device with a medical imaging unit, and method for detecting a patient movement | |
| US20230410346A1 (en) | Object keypoint detection | |
| US20080273654A1 (en) | Multi-Modal Imaging Registration Calibration Device and Method | |
| CN107123147A (en) | Scaling method, device and the binocular camera system of binocular camera | |
| JP6073562B2 (en) | Medical image processing device | |
| JP7463625B2 (en) | Navigation Support | |
| CN103932706B (en) | MRI scan method and device | |
| WO2007040507A3 (en) | Stereotactic head frame localizer | |
| US9504437B2 (en) | Diagnostic imaging apparatus and control method of the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 110167 No. 177-1 Innovation Road, Hunnan District, Shenyang City, Liaoning Province Applicant after: Shenyang Neusoft Medical Systems Co.,Ltd. Address before: Hunnan New Century Road 110179 Shenyang city of Liaoning Province, No. 16 Applicant before: SHENYANG NEUSOFT MEDICAL SYSTEMS Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230413 Address after: Room 308, No. 177-2 Chuangxin Road, Hunnan District, Shenyang City, Liaoning Province, 110167 Patentee after: Shenyang Zhihe Medical Technology Co.,Ltd. Address before: 110167 No. 177-1 Innovation Road, Hunnan District, Shenyang City, Liaoning Province Patentee before: Shenyang Neusoft Medical Systems Co.,Ltd. |