CN107831180A - X ray in situ imaging method and system - Google Patents
X ray in situ imaging method and system Download PDFInfo
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- CN107831180A CN107831180A CN201610824694.XA CN201610824694A CN107831180A CN 107831180 A CN107831180 A CN 107831180A CN 201610824694 A CN201610824694 A CN 201610824694A CN 107831180 A CN107831180 A CN 107831180A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 43
- 238000011065 in-situ storage Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 5
- 238000004846 x-ray emission Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000003702 image correction Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 abstract description 2
- 238000010408 sweeping Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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Abstract
A kind of X ray in situ imaging method and system; the desired motion track of radiographic source and detector is respectively obtained after being optimized by the scanning track for automatically generating scanning track or being specified to user; setting x-ray source, desirably movement locus performs scanning; simultaneously by data for projection of the image collecting device real-time collecting from detector, carry out the accurate calibration of system imaging geometry finally by algorithm for reconstructing and image reconstruction obtains scanning result；For the present invention by the way that radiographic source and detector are separately fixed on the robotic arm of separation, scanning track is not limited to circular or spiral shape, can be arbitrary trajectory；Present invention only requires imaging device is moved into scanned position, equipment carries out in-situ scanning according to default scanning track, i.e., placed imaging system beside scanned object automatically, optimizes sweeping scheme according to current environment.
Description
Technical field
The present invention relates to a kind of technology in X-ray detecting equipment field, specifically a kind of X ray in situ imaging method
And system.
Background technology
X ray CT is imaged, and X ray two-dimensional projection imaging, X ray Tomosynthesis imagings are widely used in medical treatment, work
The fields such as industry, safety check, military affairs.So that CT is imaged as an example, radiographic source and detector are relatively fixed at one by traditional imaging mode
In overall structure, then row data acquisition and 3-D view reconstruct are rotated into around object.
The content of the invention
The present invention for prior art is mostly fixed imaging equipment, by the object to be imaged be placed on scanning area progress into
The defects of picture, a kind of X ray in situ imaging method and system are proposed, by the way that radiographic source and detector are separately fixed at into separation
On robotic arm, scanning track is not limited to circular or spiral shape, can be arbitrary trajectory；Present invention only requires set imaging
Standby to be moved to scanned position, equipment carries out in-situ scanning according to default scanning track, i.e., placed imaging system automatically
Beside scanned object, optimize sweeping scheme according to current environment.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of X ray in situ imaging method, by automatically generating scanning track or what user was specified sweep
The desired motion track that radiographic source and detector are respectively obtained after track optimizes is retouched, sets x-ray source desirably to move
Track performs scanning, while by data for projection of the image collecting device real-time collecting from detector, finally by algorithm for reconstructing
The accurate calibration and image reconstruction for carrying out system imaging geometry obtain scanning result.
Described data for projection includes：Radiographic source and detector respectively corresponding in real time space coordinates, real-time spatial attitude,
Real time X-ray projected image and corresponding time shaft.
Described automatically generating refers to：The movement locus of default scanning track, i.e. x-ray source and detector, as circle is swept
Retouch track, spiral sweep track；
The scanning track that described user specifies uses but is not limited to：The fortune of mechanical arm is calculated by space measurement
Dynamic spatial dimension or manually movable mechanical arm setting space scope；
Described optimization refers to：According to the theoretical moving range of x-ray source and image collecting device, according to CT image reconstructions
Mathematical principle can meet data integrity, optimization scanning track, such as：Circular scanning is to run [180 °+radiographic source
Fan angle] scope can meet data integrity；X-ray source range finder farther out in the case of, can pass through increase throw
The sampling density of shadow image and increase X-ray emission time make up the X ray because being detected apart from the detector far brought
The low defect such as low with signal to noise ratio of signal.
Described algorithm for reconstructing refers to：Trajectory corrector is scanned according to data for projection, obtains actual scanning track；Then
X-ray data for projection correction is carried out to real time X-ray projected image, obtains accurate data for projection；Further according to actual scanning track and
Accurate data for projection carries out Image Reconstruction.
Described scanning trajectory corrector refers to：Real-time empty corresponding to radiographic source and detector difference in data for projection
Between coordinate, real-time spatial attitude and the X-ray projected image that gathers in real time carry out geometric correction, obtain actual scanning track.
Described real-time collection, through but not limited to device real-time monitorings such as binocular camera, depth camera or radars
Whether moving component produces with surrounding environment is interfered, and when interfering, i.e., halt system is run；When without interference, radiographic source transmitting X
Ray, detector synchronously carry out data acquisition and exported to image collecting device.
Described geometric correction refers to：Continuous reconstruction image, image fully differential is then calculated, then finely tune Current Scan track
Locus and posture, i.e. imaging geometry, until image fully differential be less than threshold value, imaging geometry now is regarded as standard
True actual scanning track.
Described image fully differential refers to：Wherein：V is complete micro-
Point, f is the X-ray absorption coefficient image reconstructed, and i and j are respectively image pixel numbering.
Described X-ray data for projection correction refers to：Illumination is carried out not to real time X-ray projected image based on actual scanning track
Uniformity correction processing, specifically includes following steps：
1) the x-ray projection image comprising optional position and its background school of corresponding space coordinates and spatial attitude are prepared
Quasi- database；
2) correspondence position according to each real time X-ray projected image on actual scanning track, from background calibration database
It is middle to match to obtain most similar x-ray projection image in background calibration database using linear interpolation method.
3) calibrated according to darkfield image data, i.e.,：Data=(real time X-ray projected image-darkfield image number after calibration
According to)/(x-ray projection image-darkfield image data in background calibration database), wherein：Darkfield image data are to close X to penetrate
The image that image acquisition device arrives after line source.
Described Image Reconstruction refers to：The Description Matrix of imaging geometry is described according to the actual scanning track structure after correction
M；According to the data for projection after correction as measurement data g, iterated using Image Iterative restructing algorithm and solve figure to be reconstructed
As u, i.e. M*u=g.
Described accurate scanning track, is preferably scanned trajectory corrector and X-ray data for projection by successive ignition
Correction process obtains.
Technique effect
Compared with prior art, there is the present invention more intelligent scanning to plan, can realize more flexible imaging rail
The mathematical principle of mark, locus that can be according to the characteristics of scanned object, residing for scanned object and three-dimensional image reconstruction,
Planning, optimization scanning track.
Brief description of the drawings
Fig. 1 is the inventive method schematic diagram；
Fig. 2 is system imaging geometric calibration schematic diagram；
Fig. 3 is present system schematic diagram.
The experiment simulation schematic diagram of Fig. 4 positions present invention.
Embodiment
As shown in figure 3, the present embodiment is related to a kind of X ray in situ imaging system, including：A pair of mechanical arms, x-ray source,
Image collecting device and control module, wherein：Control module passes through with mechanical arm, x-ray source and image collecting device respectively
Wired or wireless mode carries out data signal transmission, such as synchronizing signal, control signal lamp, x-ray source and image collecting device
On mechanical arm corresponding to being fixedly installed on respectively and be oppositely arranged, object to be measured between x-ray source and image collecting device,
The image that collection obtains carries out image reconstruction and display by data processing module.
Described image collecting device includes：X-ray detection unit is believed with simultaneously transmission of control signals is attached thereto with synchronous
Number X-ray emission unit.
Described control module includes：Track record unit and motion control unit are scanned, wherein：It is single to scan track motion
Member is connected with X-ray detection unit, X-ray emission unit and the mechanical arm where them, records their position feed back signal；
Motion control unit is according to the motion of predetermined movement locus and self-defined movement locus control machinery arm, and real-time monitoring equipment
Whether tool arm interferes with surrounding space.
Described data processing module includes：System imaging geometric calibration, image calibration, image reconstruction and image are shown.
As shown in figure 4, it is the present embodiment the simulation experiment result.In the case where imaging geometry has error, left figure is straight
The result that row Image Reconstruction obtains is tapped into, more artifact be present；Right figure is to have carried out system imaging geometry school according to the present embodiment
After accurate, image calibration, then carry out the result of Image Reconstruction.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (15)
- A kind of 1. X ray in situ imaging method, it is characterised in that pass through the scanning for automatically generating scanning track or being specified to user Track respectively obtains the desired motion track of radiographic source and detector after optimizing, set x-ray source desirably to move rail Mark performs scanning, while by data for projection of the image collecting device real-time collecting from detector, enters finally by algorithm for reconstructing The accurate calibration and image reconstruction of row system imaging geometry obtain scanning result；Described data for projection includes：Radiographic source and detector respectively corresponding to space coordinates, real-time spatial attitude, in real time in real time X-ray projected image and corresponding time shaft.
- 2. X ray in situ imaging method according to claim 1, it is characterized in that, described automatically generating refers to：It is default to sweep Retouch the movement locus of track, i.e. x-ray source and detector.
- 3. X ray in situ imaging method according to claim 1, it is characterized in that, the scanning track that described user specifies Using：The space scope of mechanical arm is calculated by space measurement or manually movable mechanical arm sets fortune Dynamic spatial dimension.
- 4. X ray in situ imaging method according to claim 1, it is characterized in that, described algorithm for reconstructing refers to：According to throwing Shadow data are scanned trajectory corrector, obtain actual scanning track；Then X-ray data for projection is carried out to real time X-ray projected image Correction, obtains accurate data for projection；Image Reconstruction is carried out further according to actual scanning track and accurate data for projection.
- 5. X ray in situ imaging method according to claim 4, it is characterized in that, described scanning trajectory corrector refers to：Root According to the radiographic source in data for projection and detector respectively corresponding to space coordinates, real-time spatial attitude and in real time gather in real time X-ray projected image carries out geometric correction, obtains actual scanning track.
- 6. X ray in situ imaging method according to claim 5, it is characterized in that, described real-time collection, by supervising in real time Control moving component and whether produced with surrounding environment and interfered, when interfering, i.e., halt system is run；When without interference, radiographic source hair X ray is penetrated, detector synchronously carries out data acquisition and exported to image collecting device.
- 7. X ray in situ imaging method according to claim 5, it is characterized in that, described geometric correction refers to：Constantly weight Image is built, then calculates image fully differential, then finely tunes locus and the posture of Current Scan track, i.e. imaging geometry, until Image fully differential is less than threshold value, and imaging geometry now is regarded as accurate actual scanning track.
- 8. X ray in situ imaging method according to claim 7, it is characterized in that, described image fully differential refers to：Wherein：V is total differential, and f is the X-ray absorption coefficient figure reconstructed Picture, i and j are respectively image pixel numbering.
- 9. X ray in situ imaging method according to claim 4, it is characterized in that, the correction of described X-ray data for projection is Refer to：The even correction process of uneven illumination is carried out to real time X-ray projected image based on actual scanning track.
- 10. the X ray in situ imaging method according to claim 4 or 10, it is characterized in that, described X-ray data for projection school Just specifically include following steps：1) the x-ray projection image and its background calibration number of corresponding space coordinates and spatial attitude for including optional position are prepared According to storehouse；2) correspondence position according to each real time X-ray projected image on actual scanning track, makes from background calibration database Match to obtain most similar x-ray projection image in background calibration database with linear interpolation method；3) calibrated according to darkfield image data, i.e.,：Data=(real time X-ray projected image-darkfield image data) after calibration/ (x-ray projection image-darkfield image data in background calibration database), wherein：Darkfield image data are to close x-ray source The image that image acquisition device arrives afterwards.
- 11. X ray in situ imaging method according to claim 4, it is characterized in that, described Image Reconstruction refers to：According to Actual scanning track structure after correction describes the Description Matrix M of imaging geometry；According to the data for projection after correction as measurement Data g, iterated using Image Iterative restructing algorithm and solve image u, i.e. M*u=g to be reconstructed.
- 12. X ray in situ imaging method according to claim 4, it is characterized in that, described accurate data for projection, lead to Cross repeatedly be made iteratively scanning trajectory corrector and X-ray data for projection correction process obtain.
- A kind of 13. X ray in situ imaging system for realizing any of the above-described claim methods described, it is characterised in that including：One To mechanical arm, x-ray source, image collecting device and control module, wherein：Control module respectively with mechanical arm, x-ray source and Image collecting device carries out data signal transmission by wired or wireless mode, such as synchronizing signal, control signal lamp, X ray Source and image collecting device on mechanical arm and are oppositely arranged corresponding to being fixedly installed on respectively, object to be measured be located at x-ray source with Between image collecting device, the image for gathering acquisition carries out image reconstruction and display by data processing module；Described control module includes：Track record unit and motion control unit are scanned, wherein：Scan track moving cell with X-ray detection unit, X-ray emission unit are connected with the mechanical arm where them, record their position feed back signal；Motion Control unit monitors mechanical arm in real time according to the motion of predetermined movement locus and self-defined movement locus control machinery arm Whether interfered with surrounding space.
- 14. system according to claim 13, it is characterized in that, described image collecting device includes：X-ray detection unit Be attached thereto and the X-ray emission unit of transmission of control signals and synchronizing signal.
- 15. system according to claim 13, it is characterized in that, described data processing module includes：System imaging geometry Calibration, image calibration, image reconstruction and image are shown.
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| CN111317496A (en) * | 2020-02-29 | 2020-06-23 | 江苏一影医疗设备有限公司 | CT imaging device and imaging method |
| CN111399072A (en) * | 2020-03-24 | 2020-07-10 | 上海陆影信息科技有限公司 | X-ray projection optimized imaging method and system |
| CN113177907A (en) * | 2020-01-27 | 2021-07-27 | 西门子医疗有限公司 | Controlling a medical X-ray apparatus |
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| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | Imaging device |
| CN109223016A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | CT imaging method and imaging device |
| CN109223016B (en) * | 2018-07-18 | 2022-06-07 | 江苏一影医疗设备有限公司 | CT imaging method and imaging device |
| CN110133008A (en) * | 2019-05-10 | 2019-08-16 | 中集车辆(集团)股份有限公司 | Seam inspection system for tank body |
| CN110766629A (en) * | 2019-10-17 | 2020-02-07 | 广州华端科技有限公司 | CBCT system geometric correction method, device, computer equipment and storage medium |
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| CN113177907A (en) * | 2020-01-27 | 2021-07-27 | 西门子医疗有限公司 | Controlling a medical X-ray apparatus |
| CN113177907B (en) * | 2020-01-27 | 2024-09-24 | 西门子医疗股份公司 | Controlling medical X-ray apparatus |
| CN111317496A (en) * | 2020-02-29 | 2020-06-23 | 江苏一影医疗设备有限公司 | CT imaging device and imaging method |
| CN111399072B (en) * | 2020-03-24 | 2023-07-04 | 苏州柒影医疗科技有限公司 | X-ray projection optimization imaging method and system |
| CN111399072A (en) * | 2020-03-24 | 2020-07-10 | 上海陆影信息科技有限公司 | X-ray projection optimized imaging method and system |
| CN113520421A (en) * | 2020-05-06 | 2021-10-22 | 北京友通上昊科技有限公司 | X-ray section imaging method, storage medium and imaging system |
| EP4024034A1 (en) * | 2021-01-05 | 2022-07-06 | The Boeing Company | Methods and apparatus for measuring fastener concentricity |
| US12038393B2 (en) | 2021-01-05 | 2024-07-16 | The Boeing Company | Methods and apparatus for measuring fastener concentricity |
| CN114414598B (en) * | 2022-03-09 | 2022-08-30 | 河南省科学院同位素研究所有限责任公司 | Corrosion positioning non-contact evaluation method for steel structure in high-altitude closed space |
| CN114414598A (en) * | 2022-03-09 | 2022-04-29 | 河南省科学院同位素研究所有限责任公司 | Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space |
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