CN107831180B - X-ray in-situ imaging method and system - Google Patents
X-ray in-situ imaging method and system Download PDFInfo
- Publication number
- CN107831180B CN107831180B CN201610824694.XA CN201610824694A CN107831180B CN 107831180 B CN107831180 B CN 107831180B CN 201610824694 A CN201610824694 A CN 201610824694A CN 107831180 B CN107831180 B CN 107831180B
- Authority
- CN
- China
- Prior art keywords
- ray
- image
- scanning
- data
- real
- 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
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
An X-ray in-situ imaging method and a system thereof are disclosed, wherein expected motion tracks of a ray source and a detector are respectively obtained by automatically generating a scanning track or optimizing the scanning track appointed by a user, the X-ray source is set to execute scanning according to the expected motion tracks, meanwhile, an image acquisition device collects projection data from the detector in real time, and finally, accurate calibration and image reconstruction of system imaging geometry are carried out through a reconstruction algorithm to obtain a scanning result; according to the invention, the ray source and the detector are respectively fixed on the separated robot arms, and the scanning track is not limited to be circular or spiral and can be any track; according to the invention, the imaging device only needs to be moved to the scanned position, and the device automatically carries out in-situ scanning according to the preset scanning track, namely, the imaging system is placed beside the scanned object, and the scanning scheme is optimized according to the current environment.
Description
Technical Field
The invention relates to a technology in the field of X-ray detection equipment, in particular to an X-ray in-situ imaging method and an X-ray in-situ imaging system.
Background
X-ray CT imaging, X-ray two-dimensional projection imaging, and X-ray Tomosynthesis imaging are widely used in the fields of medical treatment, industry, security inspection, military, and the like. Taking CT imaging as an example, the conventional imaging method fixes the radiation source and the detector relatively on an integral structure, and then rotates around the object to perform data acquisition and three-dimensional image reconstruction.
Disclosure of Invention
The invention provides an X-ray in-situ imaging method and system aiming at the defects that most of the prior art are fixed imaging devices and an imaged object is placed in a scanning area for imaging, wherein a ray source and a detector are respectively fixed on separate robot arms, and the scanning track is not limited to be circular or spiral and can be any track; according to the invention, the imaging device only needs to be moved to the scanned position, and the device automatically carries out in-situ scanning according to the preset scanning track, namely, the imaging system is placed beside the scanned object, and the scanning scheme is optimized according to the current environment.
The invention is realized by the following technical scheme:
the invention relates to an X-ray in-situ imaging method, which comprises the steps of respectively obtaining expected motion tracks of a ray source and a detector after automatically generating a scanning track or optimizing the scanning track appointed by a user, setting the X-ray source to execute scanning according to the expected motion tracks, simultaneously collecting projection data from the detector in real time by an image collecting device, and finally carrying out accurate calibration of system imaging geometry and image reconstruction through a reconstruction algorithm to obtain a scanning result.
The projection data includes: the real-time space coordinate, the real-time space attitude, the real-time X-ray projection image and the corresponding time axis respectively correspond to the ray source and the detector.
The automatic generation means that: presetting a scanning track, namely the motion tracks of the X-ray source and the detector, such as a circular scanning track and a spiral scanning track;
the scanning track specified by the user adopts but is not limited to: calculating the motion space range of the mechanical arm through a space measuring meter or setting the motion space range by manually moving the mechanical arm;
the optimization is as follows: according to the theoretical moving range of the X-ray source and the image acquisition device, the data integrity can be satisfied and the scanning track can be optimized according to the mathematical principle of CT image reconstruction, for example: the data integrity can be met by the circumferential scanning within the range of [180 degrees + the fan angle of the ray source ]; under the condition that the X-ray source is far away from the detector, the defects of low X-ray signal, low signal-to-noise ratio and the like detected by the detector due to the long distance can be made up by increasing the sampling density of the projection image and increasing the X-ray emission time.
The reconstruction algorithm is as follows: correcting the scanning track according to the projection data to obtain an actual scanning track; then, correcting the X-ray projection data of the real-time X-ray projection image to obtain accurate projection data; and then image reconstruction is carried out according to the actual scanning track and the accurate projection data.
The scanning track correction is as follows: and performing geometric correction according to real-time space coordinates and real-time space postures which respectively correspond to the ray source and the detector in the projection data and the X-ray projection image which is acquired in real time to obtain an actual scanning track.
The real-time acquisition is realized by monitoring whether a moving part interferes with the surrounding environment in real time through equipment such as a binocular camera, a depth camera or a radar, and when the interference occurs, the system is stopped to operate; when no interference exists, the ray source emits X rays, and the detector synchronously acquires data and outputs the data to the image acquisition device.
The geometric correction refers to: continuously reconstructing images, calculating the full difference of the images, finely adjusting the spatial position and the attitude of the current scanning track to obtain imaging geometry, and considering the imaging geometry as an accurate actual scanning track until the full difference of the images is lower than a threshold value.
The image full difference refers to:
wherein: v is the full differential, f is the reconstructed X-ray absorption coefficient image, and i and j are the image pixel numbers respectively.
The X-ray projection data correction refers to: the method for correcting the illumination unevenness of the real-time X-ray projection image based on the actual scanning track specifically comprises the following steps:
1) preparing a background calibration database containing X-ray projection images at any positions and corresponding space coordinates and space postures of the X-ray projection images;
2) and matching by using a linear interpolation method from the background calibration database according to the corresponding position of each real-time X-ray projection image on the actual scanning track to obtain the closest X-ray projection image in the background calibration database.
3) Calibration is performed according to the dark field image data, namely: calibrated data ═ (real-time X-ray projection image-dark field image data)/(X-ray projection image-dark field image data in the background calibration database), where: the dark field image data is an image acquired by the image acquisition device after the X-ray source is turned off.
The image reconstruction refers to: constructing a description matrix M for describing imaging geometry according to the corrected actual scanning track; and (3) repeatedly and iteratively solving the image u to be reconstructed by adopting an image iterative reconstruction algorithm according to the corrected projection data as measurement data g, namely M x u-g.
The accurate scanning track is preferably obtained by performing scanning track correction and X-ray projection data correction processing repeatedly.
Technical effects
Compared with the prior art, the method has more intelligent scanning planning, can realize more flexible imaging tracks, and can plan and optimize the scanning tracks according to the characteristics of the scanned object, the spatial position of the scanned object and the mathematical principle of three-dimensional image reconstruction.
Drawings
FIG. 1 is a schematic view of the process of the present invention;
FIG. 2 is a schematic diagram of system imaging geometry calibration;
FIG. 3 is a schematic diagram of the system of the present invention.
FIG. 4 is a schematic diagram of an experimental simulation of the present invention.
Detailed Description
As shown in fig. 3, the present embodiment relates to an X-ray in-situ imaging system, including: a pair of arm, X ray source, image acquisition device and control module, wherein: the control module is respectively in data signal transmission with the mechanical arm, the X-ray source and the image acquisition device in a wired or wireless mode, like a synchronous signal and a control signal lamp, the X-ray source and the image acquisition device are respectively and fixedly arranged on the corresponding mechanical arm and are oppositely arranged, the object to be detected is positioned between the X-ray source and the image acquisition device, and the acquired image is subjected to image reconstruction and display through the data processing module.
The image acquisition device comprises: the X-ray detection unit and the X-ray emission unit are connected with the X-ray detection unit and transmit control signals and synchronous signals.
The control module comprises: a scanning track recording unit and a motion control unit, wherein: the scanning track motion unit is connected with the X-ray detection unit, the X-ray emission unit and the mechanical arm where the X-ray detection unit and the X-ray emission unit are located, and position feedback signals of the X-ray detection unit and the X-ray emission unit are recorded; the motion control unit controls the motion of the mechanical arm according to the preset motion track and the user-defined motion track, and monitors whether the mechanical arm interferes with the surrounding space in real time.
The data processing module comprises: system imaging geometry calibration, image reconstruction and image display.
Fig. 4 shows the simulation experiment result of this embodiment. Under the condition that the imaging geometry has errors, the left image is a result obtained by directly reconstructing the image, and more artifacts exist; the right image is the result of performing the system imaging geometry calibration, image calibration, and then image reconstruction according to this embodiment.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (14)
1. An X-ray in-situ imaging method is characterized in that expected movement tracks of a ray source and a detector are obtained respectively after automatically generating scanning tracks or optimizing the scanning tracks appointed by a user, the X-ray source is set to execute scanning according to the expected movement tracks, meanwhile, an image acquisition device collects projection data from the detector in real time, and finally, accurate calibration and image reconstruction of system imaging geometry are carried out through a reconstruction algorithm to obtain a scanning result;
the projection data includes: the real-time space coordinate, the real-time space attitude, the real-time X-ray projection image and the corresponding time axis respectively correspond to the ray source and the detector.
2. The X-ray in-situ imaging method as claimed in claim 1, wherein the automatic generation is: the preset scanning track is the motion track of the X-ray source and the detector.
3. The X-ray in-situ imaging method as set forth in claim 1, wherein the user-specified scan trajectory is selected from the group consisting of: the motion space range of the robot arm is calculated through a space measuring meter or is set by manually moving the robot arm.
4. The X-ray in-situ imaging method as set forth in claim 1, wherein the reconstruction algorithm is: correcting the scanning track according to the projection data to obtain an actual scanning track; then, correcting the X-ray projection data of the real-time X-ray projection image to obtain accurate projection data; and then image reconstruction is carried out according to the actual scanning track and the accurate projection data.
5. The X-ray in-situ imaging method as set forth in claim 4, wherein the scanning trajectory correction is: and performing geometric correction according to real-time space coordinates and real-time space postures which respectively correspond to the ray source and the detector in the projection data and the X-ray projection image which is acquired in real time to obtain an actual scanning track.
6. The X-ray in-situ imaging method as claimed in claim 5, wherein the real-time acquisition is carried out by monitoring whether the moving part interferes with the surrounding environment in real time, and when the interference occurs, the system is stopped; when no interference exists, the ray source emits X rays, and the detector synchronously acquires data and outputs the data to the image acquisition device.
7. The X-ray in-situ imaging method as set forth in claim 5, wherein the geometric correction is: continuously reconstructing images, calculating the full difference of the images, finely adjusting the spatial position and the attitude of the current scanning track to obtain imaging geometry, and considering the imaging geometry as an accurate actual scanning track until the full difference of the images is lower than a threshold value.
8. The X-ray in-situ imaging method as claimed in claim 7, wherein the image full difference is:
wherein: v is the full differential, f is the reconstructed X-ray absorption coefficient image, and i and j are the image pixel numbers respectively.
9. The X-ray in-situ imaging method as set forth in claim 4, wherein the X-ray projection data correction is: and carrying out illumination unevenness correction processing on the real-time X-ray projection image based on the actual scanning track.
10. The X-ray in-situ imaging method as claimed in claim 4, wherein the X-ray projection data correction specifically comprises the following steps:
1) preparing a background calibration database containing X-ray projection images at any positions and corresponding space coordinates and space postures of the X-ray projection images;
2) according to the corresponding position of each real-time X-ray projection image on the actual scanning track, matching by using a linear interpolation method from a background calibration database to obtain the most similar X-ray projection image in the background calibration database;
3) calibration is performed according to the dark field image data, namely: calibrated data ═ (real-time X-ray projection image-dark field image data)/(X-ray projection image-dark field image data in the background calibration database), where: the dark field image data is an image acquired by the image acquisition device after the X-ray source is turned off.
11. The X-ray in-situ imaging method as set forth in claim 4, wherein the image reconstruction is performed by: constructing a description matrix M for describing imaging geometry according to the corrected actual scanning track; and (3) repeatedly and iteratively solving the image u to be reconstructed by adopting an image iterative reconstruction algorithm according to the corrected projection data as measurement data g, namely M x u-g.
12. The X-ray in-situ imaging method as claimed in claim 4, wherein the accurate projection data is obtained by performing the scanning trajectory correction and the X-ray projection data correction processing in a plurality of iterations.
13. An X-ray in-situ imaging system for carrying out the method of any preceding claim, comprising: a pair of arm, X ray source, image acquisition device and control module, wherein: the control module is respectively in data signal transmission with the mechanical arm, the X-ray source and the image acquisition device in a wired or wireless mode, the X-ray source and the image acquisition device are respectively and fixedly arranged on the corresponding mechanical arm and oppositely arranged, the object to be detected is positioned between the X-ray source and the image acquisition device, and the acquired image is subjected to image reconstruction and display through the data processing module;
the image acquisition device comprises: the X-ray detection unit and the X-ray emission unit are connected with the X-ray detection unit and used for transmitting a control signal and a synchronous signal;
the control module comprises: a scanning track recording unit and a motion control unit, wherein: the scanning track recording unit is respectively connected with the X-ray detection unit, the X-ray emission unit and the mechanical arm where the X-ray emission unit is located, and position feedback signals of the X-ray detection unit and the X-ray emission unit are recorded; the motion control unit controls the motion of the mechanical arm according to the preset motion track and the user-defined motion track, and monitors whether the mechanical arm interferes with the surrounding space in real time.
14. The system of claim 13, wherein said data processing module comprises: system imaging geometry calibration, image reconstruction and image display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824694.XA CN107831180B (en) | 2016-09-14 | 2016-09-14 | X-ray in-situ imaging method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610824694.XA CN107831180B (en) | 2016-09-14 | 2016-09-14 | X-ray in-situ imaging method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107831180A CN107831180A (en) | 2018-03-23 |
| CN107831180B true CN107831180B (en) | 2020-03-17 |
Family
ID=61643590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610824694.XA Active CN107831180B (en) | 2016-09-14 | 2016-09-14 | X-ray in-situ imaging method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107831180B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160231452A1 (en) * | 2013-10-11 | 2016-08-11 | Analogic Corporation | Tomosynthesis imaging |
| CN109223012A (en) * | 2018-07-18 | 2019-01-18 | 江苏影医疗设备有限公司 | 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 |
| CN110766629B (en) * | 2019-10-17 | 2022-03-01 | 广州华端科技有限公司 | CBCT system geometric correction method, device, computer equipment and storage medium |
| DE102020200906A1 (en) * | 2020-01-27 | 2021-07-29 | Siemens Healthcare Gmbh | Control of a medical X-ray machine |
| 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 |
| 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 |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561405B (en) * | 2008-04-17 | 2011-07-06 | 清华大学 | Straight-line track scanning imaging system and method |
| CN101750430B (en) * | 2009-06-10 | 2011-10-12 | 中国科学院自动化研究所 | Geometry correction method of X-ray computed tomography imaging system |
| US8452064B2 (en) * | 2009-12-07 | 2013-05-28 | General Electric Company | Apparatus and methods for geometric calibration of positron emission tomography systems |
| CN101832954B (en) * | 2010-03-15 | 2012-06-20 | 中国工程物理研究院应用电子学研究所 | Method for carrying out image reconstruction and coordinate system origin calibration by using same in cone-beam XCT system |
| DE102011075527A1 (en) * | 2011-05-09 | 2012-11-15 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Radiation system and calibration of the same |
| JP6401499B2 (en) * | 2014-05-30 | 2018-10-10 | 株式会社吉田製作所 | Motion artifact reduction method in dental tomography apparatus |
| CN105931202B (en) * | 2016-04-20 | 2018-02-23 | 广州华端科技有限公司 | The bearing calibration of geometric correction die body and system |
-
2016
- 2016-09-14 CN CN201610824694.XA patent/CN107831180B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107831180A (en) | 2018-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107831180B (en) | X-ray in-situ imaging method and system | |
| JP5209979B2 (en) | Method and system for three-dimensional imaging in an uncalibrated geometric configuration | |
| US10692219B2 (en) | Method and system for reconstructing 3-dimensional images from spatially and temporally overlapping x-rays | |
| CN110533597B (en) | Artifact processing method, artifact processing device, rotation center determining device, artifact processing equipment and storage medium | |
| US8198579B2 (en) | Systems and methods for calibrating alignment devices | |
| JP7229705B2 (en) | Method for determining x-ray scan geometry and method for acquiring x-ray images | |
| US11846592B2 (en) | Systems and methods for X-ray computed tomography | |
| US11478214B2 (en) | Geometric calibration for cone beam CT using line fiducials | |
| CN101352348B (en) | Method for recording measured data of a patient while taking account of movement operations, and an associated medical device | |
| AU2006315013A1 (en) | System and method for reconstructing an image by rectilinear trajectory scanning | |
| US20160143607A1 (en) | Methods and systems for correcting table deflection | |
| WO2014011681A2 (en) | Super-resolution tomosynthesis imaging systems and methods | |
| US20180368791A1 (en) | Method for generating a 3d data set complete in the central layer for volume reconstruction and cone-beam c-arm x-ray apparatus for performing the method | |
| US11344279B2 (en) | Imaging method for obtaining human skeleton | |
| JP5537226B2 (en) | Radiation imaging device | |
| CN113812971A (en) | Multi-degree-of-freedom four-dimensional dual-energy cone-beam CT imaging system and method | |
| Kang et al. | Investigation of the impact of various robot properties on a twin Robot-CT system | |
| CN109223016B (en) | CT imaging method and imaging device | |
| Duan et al. | Knowledge-based self-calibration method of calibration phantom by and for accurate robot-based CT imaging systems | |
| Schiffers et al. | Disassemblable fieldwork CT scanner using a 3D-printed calibration phantom | |
| US20220343568A1 (en) | Apparatus and method of producing a tomogram | |
| Wicklein et al. | An object-independent measure for improving misalignment correction in c-arm ct | |
| CN117853703A (en) | Interventional object identification method, imaging system and non-transitory computer readable medium | |
| Shukla et al. | A vision system for patient positioning in radiation therapy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xi Yan Inventor after: Lou Xin Inventor after: Chen Mianyi Inventor before: Xi Yan |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200722 Address after: Floor B2, No. 188, Linjiang Avenue, Linjiang Town, Haimen City, Nantong City, Jiangsu Province 226100 Patentee after: JIANGSU YIYING MEDICAL EQUIPMENT Co.,Ltd. Address before: No. 1800, Panyuan Road, Changxing Town, Chongming District, Shanghai 202150 (Shanghai Taihe Economic Development Zone) Patentee before: Shanghai Yiying medical technology center Effective date of registration: 20200722 Address after: No. 1800, Panyuan Road, Changxing Town, Chongming District, Shanghai 202150 (Shanghai Taihe Economic Development Zone) Patentee after: Shanghai Yiying medical technology center Address before: No. 800, No. 800, Xiu Pu Road, Shanghai, Shanghai Patentee before: Xi Yan |
|
| TR01 | Transfer of patent right |