CN109118480B - Adjusting method and device - Google Patents

Adjusting method and device Download PDF

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CN109118480B
CN109118480B CN201810836147.2A CN201810836147A CN109118480B CN 109118480 B CN109118480 B CN 109118480B CN 201810836147 A CN201810836147 A CN 201810836147A CN 109118480 B CN109118480 B CN 109118480B
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CN109118480A (en
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宣晓
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Beijing Neusoft Medical Equipment Co Ltd
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    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
    • 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
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract

The embodiment of the application discloses an adjusting method and a device, wherein the method comprises the following steps: the method comprises the steps of obtaining a first image and a second image which are obtained by correspondingly shooting a detected object through two image acquisition devices, analyzing the first image and the second image, obtaining the position coordinates of the characteristic points of the detected object in a space coordinate system according to the position coordinates of the characteristic points of the detected object in the first image and the second image respectively and the relative position relationship between the two image acquisition devices, so as to obtain the position coordinates of the central point of the detected object in the space coordinate system, and adjusting the position of a bed panel, so that the position coordinates of the central point of the detected object in the space coordinate system are the same as the position coordinates of the isocenter. Because there is not X ray in the accommodation process, consequently avoided the influence of long-time X ray radiation to the health of detected object, whole accommodation process only need pertinence move the bed board once moreover, have higher accuracy and efficiency.

Description

Adjusting method and device
Technical Field
The application relates to the field of medical instruments, in particular to an adjusting method and device.
Background
A C-arm X-ray imaging device is a device capable of generating X-rays in a shape similar to the letter C. The C-shaped arm X-ray imaging equipment comprises an X-ray emitter and an X-ray detector which are positioned on the C-shaped arm, wherein the X-ray emitter is used for emitting X-rays, the X-rays penetrate through a detected object and are received by the X-ray detector, so that the detected object is scanned in one direction, and the detected object can be subjected to three-dimensional rotating scanning by rotating the C-shaped arm to obtain a reconstructed image of the detected object.
Before scanning, the isocenter of the C-arm usually needs to be coincident with the center point of the detected object, so as to ensure that the detected object is located at the center of the reconstructed image. Wherein, the isocenter is the intersection point of the connecting line between the emitter focus of the X-ray and the center of the detector and the rotating axis of the C-shaped arm.
The traditional adjusting method needs to adjust the C-shaped arm twice, so that the X-rays emitted by the X-ray emitter are respectively vertical to the bed panel and parallel to the bed panel. By observing the position of the detected object in the X-ray image in real time and adjusting the bed panel according to the position of the detected object in the X-ray image, the center point of the detected object is coincided with the isocenter in the front and side directions.
Since the X-ray scanning of the object to be examined is required during the whole adjustment process, the long-time X-ray radiation may have a certain influence on the health of the object to be examined. Meanwhile, the bed panel is adjusted according to the position of the detected object observed in real time in the X-ray image, so that the center point of the detected object is approximately coincided with the isocenter only by repeatedly adjusting for many times, and the method is low in efficiency and accuracy.
Disclosure of Invention
In order to solve the problems that in the prior art, the bed panel is adjusted according to the position of a detected object observed in real time in an X-ray image, the method for enabling the center point of the detected object to coincide with the isocenter is poor in efficiency and low in accuracy, and long-time X-ray radiation can affect the health of the detected object, the embodiment of the application provides an adjusting method and an adjusting device, and the adjusting efficiency and the accuracy of the bed panel are improved.
An adjusting method provided by the embodiment of the application includes:
acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
analyzing the first image and the second image to obtain the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image;
obtaining the position coordinates of the feature points of the detected object in a space coordinate system according to the position coordinates of the feature points of the detected object in the first image, the position coordinates of the feature points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment;
calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
and adjusting the position of the bed panel so that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system.
Optionally, the calculating, according to the coordinate position of the feature point of the detected object in the space coordinate system, the position coordinate of the central point of the detected object in the space coordinate system includes:
acquiring the distance between the characteristic point of the detected object and the bed panel;
and calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the distance between the characteristic point of the detected object and the bed panel.
Optionally, the calculating, according to the coordinate position of the feature point of the detected object in the space coordinate system, the position coordinate of the central point of the detected object in the space coordinate system includes:
acquiring the height of a bed panel;
and calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the height of the bed panel.
Optionally, the optical axis of the first image capturing device and the optical axis of the second image capturing device are opposite to the bed panel, and the heights of the first image capturing device and the second image capturing device relative to the bed panel are the same.
Optionally, the analyzing the first image and the second image to obtain the position coordinates of the feature point of the detected object in the first image and the position coordinates of the feature point of the detected object in the second image includes:
identifying a characteristic region corresponding to the characteristic point in the first image through color characteristics, and taking the position coordinates of the central point of the characteristic region in the first image as the position coordinates of the characteristic point of the detected object in the first image;
and identifying a characteristic region corresponding to the characteristic point in the second image through color characteristics, and taking the position coordinates of the central point of the characteristic region in the second image as the position coordinates of the characteristic point of the detected object in the second image.
An adjusting device provided by the embodiment of the application comprises:
the image acquisition unit is used for acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
the image analysis unit is used for analyzing the first image and the second image to obtain the position coordinates of the feature point of the detected object in the first image and the position coordinates of the feature point in the second image;
a feature point coordinate obtaining unit, configured to obtain a position coordinate of a feature point of the detected object in a spatial coordinate system according to a position coordinate of the feature point of the detected object in the first image, a position coordinate of the feature point of the detected object in the second image, and a relative position relationship between the first image capturing device and the second image capturing device;
the central point coordinate acquisition unit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
and the adjusting unit is used for adjusting the position of the bed panel, so that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system.
Optionally, the central point coordinate obtaining unit includes:
the distance acquisition unit is used for acquiring the distance between the characteristic point of the detected object and the bed panel;
and the first central point coordinate acquisition subunit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the distance between the characteristic point of the detected object and the bed panel.
Optionally, the central point coordinate obtaining unit includes:
a height acquisition unit for acquiring the height of the bed panel;
and the second central point coordinate acquisition subunit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the height of the bed panel.
Optionally, the optical axis of the first image capturing device and the optical axis of the second image capturing device are opposite to the bed panel, and the heights of the first image capturing device and the second image capturing device relative to the bed panel are the same.
Optionally, the parsing unit includes:
a first image analysis unit, configured to identify, in the first image, a feature region corresponding to the feature point through color features, and use a position coordinate of a center point of the feature region in the first image as a position coordinate of the feature point of the detected object in the first image;
and the second image analysis unit is used for identifying a characteristic region corresponding to the characteristic point in the second image through color characteristics, and using the position coordinates of the central point of the characteristic region in the second image as the position coordinates of the characteristic point of the detected object in the second image.
An embodiment of the present application further provides an adjusting apparatus, including:
a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
analyzing the first image and the second image to obtain the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image;
obtaining the position coordinates of the feature points of the detected object in a space coordinate system according to the position coordinates of the feature points of the detected object in the first image, the position coordinates of the feature points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment;
calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
and adjusting the position of the bed panel so that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system.
In the adjusting method and device provided by the embodiment of the application, because the position of the bed panel is adjusted according to the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points of the detected object in the second image and the relative positions of the first image acquisition equipment and the second image acquisition equipment in the application, the detected object does not need to be subjected to X-ray scanning in the adjusting process, and therefore the influence of long-time X-ray radiation on the health of the detected object is avoided. Meanwhile, the position coordinates of the characteristic points of the detected object in the first image are determined by the relative positions of the first image acquisition device and the detected object, the position coordinates of the characteristic points of the detected object in the second image are determined by the relative positions of the second image acquisition device and the detected object, therefore, the relative positions of the first image acquisition device and the detected object can be determined by analyzing the first image, the relative positions of the second image acquisition device and the detected object can be determined by analyzing the second image, then the relative positions between the first image acquisition device and the second image acquisition device can be determined, the spatial position of the detected object in a spatial coordinate system can be determined, the position of the central point of the detected object in the spatial coordinate system can be further determined, and the bed panel can be adjusted according to the spatial position of the central point of the detected object, therefore, in the space coordinate system, the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter, namely the central point of the detected object is superposed with the isocenter, and the method is purposefully adjusted and has higher accuracy. In addition, the whole adjusting process only needs to move the bed panel once, and the bed has high efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a structure of a C-arm X-ray imaging apparatus according to an embodiment of the present disclosure;
FIG. 2 is an X-ray image provided by an embodiment of the present application;
fig. 3 is a flowchart of an adjusting method provided in an embodiment of the present application;
FIG. 4 is a diagram of another C-arm X-ray imaging apparatus according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating determination of feature points in an embodiment of the present application;
FIG. 6 is a schematic diagram of the positions of a first image and a second image in an embodiment of the present application;
fig. 7 is a block diagram of an adjusting device according to an embodiment of the present disclosure;
fig. 8 is an adjusting apparatus provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, a structure of a C-arm X-ray imaging apparatus is shown, the structure including: an X-ray emitter 101, an X-ray detector 102, a C-arm 103, an image processing device 104, an image display device 105, and a bed panel 106. The X-ray emitter 101 is used for emitting X-rays, the X-ray detector 102 is used for receiving the X-rays, the X-ray emitter 101 and the X-ray detector 102 are arranged on the C-shaped arm 103, an object to be detected is usually placed on the bed panel 106, the X-rays emitted by the X-ray emitter 101 penetrate through the object to be detected and are received by the X-ray detector 102, the X-rays received by the X-ray detector 102 are processed by the image processing device 104 to form X-ray images, the images formed by different parts of the object to be detected are different, and the X-ray images are displayed on the image display device 105.
In the prior art, the movement of the central point of the detected object needs to be manually completed so as to make the central point of the detected object coincide with the isocenter. Specifically, the bed panel 106 may be adjusted to be horizontal, the C-arm 103 may be adjusted to make the X-ray be perpendicular to the bed panel 106, the object to be detected is located on the bed panel 106, that is, the C-arm 103 is located at the normal position (0 degree) of the object to be detected, the position of the object to be detected in the X-ray image is observed by the image display device 105 under the X-ray, the bed panel 106 is moved in the horizontal direction, the center point of the object to be detected is made to coincide with the isocenter in the horizontal direction, and the corresponding object to be detected is located at the center of the X-ray image, as shown in fig. 2 (a). By adjusting the C-arm 103 so that the X-ray is parallel to the bed panel 106, the object to be detected is positioned on the bed panel 106, that is, the C-arm 103 is positioned at a side position (90 degrees) of the object to be detected, the position of the object to be detected in the X-ray image is observed by the image display device 105 under the X-ray, and by moving the bed panel 106 in the vertical direction, the center point of the object to be detected coincides with the isocenter in the vertical direction, and the corresponding object to be detected is positioned at the center of the X-ray image, as shown in fig. 2 (b).
In the above adjustment method, the bed panel 106 is adjusted according to the position of the detected object in the X-ray image until the imaging position of the detected object in the X-ray image is at the center of the X-ray image, so that the detected object needs to be under the X-ray during the whole adjustment process, which has a certain influence on the health of the detected object. Meanwhile, the panel 106 of the manual moving bed is used for adjusting the center point of the detected object to coincide with the isocenter, so that the efficiency is low, and errors are easy to generate. It is understood that the longer the time to move the bed panel 106, the greater the health impact on the subject.
In order to solve the above technical problem, an embodiment of the present application provides an adjusting method, where a first image capturing device and a second image capturing device are disposed above a bed panel 106, a detected object placed on the bed panel 106 is respectively captured to obtain a first image and a second image, and the bed panel 106 is adjusted according to the first image and the second image and a relative position of the first image capturing device and the first image capturing device, so that a center point of the detected object coincides with an isocenter.
Referring to fig. 3, a flowchart of an adjusting method provided by an embodiment of the present application is shown, and the method includes the following steps.
S301, a first image and a second image are obtained.
The first image is an image obtained by shooting the detected object by the first image acquisition device, and the second image is an image obtained by shooting the detected object by the second image acquisition device.
The first image capturing device and the second image capturing device may be a camera, a video camera, or the like. The first image acquisition equipment and the second image acquisition equipment are positioned above the bed panel and shoot the detected object placed on the bed panel.
The heights of the first image acquisition device and the second image acquisition device relative to the bed panel can be the same or different, and the optical axes of the first image acquisition device and the second image acquisition device can be parallel or at a certain angle.
As a possible embodiment, the first image acquisition device and the second image acquisition device may be arranged at a position where the C-arm is located above the bed plate and not present in the X-ray field of view.
When the end of the X-ray detector 102 on the C-arm is located above the bed plate, the first image acquisition device and the second image acquisition device may be disposed at the end of the X-ray detector 102 on the C-arm, which may be, for example, a frame of the X-ray detector 102. For convenience of calculation, the C-arm 103 may be adjusted to be located at a right position of the detected object, the X-ray detector 102 is located right above the bed panel, the first image capturing device 107 and the second image capturing device 108 are disposed on a frame of the X-ray detector 102, and have the same height with respect to the bed panel, and the first image capturing device and the second image capturing device may be right opposite to the bed panel, that is, optical axes of the first image capturing device and the second image capturing device may be parallel, as shown in fig. 4.
In an implementation, if the X-ray emitter 101 is above the bed panel, the first image capturing device and the second image capturing device may be disposed at the end of the X-ray emitter 101 on the C-arm, for example, on the frame of the X-ray generator 101.
The first image and the second image captured by the first image capturing device 107 and the second image capturing device 108 may include all or part of the image of the detected object. It should be noted that, in the embodiment of the present application, the first image and the second image need to simultaneously include a feature region corresponding to a feature point of the detected object, where the feature point of the detected object is located on the surface of the detected object.
The feature point of the detected object may be a point possessed by the detected object itself, for example, when the detected object is a head, the feature point may be a point at the tip of the nose of the head, or may be a point determined according to the positions of both eyes, for example, a center point of a connecting line of the centers of both eyes may be used as the feature point; the feature point of the detected object may also be a center point of a mark region provided on the surface of the detected object, the color and shape of the mark region being easy to recognize, for example, a red circular mark region.
S302, the first image and the second image are analyzed, and the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image are obtained.
The first image and the second image simultaneously include feature areas corresponding to feature points of the detected object, and the feature areas corresponding to the feature points of the detected object in the first image and the second image can be identified by analyzing the first image and the second image respectively.
Specifically, for the feature points of the detected object, the feature regions corresponding to the feature points of the detected object in the first image and the second image can be identified through image recognition, for example, when the detected object is the head of a person, the feature regions can be identified through face recognition. Specifically, two eye regions of a person may be located first, and a midpoint of a line connecting centers of the two eye regions may be used as a feature point. Referring to fig. 5, the two ends of the white line are the center points of the identified eyes, and the white point is the midpoint of the line connecting the two eyes.
Specifically, in the case where the center point of the mark region is used as the feature point, the feature region corresponding to the feature point of the detected object may be identified from the color features in the first image and the second image. Taking the first image as an example, the feature region corresponding to the feature point of the detected object in the first image can be identified according to the color value of each pixel point of the first image. Specifically, the color value of the pixel point in the first image can be acquired to identify the pixel point, and if the color value of a certain pixel point meets a preset condition, the pixel point can be considered as a pixel point in the characteristic region corresponding to the characteristic point.
The color values may include, for example, a Red value (Red, R), a Green value (Green, G), and a Blue value (Blue, B), and the preset condition may be that, when the feature point is Red: r is greater than or equal to a first threshold, G is less than or equal to a second threshold, and B is less than or equal to a third threshold. The first threshold may be 240, the second threshold may be 30, and the third threshold may be 30, for example, if the color value of a certain pixel satisfies the preset condition, it indicates that the color of the pixel is mainly red, which indicates that the pixel is a pixel in the feature region corresponding to the feature point.
The pixel points meeting the preset condition can form a characteristic region corresponding to the characteristic point in the first image, and the identification of the characteristic region corresponding to the characteristic point in the first image is realized. The identification process of the feature region corresponding to the feature point of the detected object in the second image may refer to the identification process of the feature region corresponding to the feature point of the detected object in the first image, and is not repeated here.
After the feature region corresponding to the feature point of the detected object in the first image is identified, an image coordinate system may be established in the first image, the position coordinate of the center point of the feature region corresponding to the feature point of the detected object in the first image in the image coordinate system is obtained, and the position coordinate of the center point is used as the position coordinate of the feature point of the detected object in the first image. The image coordinate system in the first image may use a central point of the image as a coordinate origin, may also use a lower left corner of the first image as a coordinate origin, may also use an intersection of the optical axis and the image plane as a coordinate origin, and may also use other positions as coordinate origins, which is not limited herein.
The process of acquiring the position coordinates of the feature points of the detected object in the second image may refer to the process of acquiring the position coordinates of the feature points of the detected object in the first image, and is not described again.
And S303, obtaining the position coordinates of the characteristic points of the detected object in the space coordinate system according to the position coordinates of the characteristic points of the detected object in the first image, the position coordinates of the characteristic points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment.
The relative position between the first image capturing device and the second image capturing device may include a relative distance and direction between the first image capturing device and the second image capturing device.
Since the position coordinates of the feature points of the detected object in the first image are related to the relative positions of the first image acquisition device and the detected object, and the position coordinates of the feature points of the detected object in the second image are related to the relative positions of the second image acquisition device and the detected object, on the premise of acquiring the relative position relationship between the first image acquisition device and the second image acquisition device, the positions of the feature points of the detected object relative to the first image acquisition device and/or the positions of the feature points of the detected object relative to the second image acquisition device can be obtained. And calculating to obtain the position coordinates of the characteristic points of the detected object in the space coordinate system by measuring the positions of the first image acquisition equipment and the second image acquisition equipment.
The following description will be given by way of example of the calculation method of the position coordinates of the feature points in the space coordinate system, with reference to fig. 6, OLAnd ORThe optical centers of the first image acquisition device and the second image acquisition device are respectively determined, and the parameters of the two image acquisition devices are assumed to be identical, and the focal length is f, OLAnd ORThe distance between them is B. Distance between the first image acquisition device and the second image acquisition device relative to the bed panelAnd the optical axes of the first image acquisition device and the second image acquisition device are parallel.
The point P is a characteristic point on the detected object, and in the first image and the second image, the point O can be taken as a coordinate origin at the intersection point of the respective optical axes and the image planeL-ORDirection is x-axis, with OL-ORThe vertical direction of the direction is the y axis, a plane rectangular coordinate system is established, and the imaging of the P point in the first image and the second image is P respectivelyL(X1，Y1) And PR(X2，Y2) Wherein Y is1And Y2Are equal. In the presence of OLIn the camera coordinate system with the origin coordinates, the directions of the x-axis and the y-axis are the same as the direction of the planar rectangular coordinate system in the first image, the direction perpendicular to the bed panel is taken as the z-axis, and the coordinates of the point P are assumed to be (x)c，yc，zc)。
From the geometrical relationship, the following relationship can be obtained:
Figure BDA0001744601270000111
let parallax D be X1-X2Then, the coordinates of point P can be calculated as:
Figure BDA0001744601270000112
namely, the position coordinates of the point P in the space coordinate system are obtained. It should be noted that, in this embodiment of the application, the relative positions of the first image capturing device and the second image capturing device may also be in other cases, for example, the optical axes are not parallel, or are not located at the same height, and as long as the first image capturing device and the second image capturing device in other relative positions include the feature regions corresponding to the feature points of the detected object, the position coordinates of the detected object in the first image and the second image may be obtained by analyzing the first image and the second image, and then the position coordinates of the feature points of the detected object in the spatial coordinate system may be determined according to the relative positions of the first image capturing device and the second image capturing device.
In the embodiment of the present application, the point P obtained as described above may be represented by OLPosition coordinates in the camera coordinate system as the origin of coordinates, as point P, in OLPosition coordinates in a spatial coordinate system that is the origin of coordinates. The point P obtained above may be OLThe position coordinates in the camera coordinate system, which is the origin of coordinates, are converted into position coordinates in another spatial coordinate system, for example in the known OLAnd the isocenter, point P may be OLThe position coordinates in the camera coordinate system, which is the origin of coordinates, are converted into position coordinates in the spatial coordinate system, which has the isocenter as the origin of coordinates, and are not described herein again.
S304, calculating the position coordinates of the central point of the detected object in the space coordinate system according to the position coordinates of the characteristic points of the detected object in the space coordinate system.
After obtaining the position coordinates of the feature points of the detected object in the space coordinate system, the position coordinates of the central point in the space coordinate system can be determined according to the relative positions of the feature points and the central point.
As a possible implementation manner, since the feature point is on the surface of the detected object, the thickness of the detected object, that is, the distance from the feature point to the bed panel, can be measured, and the position coordinate of the central point of the detected object in the spatial coordinate system is determined according to the position coordinate of the feature point of the detected object in the spatial coordinate system and the distance from the feature point of the detected object to the bed panel. Assuming that the distance from the feature point to the bed panel is m, the position coordinate (x, y, z) of the center point of the object to be detected in the spatial coordinate system is (x, y, z)c，yc，zc-m/2)。
As another possible implementation manner, the height of the bed panel may be obtained, the z-axis coordinate of the bed panel in the space coordinate system is obtained according to the height of the bed panel, and the detected pair is calculated according to the position coordinate of the feature point of the detected object in the space coordinate system and the z-axis coordinate of the bed panelThe position coordinates of the center point of the image in a spatial coordinate system. Suppose the z-axis coordinate of the bed panel in the space coordinate system is ztThen, the position coordinate (x, y, z) of the center point of the detected object in the space coordinate system is (x, y, z) — (x)c，yc，(zc+zt)/2)。
S105, adjusting the position of the bed panel to enable the position coordinate of the central point of the detected object to be the same as the position coordinate of the isocenter in the space coordinate system.
The bed panel on which the detected object is placed is adjusted mainly to enable the detected object to be in the X-ray visual field, so that the center point of the detected object can be coincided with the isocenter, and the isocenter is a rotation center, so that the center point of the detected object is always in the X-ray visual field center in the rotation process of the C-shaped arm.
The adjustment of the position of the bed panel can be realized through horizontal direction adjustment and vertical direction adjustment, the distance of the direction in which the bed panel needs to move can be directly calculated according to the position coordinate of the central point in the space coordinate system and the position coordinate of the isocenter in the space coordinate system, and the position coordinate of the central point of the detected object is enabled to be the same as the position coordinate of the isocenter through adjustment of the bed panel according to the calculation result, namely the central point of the detected object is coincided with the isocenter.
In particular, in the presence of OLIn the spatial coordinate system which is the coordinate origin, the coordinate of the central point of the detected object is (x, y, z), the position coordinate of the isocenter is obtained, and the position coordinate of the isocenter is assumed to be (x)o，yo，zo) Then the bed panel moves x in the x-axis directionoX, moving y in the direction of the y axisoY, moving z in the direction of the z-axiso–z。
In a spatial coordinate system with the isocenter as a coordinate origin, the position coordinate of the isocenter is (0, 0, 0), and the position coordinate of the center point of the detection target is (x)a，ya，za) Then the bed panel moves x in the x-axis directionaMoving in the direction of the y-axisaMoving in the z-axis directionZ is a movementa。
The bed board may be adjusted by a motor drive or manually, and the moving path and the current position may be displayed on the image display device 105.
In the adjusting method provided by the embodiment of the application, since the position of the bed panel is adjusted through the first image and the second image and the relative position of the first image acquisition device and the second image acquisition device in the application, no X-ray exists in the adjusting process, and therefore, no influence is caused on the health of the detected object. Meanwhile, the position coordinates of the characteristic points of the detected object in the first image are determined by the relative positions of the first image acquisition device and the detected object, the position coordinates of the characteristic points of the detected object in the second image are determined by the relative positions of the second image acquisition device and the detected object, therefore, the relative positions of the first image acquisition device and the detected object, the relative positions of the second image acquisition device and the detected object can be determined through analyzing the first image and the second image, then the relative positions between the first image acquisition device and the second image acquisition device are determined, the spatial position of the detected object in a spatial coordinate system can be determined, the position of the central point of the detected object in the spatial coordinate system is further determined, the bed panel is adjusted according to the spatial position of the central point of the detected object, so that in the spatial coordinate system, the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter, namely the central point of the detected object is superposed with the isocenter, and the method is purposefully adjusted and has higher accuracy. In addition, the whole adjusting process only needs to move the bed panel once, and the bed has high efficiency.
Based on the adjusting method provided by the above embodiment, the embodiment of the present application further provides an adjusting device, and the working principle of the adjusting device is described in detail below with reference to the accompanying drawings.
Referring to fig. 7, which is a block diagram of an adjusting device provided in an embodiment of the present application, the adjusting device includes:
an image obtaining unit 701, configured to obtain a first image and a second image, where the first image is obtained by shooting a detected object with a first image capturing device, and the second image is obtained by shooting the detected object with a second image capturing device; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
an image analyzing unit 702, configured to analyze the first image and the second image to obtain a position coordinate of the feature point of the detected object in the first image and a position coordinate in the second image;
a feature point coordinate obtaining unit 703, configured to obtain, according to a position coordinate of the feature point of the detected object in the first image, a position coordinate of the feature point in the second image, and a relative position relationship between the first image capturing device and the second image capturing device, a position coordinate of the feature point of the detected object in a spatial coordinate system;
a central point coordinate obtaining unit 704, configured to calculate a position coordinate of the central point of the detected object in the spatial coordinate system according to the position coordinate of the feature point of the detected object in the spatial coordinate system;
an adjusting unit 705 configured to adjust a position of the bed panel so that a position coordinate of a center point of the detected object is the same as a position coordinate of an isocenter in the spatial coordinate system.
Optionally, the central point coordinate obtaining unit includes:
the distance acquisition unit is used for acquiring the distance between the characteristic point of the detected object and the bed panel;
and the first central point coordinate acquisition subunit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the distance between the characteristic point of the detected object and the bed panel.
Optionally, the central point coordinate obtaining unit includes:
a height acquisition unit for acquiring the height of the bed panel;
and the second central point coordinate acquisition subunit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the height of the bed panel.
Optionally, the optical axis of the first image capturing device and the optical axis of the second image capturing device are opposite to the bed panel, and the heights of the first image capturing device and the second image capturing device relative to the bed panel are the same.
Optionally, the parsing unit includes:
a first image analysis unit, configured to identify, in the first image, a feature region corresponding to the feature point through color features, and use a position coordinate of a center point of the feature region in the first image as a position coordinate of the feature point of the detected object in the first image;
and the second image analysis unit is used for identifying a characteristic region corresponding to the characteristic point in the second image through color characteristics, and using the position coordinates of the central point of the characteristic region in the second image as the position coordinates of the characteristic point of the detected object in the second image.
In the adjusting device provided by the embodiment of the application, because the position of the bed panel is adjusted according to the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points of the detected object in the second image and the relative positions of the first image acquisition equipment and the second image acquisition equipment in the application, the detected object does not need to be subjected to X-ray scanning in the adjusting process, and therefore the influence of long-time X-ray radiation on the health of the detected object is avoided.
Meanwhile, the position coordinates of the characteristic points of the detected object in the first image are determined by the relative positions of the first image acquisition device and the detected object, the position coordinates of the characteristic points of the detected object in the second image are determined by the relative positions of the second image acquisition device and the detected object, therefore, the relative positions of the first image acquisition device and the detected object can be determined by analyzing the first image, the relative positions of the second image acquisition device and the detected object can be determined by analyzing the second image, then the relative positions between the first image acquisition device and the second image acquisition device can be determined, the spatial position of the detected object in a spatial coordinate system can be determined, the position of the central point of the detected object in the spatial coordinate system can be further determined, and the bed panel can be adjusted according to the spatial position of the central point of the detected object, therefore, in the space coordinate system, the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter, namely the central point of the detected object is superposed with the isocenter, and the method is purposefully adjusted and has higher accuracy. In addition, the whole adjusting process only needs to move the bed panel once, and the bed has high efficiency.
The adjusting device provided by the above embodiments can be applied to any electronic device with a processor, which can be any electronic device existing, developing or developed in the future, including but not limited to: existing, developing or future developing desktop computers, laptop computers, mobile terminals (including smart phones, non-smart phones, various tablet computers), and the like. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and is formed by reading corresponding computer program instructions in the storage into the memory for operation through the processor of the electronic device with the processor, which is used as a logical device.
From a hardware aspect, as shown in fig. 8, it is a hardware structure diagram of an electronic device with a processor where an adjusting apparatus of the present invention is located, except for the processor, the memory, the network interface, and the storage shown in fig. 8, a device of a projection system or the electronic device with a processor where the apparatus is located in the embodiment may also include other hardware, such as a display, according to the actual function of the device, which is not described again.
The memory may store a logic instruction corresponding to the adjustment method, and the memory may be, for example, a non-volatile memory (non-volatile memory), and the processor may call and execute the logic instruction stored in the memory to execute the adjustment method.
The functions of the logic instructions corresponding to the adjustment method, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
An embodiment of the present application further provides an adjusting apparatus, including: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to:
acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
analyzing the first image and the second image to obtain the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image;
obtaining the position coordinates of the feature points of the detected object in a space coordinate system according to the position coordinates of the feature points of the detected object in the first image, the position coordinates of the feature points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment;
calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
and adjusting the position of the bed panel so that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system.
When introducing elements of various embodiments of the present application, the articles "a," "an," "the," and "said" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, and the units and modules described as separate components may or may not be physically separate. In addition, some or all of the units and modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims (6)

1. A method of conditioning, the method comprising:
acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
analyzing the first image and the second image to obtain the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image;
obtaining the position coordinates of the feature points of the detected object in a space coordinate system according to the position coordinates of the feature points of the detected object in the first image, the position coordinates of the feature points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment;
calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
adjusting the position of the bed panel to ensure that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system;
wherein, the calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the feature point of the detected object in the space coordinate system includes:
acquiring the distance between the characteristic point of the detected object and the bed panel; calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the distance between the characteristic point of the detected object and the bed panel; alternatively, the first and second electrodes may be,
acquiring the height of a bed panel; and calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the height of the bed panel.
2. The method of claim 1, wherein the optical axis of the first image capturing device and the second image capturing device are directly opposite the bed deck, and wherein the first image capturing device and the second image capturing device are at the same height relative to the bed deck.
3. The method according to claim 1, wherein the analyzing the first image and the second image to obtain the position coordinates of the feature point of the detected object in the first image and the position coordinates of the feature point in the second image comprises:
identifying a characteristic region corresponding to the characteristic point in the first image through color characteristics, and taking the position coordinates of the central point of the characteristic region in the first image as the position coordinates of the characteristic point of the detected object in the first image;
and identifying a characteristic region corresponding to the characteristic point in the second image through color characteristics, and taking the position coordinates of the central point of the characteristic region in the second image as the position coordinates of the characteristic point of the detected object in the second image.
4. An adjustment device, characterized in that the device comprises:
the image acquisition unit is used for acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
the image analysis unit is used for analyzing the first image and the second image to obtain the position coordinates of the feature point of the detected object in the first image and the position coordinates of the feature point in the second image;
a feature point coordinate obtaining unit, configured to obtain a position coordinate of a feature point of the detected object in a spatial coordinate system according to a position coordinate of the feature point of the detected object in the first image, a position coordinate of the feature point of the detected object in the second image, and a relative position relationship between the first image capturing device and the second image capturing device;
the central point coordinate acquisition unit is used for calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
the adjusting unit is used for adjusting the position of the bed panel, so that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system;
wherein the center point coordinate acquiring unit includes: the distance acquisition unit and the first central point coordinate acquisition subunit; or, the central point coordinate acquiring unit includes: the height acquisition unit and the second central point coordinate acquisition subunit;
the distance acquisition unit is used for acquiring the distance between the characteristic point of the detected object and the bed panel;
the first central point coordinate obtaining subunit is configured to calculate a position coordinate of the central point of the detected object in the spatial coordinate system according to the position coordinate of the feature point of the detected object in the spatial coordinate system and a distance between the feature point of the detected object and the bed panel;
the height acquisition unit is used for acquiring the height of the bed panel;
and the second central point coordinate obtaining subunit is configured to calculate a position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the feature point of the detected object in the space coordinate system and the height of the bed panel.
5. The apparatus of claim 4, wherein the parsing unit comprises:
a first image analysis unit, configured to identify, in the first image, a feature region corresponding to the feature point through color features, and use a position coordinate of a center point of the feature region in the first image as a position coordinate of the feature point of the detected object in the first image;
and the second image analysis unit is used for identifying a characteristic region corresponding to the characteristic point in the second image through color characteristics, and using the position coordinates of the central point of the characteristic region in the second image as the position coordinates of the characteristic point of the detected object in the second image.
6. An adjustment device, characterized in that the device comprises: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring a first image and a second image, wherein the first image is obtained by shooting a detected object by first image acquisition equipment, and the second image is obtained by shooting the detected object by second image acquisition equipment; the first image acquisition equipment and the second image acquisition equipment are positioned above a bed panel, and the detected object is placed on the bed panel; the surface of the detected object is provided with characteristic points;
analyzing the first image and the second image to obtain the position coordinates of the characteristic points of the detected object in the first image and the position coordinates of the characteristic points in the second image;
obtaining the position coordinates of the feature points of the detected object in a space coordinate system according to the position coordinates of the feature points of the detected object in the first image, the position coordinates of the feature points of the detected object in the second image and the relative position relationship between the first image acquisition equipment and the second image acquisition equipment;
calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system;
adjusting the position of the bed panel to ensure that the position coordinate of the central point of the detected object is the same as the position coordinate of the isocenter in the space coordinate system;
wherein, the calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the feature point of the detected object in the space coordinate system includes:
acquiring the distance between the characteristic point of the detected object and the bed panel; calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the distance between the characteristic point of the detected object and the bed panel; alternatively, the first and second electrodes may be,
acquiring the height of a bed panel; and calculating the position coordinate of the central point of the detected object in the space coordinate system according to the position coordinate of the characteristic point of the detected object in the space coordinate system and the height of the bed panel.
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