CN109875589A - A kind of measurement method and device of the error of centralization of vascular machine system - Google Patents
A kind of measurement method and device of the error of centralization of vascular machine system Download PDFInfo
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Abstract
This application discloses the measurement methods and device of a kind of error of centralization of vascular machine system.This method can calculate the error of centralization of beam-defining clipper and detector according to linear equation of each boundary in the visual field in detector coordinates system；Wherein, linear equation can be obtained by the x-ray image shot, and x-ray image can shoot to obtain according to the visual field for the beam-defining clipper adjusted.Therefore, all processes of the measurement method are executed by machine completely, are participated in without artificial, therefore, all automatic measurement of the error of centralization may be implemented in measurement method provided by the present application.The measurement method has the characteristics that real-time, fast accurate.
Description
Technical field
This application involves Medical Imaging Technology field more particularly to a kind of measurement methods of the error of centralization of vascular machine system
And device.
Background technique
Vascular machine is a kind of medical imaging equipment that auxiliary doctor checks or performs the operation.It passes through X-ray dynamically
Show inside of human body organization chart picture.Vascular machine is usually made of rack and bed, and bed plays the role of supporting patient, and rack is main
Imaging device.As shown in Figure 1, rack is usually the form of a C-arm, the fixed X-ray tube ball component 11 in one end, one end is fixed
Detector 12.X-ray tube ball component 11 is X-ray emitter, and detector 12 is X-ray reception device.X-ray tube ball component 11 is again by ball
Pipe 111 and beam-defining clipper 112 form, and the ray that bulb 111 emits can be limited in a rectangular extent by beam-defining clipper 112,
The regional scope of this specific shape is called the visual field, also known as FOV (Field of View).FOV is often referred to the X-ray visual field and is detecting
The size on device surface.For the considerations of saving dosage, field range has to fall within detector, otherwise beyond detector
Part can not be imaged, and be equivalent to and patient is allowed to receive extra X-ray, to body nocuousness.To achieve it, beam-defining clipper
The necessary centering of 112 FOV and detector 12, can just extrapolate FOV by the distance between detector and bulb in this way and visit
Survey the range on device.
In practical applications, beam-defining clipper 112 is sometimes for rotation, in order to keep the FOV and detector 12 of beam-defining clipper 112
Centering, detector 12 are also required to synchronous rotary.And may have certain error between the synchronous rotary of the two, especially in length
After phase use, synchronous error can accumulate increase, reduce the FOV of beam-defining clipper 112 and the precision of 12 synchronous rotary of detector, in turn
Affect the FOV of beam-defining clipper 112 and the accuracy of alignment of detector 12.
Therefore, it in order to ensure the accuracy of alignment of the FOV of beam-defining clipper 112 and detector 12, needs to measure beam-defining clipper 112 and visits
Survey the error of centralization of device 12.However, the measurement of the error of centralization of existing beam-defining clipper 112 and detector 12 can only be after rotation
Image is shot, measures in the picture by hand, causes measurement process to take a long time, and measurement result is inaccurate.
Summary of the invention
In view of this, this application provides the measurement method and device of a kind of error of centralization of vascular machine system, with reduction
The time-consuming of measurement process, and improve the accuracy of measurement result.
In order to solve the above-mentioned technical problem, the application adopts the technical scheme that
A kind of measurement method of the error of centralization of vascular machine system, the vascular machine system include beam-defining clipper and detector,
The described method includes:
The visual field size for adjusting beam-defining clipper, so that the visual field of the beam-defining clipper is in the detector；
According to the visual field taking x-rays for the beam-defining clipper adjusted, to generate x-ray image on the detector；
Linear equation of each boundary in the visual field in detector coordinates system is obtained according to the x-ray image；
Pair of beam-defining clipper and detector is calculated according to linear equation of each boundary in the visual field in detector coordinates system
Middle error.
Optionally, the profile in the visual field is rectangle, and each boundary for obtaining the visual field according to the x-ray image exists
Linear equation in detector coordinates system, specifically includes:
It is straight in detector coordinates system that two boundaries opposite on the first direction of the visual field are obtained respectively according to the x-ray image
Line equation；
It is straight in detector coordinates system that two boundaries opposite in the second direction of the visual field are obtained respectively according to the x-ray image
Line equation；
Wherein, the first direction is vertical with the second direction.
Optionally, described that two boundaries opposite on the first direction of the visual field are obtained in detector according to the x-ray image respectively
Linear equation in coordinate system, specifically includes:
Obtain the X-ray signal at the first reference line and the second reference line of the x-ray image；First reference line and
Two opposite on visual field first direction boundaries of second reference line are intersected, and first reference line and the view
The intersection point on the two opposite boundaries both sides opposite on second reference line and the visual field first direction on wild first direction
The intersection point on boundary is different；
It is obtained and is located on the visual field first direction according to the X-ray signal at first reference line and the second reference line
The borderline boundary point of opposite two；
Respectively according to every two borderline boundary points on the visual field first direction, the visual field is obtained
Linear equation of each edge circle in detector coordinates system on first direction.
Optionally, the X-ray signal at first reference line and the second reference line is sequence signal；
The X-ray signal according at first reference line and the second reference line, which obtains, is located at the visual field first party
Two opposite borderline boundary points upwards, specifically include:
Difference is made to the front and back for being located at the X-ray signal at the first reference line and at the second reference line, obtains the first ginseng
Examine the differential signal distribution map at line and at the second reference line；It wherein, include extreme point in each differential signal distribution map, each
Extreme point in differential signal distribution map is respectively the boundary point on the first direction of the visual field in each edge circle.
Optionally, second reference line is multiple positions in the x-ray image.
Optionally, after first reference line for obtaining the x-ray image and X-ray signal at the second reference line,
The X-ray signal according at first reference line and the second reference line, which obtains, to be located on the visual field first direction relatively
Two borderline boundary points before, further includes:
Denoising is carried out to the X-ray signal at the first reference line and the second reference line for being located at the x-ray image；
The X-ray signal according at first reference line and the second reference line, which obtains, is located at the visual field first party
Two opposite borderline boundary points upwards, specifically include:
The X-ray signal to first reference line after denoising and at the second reference line is obtained positioned at described respectively
Two opposite borderline boundary points on the first direction of the visual field.
Optionally, the linear equation according to each boundary in the visual field in detector coordinates system calculate beam-defining clipper with
The error of centralization of detector, specifically includes:
According to linear equation corresponding slope of each boundary in the visual field in detector coordinates system, calculate beam-defining clipper with
Detector misaligns angle.
A kind of measuring device of the error of centralization of vascular machine system, the vascular machine system include beam-defining clipper and detector,
Described device includes:
Adjustment unit, for adjusting the visual field size of beam-defining clipper, so that the visual field of the beam-defining clipper is in the detector
It is interior；
Generation unit, for the visual field taking x-rays according to the beam-defining clipper adjusted, to generate X on the detector
Light image；
Acquiring unit, each boundary for obtaining the visual field according to the x-ray image are straight in detector coordinates system
Line equation；
Computing unit calculates beam-defining clipper for linear equation of each boundary according to the visual field in detector coordinates system
With the error of centralization of detector.
Optionally, the profile in the visual field is rectangle, and the acquiring unit specifically includes:
First direction linear equation obtains subelement, for obtaining visual field first direction respectively according to the x-ray image
Linear equation of the two opposite boundaries in detector coordinates system；
Second direction linear equation obtains subelement, for obtaining visual field second direction respectively according to the x-ray image
Linear equation of the two opposite boundaries in detector coordinates system；
Wherein, the first direction is vertical with the second direction.
Optionally, the first direction linear equation obtains subelement, specifically includes:
X-ray signal obtains module, and the X at the first reference line and the second reference line for obtaining the x-ray image is penetrated
Line signal；First reference line and opposite on the visual field first direction two boundaries of second reference line are intersected,
And the intersection point on first reference line and two boundaries opposite on the visual field first direction and second reference line with it is described
The intersection point on two opposite boundaries is different on the first direction of the visual field；
Boundary point obtains module, for obtaining position according to the X-ray signal at first reference line and the second reference line
In two borderline boundary points opposite on the visual field first direction；
Linear equation obtains module, for respectively according to every two boundaries on the visual field first direction
Boundary point, obtain linear equation of each edge circle on the visual field first direction in detector coordinates system.
Compared to the prior art, the application has the advantages that
It, can be with based on above technical scheme it is found that the measurement method of the error of centralization of vascular machine system provided by the present application
The error of centralization of beam-defining clipper and detector is calculated according to linear equation of each boundary in the visual field in detector coordinates system；Its
In, linear equation can be obtained by the x-ray image shot, and x-ray image can be shot according to the visual field for the beam-defining clipper adjusted
It obtains.Therefore, all processes of the measurement method are executed by machine completely, are participated in without artificial, and therefore, the application provides
Measurement method all automatic measurement of the error of centralization may be implemented.The measurement method has the characteristics that real-time, fast accurate.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the effect diagram of the rack of vascular machine provided by the present application；
Fig. 2 is the effect diagram of beam-defining clipper provided by the present application and detector centering；
Fig. 3 is the structural schematic diagram that beam-defining clipper provided by the present application and detector are misaligned with γ angle；
Fig. 4 is the flow chart of the measurement method of the error of centralization for the vascular machine system that the embodiment of the present application one provides；
Fig. 5 is the process schematic of the visual field size for the adjustment beam-defining clipper that the embodiment of the present application one provides；
Fig. 6 is the accurate x-ray image schematic diagram of centering that the embodiment of the present application one provides；
Fig. 7 is the x-ray image schematic diagram that the angle that the embodiment of the present application one provides misaligns；
Fig. 8 is the detector coordinates architecture schematic diagram that the embodiment of the present application one provides；
Fig. 9 is the structural schematic diagram of the first reference line and the second reference line that the embodiment of the present application one provides；
Figure 10 is the structural schematic diagram that two positions that the embodiment of the present application one provides determine visual field boundary；
Figure 11 is the sequence signal and its difference after the sequence signal for the first reference line that the embodiment of the present application one provides, denoising
Divide result schematic diagram；
Figure 12 is the structural schematic diagram that multiple positions that the embodiment of the present application one provides determine visual field boundary；
Figure 13 is provided by the embodiments of the present application for executing the control of the measurement method of the error of centralization of vascular machine system
Device structure schematic diagram；
Figure 14 is the measuring device structural schematic diagram of the error of centralization of vascular machine system provided by the embodiments of the present application.
Specific embodiment
Before introducing the application specific embodiment, introduce what description the application specific embodiment was used first
Technical term.
The concept of centering is introduced first.
Referring to fig. 2, which is beam-defining clipper provided by the present application and detector centering effect diagram.
The origin of the X-ray plane of beam-defining clipper is O in Fig. 2, and coordinate system is followed successively by x, y, z；The origin of detector plane is to visit
Device center O ' is surveyed, coordinate system is followed successively by u, v.
Refer to that the X-ray emitted from focus F should be overlapped by O point with O ' in, and x is parallel with u, y is parallel with v.
The concept misaligned is described below.
Referring to Fig. 3, which is the effect diagram that beam-defining clipper and detector provided by the present application are misaligned with γ angle.
Detector plane 31 is indicated with solid-line rectangle in Fig. 3, and beam-defining clipper FOV32 is indicated with dashed rectangle, and solid line square
Shape with dashed rectangle is at angle γ is staggered
γ angle, which misaligns, refers to that beam-defining clipper FOV32 is misaligned with detector plane 31, at angle γ to be staggered.
The technical issues of in order to solve background technology part, the embodiment of the present application provide a kind of centering of vascular machine system
The measurement method of error, vascular machine system include beam-defining clipper and detector, and method includes: to adjust the visual field size of beam-defining clipper, with
Make the visual field of beam-defining clipper in detector；According to the visual field taking x-rays for the beam-defining clipper adjusted, to generate on the detector
X-ray image；Linear equation of each boundary in the visual field in detector coordinates system is obtained according to x-ray image；According to each side in the visual field
Linear equation of the boundary in detector coordinates system calculates the error of centralization of beam-defining clipper and detector.
The measurement method of the error of centralization of vascular machine system provided by the present application can detected according to each boundary in the visual field
Linear equation in device coordinate system calculates the error of centralization of beam-defining clipper and detector；Wherein, linear equation can be by the X that shoots
Light image obtains, and x-ray image can shoot to obtain according to the visual field for the beam-defining clipper adjusted.Therefore, the institute of the measurement method
There is process that can be executed completely by machine, is participated in without artificial, therefore, centering may be implemented in measurement method provided by the present application
The all automatic measurement of error.The measurement method has the characteristics that real-time, fast accurate.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Embodiment one
Referring to fig. 4, which is the stream of the measurement method of the error of centralization for the vascular machine system that the embodiment of the present application one provides
Cheng Tu.
It is to be appreciated that the structural schematic diagram of the vascular machine system of the embodiment of the present application is as shown in Figure 1.Therefore, the vascular machine
System includes beam-defining clipper and detector.
The measurement method of the error of centralization of vascular machine system provided by the embodiments of the present application includes:
S401: adjusting the visual field size of beam-defining clipper, so that the visual field of beam-defining clipper is in detector；
S402: according to the visual field taking x-rays for the beam-defining clipper adjusted, to generate x-ray image on the detector；
S403: linear equation of each boundary in the visual field in detector coordinates system is obtained according to x-ray image；
S404: pair of beam-defining clipper and detector is calculated according to linear equation of each boundary in the visual field in detector coordinates system
Middle error.
In order to carry out clearer, complete elaboration to step each in this method, below to each step of this method
Specific implementation illustrated one by one.
The specific implementation of S401 is introduced first.
In S401, since the visual field size of beam-defining clipper is adjustable, therefore, it is possible to which the visual field by adjusting beam-defining clipper is big
It is small, to guarantee that the FOV range of beam-defining clipper is entirely fallen in detector.
Since beam-defining clipper FOV and detector shift angle are smaller, thus, it is visited as long as being less than the size in the visual field of beam-defining clipper
Survey the size of device, so that it may so that the FOV range of beam-defining clipper is entirely fallen in detector.For example, the size of FOV can be adjusted
To the half of detector size.If the size of detector is 40*30cm, FOV's adjusts the dimensions to 20*15cm.
Referring to Fig. 5, which is the process schematic of the visual field size for the adjustment beam-defining clipper that the embodiment of the present application one provides.
Dashed rectangle indicates that the field range of beam-defining clipper, solid-line rectangle indicate the planar range of detector in Fig. 5.Wherein scheme
5 (1) indicate the case where initial beam-defining clipper field range falls into detector, and Fig. 5 (2) indicates beam-defining clipper field range adjusted
The case where falling into detector.
As an example, the initial beam-defining clipper field range in Fig. 5 (1) is not entirely fallen in detector, partial visual field model
The planar range for having exceeded detector is enclosed, in order to guarantee that the field range of beam-defining clipper is entirely fallen in detector regimes, S401 can
With specifically: the visual field size of beam-defining clipper is reduced, so that the field range of beam-defining clipper is entirely fallen in detector, such as Fig. 5 (2) institute
Show.
The specific implementation of S402 is described below.
In S402, after the X-ray of bulb transmitting passes through beam-defining clipper, detector receives beam-defining clipper FOV model adjusted
Interior X-ray line is enclosed, to generate x-ray image.It, below will be using the FOV profile of beam-defining clipper as rectangle for the ease of explanation and understanding
For be illustrated.
Referring to Fig. 6, which is the accurate x-ray image schematic diagram of centering that the embodiment of the present application one provides.
Referring to Fig. 7, which is the x-ray image schematic diagram that the γ angle that the embodiment of the present application one provides misaligns.
As an example, when detector be 40*30cm, and beam-defining clipper FOV adjusted be 20*15cm when, generated by S402
X-ray image it is as follows:
If beam-defining clipper and detector centering are accurate, the x-ray image in Fig. 6 generated by S402, which includes FOV
Region 602 other than inner region 601 and FOV, wherein FOV inner region 601 is the 20*15cm for being located at detector center
Rectangle, and FOV inner region 601 is made of X-ray signal, thus, signal value is higher, is indicated in Fig. 6 with white；However, due to
Region 602 other than FOV does not have ray signal, thus, signal value is lower, is indicated in Fig. 6 with grey.
If beam-defining clipper and detector are misaligned with γ angle, S402 can generate x-ray image as shown in Figure 7, should
Image includes the region 702 other than FOV inner region 701 and FOV, wherein FOV inner region 701 be that spy is misaligned with γ angle
The rectangle of the 20*15cm of device is surveyed, and FOV inner region 701 is made of X-ray signal, thus, signal value is higher, with white in Fig. 7
It indicates；However, since the region 702 other than FOV does not have ray signal, thus, signal value is lower, is indicated in Fig. 7 with grey.
The specific implementation of S403 is described below.
In S403, FOV profile can be rectangle, be also possible to square, can also be other shapes.And S403 is at least
Including embodiment in detail below:
When FOV profile is rectangle, in order to improve the accuracy of error of centralization measurement, S403 can be specifically included:
S403a: two boundaries opposite on the first direction of the visual field are obtained respectively according to x-ray image in detector coordinates system
Linear equation；
S403b: two boundaries opposite in the second direction of the visual field are obtained respectively according to x-ray image in detector coordinates system
Linear equation；Wherein, first direction is vertical with second direction.
As an example, first direction can be the direction where the horizontal boundary of FOV, and second direction can be for FOV's
Direction where vertical boundary；As another example, first direction can be the direction where the vertical boundary of FOV, second party
To can be direction where the horizontal boundary of FOV.
It is below the vertical direction of FOV with first direction, is illustrated for the transverse direction that second direction is FOV.
Referring to Fig. 8, which is the detector coordinates system schematic diagram that the embodiment of the present application one provides.
The origin of detector coordinates system is O ' in Fig. 8, and reference axis is respectively u and v, and FOV range is with P1, P2, P3 and P4
For the rectangle on vertex.Wherein, two boundaries opposite in FOV vertical direction be P1P2 while and when P4P3, opposite side in FOV transverse direction
Boundary be P3P2 while and when P4P1.Thus, by S403a can obtain P1P2 while linear equation and P4P3 while linear equation, and
By S403b can obtain P3P2 while linear equation and P4P1 while linear equation.
Since the method for obtaining the linear equation on two boundaries opposite in FOV vertical direction is opposite in acquisition FOV transverse direction
Two boundaries linear equation method it is identical, below by the linear equation to obtain two boundaries opposite in FOV vertical direction
For be illustrated.
For the linear equation on the acquisition boundary FOV of fast accurate, the embodiment of the present application provides the specific of two kinds of S403a
Embodiment will be introduced respectively below.
The first embodiment of S403a
S403a can be with specifically:
S403a-1: the X-ray signal of each sampled point on the first reference line and the second reference line of x-ray image is obtained；
First reference line and opposite in the vertical direction of the visual field two boundaries of the second reference line are intersected, and the first reference line and the visual field are perpendicular
The intersection point from the second reference line on two opposite boundaries are different with the intersection point on two boundaries opposite in the vertical direction of the visual field on direction；
First reference line can for any bar and the P1P2 of FOV while and when P4P3 straight line for intersecting where position, second
Reference line may be any bar with the P1P2 of FOV while and when P4P3 straight line for intersecting where position.
Referring to Fig. 9, which is the structural schematic diagram of the first reference line that the embodiment of the present application one provides and the second reference line.
Two straight lines l1 and l2 in each figure of Fig. 9 respectively indicate the first reference line and the second reference line.
Due to the first reference line intersect at the P1P2 of FOV while and intersection point when P4P3 and the second reference line intersect at FOV's
Intersection point of P1P2 while with P4P3 is different, thus, the first reference line can be parallel with the second reference line, as shown in Fig. 9 (1) figure,
At this point, the second reference line, which can be, moves a certain distance acquisition by the first reference line；First reference line can also be with the second ginseng
Line intersection is examined, as shown in Fig. 9 (2)；First reference line can also be it is neither parallel with the second reference line and also with the second reference line
Intersection, as shown in Fig. 9 (3) figure.In short, straight line where straight line where the first reference line and the second reference line cannot pass through two
Identical point.
S403a-2: it is obtained according to the X-ray signal of each sampled point on the first reference line and the second reference line and is located at view
Two opposite borderline boundary points in wild vertical direction；
Since x-ray image can be indicated with matrix I, wherein N*M of the element representation x-ray image in the matrix I of N*M
Pixel, for example, the matrix of x-ray image is expressed as follows with formula (1),
Wherein, in I matrix Nth row m column element pNMIndicate the pixel value of Nth row m column in x-ray image.
X-ray signal at first reference line and the second reference line is sequence signal.For the ease of explanation and illustration, under
Face will be illustrated by taking Figure 10 as an example.
Referring to Figure 10, which is the structural schematic diagram that two positions that the embodiment of the present application one provides determine visual field boundary.
The first reference line 1001 is located at the middle position of image in Figure 10, then the sequence signal L1 of the first reference line 1001 is used
Formula (2) is expressed as follows,
The sequence signal L1 of the first reference line 1001 is all pixels value of the N/2 row of image array I in formula (2),
Thus, it include M pixel in L1.In addition, the first reference line 1001 and the intersection point on the side P1P2 are vr1 and the first reference line in Figure 10
1001 with the intersection point on the side P4P3 be vl1.
Second reference line 1002 is that the first reference line 1001 moves down 2 pixels and obtains, thus, the second reference line
1002 sequence signal L2 is expressed as follows with formula (3):
The sequence signal L2 of the second reference line 1002 is all pixels of (N/2)+2 row of image array I in formula (3)
Value, thus, it include M pixel in L2.In addition, the second reference line 1002 and the intersection point on the side P1P2 are vr2 and the second ginseng in Figure 10
The intersection point for examining line 1002 and the side P4P3 is vl2.
For the linear equation on the acquisition boundary FOV of fast accurate, then S403a-2 can be with specifically:
Difference is made to the front and back for being located at the X-ray signal at the first reference line and at the second reference line, obtains the first ginseng
Examine the differential signal distribution map at line and at the second reference line；It wherein, include extreme point in each differential signal distribution map, each
Extreme point in differential signal distribution map is respectively the boundary point in the vertical direction of the visual field in each edge circle.
It should be noted that assuming X-ray signal S (i), and i ∈ { 1,2 ..., n } is indicated, then before X-ray signal
Consequent to refer to that latter subtracts previous item in the signal sequence as difference, calculation formula (4) is expressed as follows:
Δ S (i)=S (i+1)-S (i), i ∈ 1,2 ..., (n-1) } (4)
In formula, Δ S (i), and i ∈ { 1,2 ..., (n-1) } is difference result.
Differential signal distribution map is the figure drawn according to the difference result of X-ray signal.
In addition, since X-ray has scattering, refraction, and focus is not ideal point light source yet, can except FOV yet
There are some X-ray signals, only measures smaller.Therefore L1 signal is not an ideal stairstep signal, and there are also
Glitch noise.
Thus, to solve the above-mentioned problems, the embodiment of the present application is in the first reference line for obtaining x-ray image and the second reference
After X-ray signal at line, is obtained according to the X-ray signal at the first reference line and the second reference line and be located at the visual field vertically side
Upwards before two opposite borderline boundary points, further includes:
Denoising is carried out to the X-ray signal at the first reference line and the second reference line for being located at x-ray image；
The method multiplicity of denoising, for example, neighbor is averaged, this method specifically, assume that original signal is S (i),
And i=1~n, the then calculation formula (5) of the signal after denoising are expressed as follows:
In formula, X (j), and j ∈ { 1,2 ..., n } is the signal after denoising；M can according to need value, and m is bigger, then goes
Signal after making an uproar is more smooth.
Due to obtain the first reference line and P1P2 while intersection point vr1 and the first reference line and intersection point vl1 when P4P3 side
Method and obtain the second reference line and P1P2 while intersection point vr2 and the second reference line it is identical as the method for intersection point vl2 when P4P3, under
Face by in obtain the first reference line and P1P2 while intersection point vr1 and the method for the first reference line and intersection point vl1 when P4P3 be
Example is illustrated.
Referring to Figure 11, which is the sequence after the sequence signal for the first reference line that the embodiment of the present application one provides, denoising
Signal and its difference result schematic diagram.
Figure 11 (1) is the sequence signal distribution map of the first reference line, and the longitudinal axis is pixel signal values, and horizontal axis is pixel；Figure
11 (2) are the first reference line sequence signal distribution map after denoising；Before Figure 11 (3) is the sequence signal of the first reference line
Differential signal distribution map afterwards.
Since the first reference line has run through x-ray image, the first reference line has been passed sequentially through without X-ray region, X-ray area
Domain, without X-ray region, and the signal without X-ray region is lower, and the signal in X-ray region is higher, thus, the first reference line
Sequence signal the jump of signal will occur in the intersection in no X-ray region and X-ray region.Moreover, because there are at two without X
The boundary of field of radiation and X-ray region, thus, in Figure 11 (1) theres are two at signal jump position, the boundary at two
Position is vr1 and vl1 respectively.
Firstly, carrying out n=2 in order to weaken influence of the noise to the sequence signal of the first reference line to First ray and going
It makes an uproar processing, i.e., the calculation formula (6) of the sequence signal of the first reference line after denoising is expressed as follows:
Secondly, the sequence signal of the first reference line after denoising is carried out front and back difference in order to obtain position vr1 and vl1
It is poor to make, and can make the definition of difference according to the front and back item of X-ray signal, available:
The calculation formula (7) of difference result at first reference line is expressed as follows:
Δ L1'(i)=L1'(i+1)-L1'(i), i ∈ 1,2 ..., (M-1) } (7)
Then, show that the sequence of the first reference line is believed with the front and back differential signal distribution graph of the sequence signal of the first reference line
Number difference result such as Figure 11 (2) include two extreme points: maximum point and minimum point in the figure.Wherein, in the figure
Maximum point is located at point vl1, and minimum point is then located at point vr1, thus can be with according to the position of maximum point and minimum point
Determine point vr1 and vl1.
Above embodiments describe the process that differential signal distribution map is directly drawn according to difference result, and the application also provides
Another embodiment.The embodiment first takes absolute value difference result after obtaining difference result, then will draw difference
Signal absolute value distribution map, at this point, differential signal absolute value distribution signal figure will include two maximum points: the first maximum point
With the second maximum point.Wherein, the first maximum point in the figure is located at point vl1, and the second maximum point is located at point vr1, because
And point vr1 and vl1 can be determined according to the position of the first maximum point and the second maximum point.
S403a-3: respectively according to every two borderline boundary points being located in the vertical direction of the visual field, it is vertical to obtain the visual field
Linear equation of each edge circle in detector coordinates system on direction.
Since two o'clock can determine straight line, therefore, it is possible to be obtained using the S403a-2 point vr1 obtained and point vr2
The linear equation on the side P1P2 obtains the linear equation on the side P4P3 according to point vl1 and point vl2.
In addition, in order to further increase the accuracy of measurement result, the second reference line can be multiple positions in x-ray image
It sets, then, respectively according to the every two borderline boundary points and least square method being located in the vertical direction of the visual field, fitting view
Linear equation of each edge circle in detector coordinates system in wild vertical direction.
Least square method be according to it is multiple point be fitted straight lines so that these point to the fitting a straight line square distance and
It is minimum.
Referring to Figure 12, which is the structural schematic diagram that multiple positions that the embodiment of the present application one provides determine visual field boundary.
It include four positions, the first reference line phase when intersecting at vr1 and the first reference line and P4P3 with P1P2 in Figure 12
Meet at vl1；Second reference line and P1P2 intersect at vl2 when intersecting at vr2 and the second reference line and P4P3；The third place with
P1P2 intersects at vl3 when intersecting at vr3 and the third place and P4P3；4th position and the side P1P2 intersect at vr4 and the 4th
It sets and intersects at vl4 with the side P4P3.
Point vr1, vl1, vr2, vl2, vr3, vl3, vr4 and vl4 are obtained using S403a-2, then, is based on least square method
Using S403a-3 obtain P1P2 while and when P4P3.
It is described above the first embodiment of S403a, which passes through the first reference line of acquisition simultaneously and the
Two reference lines, and utilize two boundaries on the first reference line and the second reference line acquisition visual field vertical direction.In order to improve centering
The accuracy of error measure and simplified operation, the embodiment of the present application also provides another embodiments of S403a.
Second of embodiment of S403a
The embodiment, which is first obtained according to the X-ray signal of the first reference line, is located at both sides opposite in the vertical direction of the visual field
Boundary point in boundary, then the first reference line is translated to obtain the second reference line, then obtained according to the X-ray signal of the second reference line
Fetch bit is in two borderline boundary points opposite in the vertical direction of the visual field, finally, the above-mentioned borderline intersection point acquisition visual field is vertical
Linear equation of each edge circle in detector coordinates system on direction.
As an example, the first reference line, which translates up, obtains the second reference line, as another example, the first reference
Line, which translates downwards, obtains the second reference line.
It will be illustrated so that the first reference line translates up and obtains the second reference line as an example below.
S403a can be with specifically:
S403a-a: the X-ray signal of the first reference line of x-ray image is obtained；On first reference line and visual field vertical direction
Opposite two boundaries intersection；
S403a-a is identical as " the first reference line " relevant content in S403a-1, and details are not described herein.
S403a-b: it is obtained and is located on two boundaries opposite in the vertical direction of the visual field according to the X-ray signal of the first reference line
Boundary point；
S403a-b is identical as " the first reference line " relevant content in S403a-2, and details are not described herein.
S403a-c: translating up certain distance for the first reference line, obtains the X-ray letter of the second reference line of x-ray image
Number；Intersect on second reference line, two boundaries opposite in the vertical direction of the visual field.
As embodiment, when the sequence signal L1 of the first reference line is expressed as follows with formula (2),
S403a-c can be with specifically: the first reference line is translated up 4 pixels, the second reference line of acquisition, and second
The sequence number signal L2 of reference line is expressed as follows with formula (3):
S403a-d: it is obtained and is located on two boundaries opposite in the vertical direction of the visual field according to the X-ray signal of the second reference line
Boundary point；
S403a-d is identical as " the second reference line " relevant content in S403a-2, and details are not described herein.
S403a-e: respectively according to every two borderline boundary points being located in the vertical direction of the visual field, it is vertical to obtain the visual field
Linear equation of each edge circle in detector coordinates system on direction.
S403a-e is identical as S403a-3 content, and details are not described herein.
In addition, in order to further increase the accuracy of measurement result, the embodiment of the present application can also after S403a-d,
Before S403a-e, by repeatedly translating the first reference line, multiple positions such as the third place, the 4th position are successively obtained, then,
Respectively according to the every two borderline boundary points and least square method being located in the vertical direction of the visual field, the fitting visual field is vertically square
Linear equation of upward each edge circle in detector coordinates system.
The specific implementation of S404 is described below.
In S404, in order to further increase the accuracy of measurement result, the specific implementation of the step can be with are as follows: root
According to linear equation corresponding slope of each boundary in the visual field in detector coordinates system, misaligning for beam-defining clipper and detector is calculated
Angle.
The process can be with specifically:
Firstly, using be located at detector coordinates system farthest away from the visual field boundary of origin as starting point, counterclockwise, the visual field
The corresponding slope of linear equation on each boundary be respectively a1, a2, a3 and a4, then P1P2 in, P4P3, P3P2 while and when P4P1
Linear equation be respectively as follows:
The linear equation of P1P2 is v=a1*u+b1；
The linear equation of P3P2 is v=a2*u+b2；
The linear equation of P4P3 is v=a3*u+b3；
The linear equation of P4P1 is v=a4*u+b4.
Then, according to the corresponding slope of linear equation of each boundary in detector coordinates system, and according to the following formula
Calculate beam-defining clipper and detector misaligns angle:
In formula, γ is that beam-defining clipper and detector misalign angle.
The measurement method of the error of centralization of vascular machine system provided by the embodiments of the present application can be according to each boundary in the visual field
Linear equation in detector coordinates system calculates the error of centralization of beam-defining clipper and detector；Wherein, linear equation can be by
The x-ray image of shooting obtains, and x-ray image can shoot to obtain according to the visual field for the beam-defining clipper adjusted.Therefore, the measurement side
All processes of method can be executed completely by machine, and therefore, the error of centralization may be implemented in measurement method provided by the present application
All automatic measurement.The measurement method has the characteristics that real-time, fast accurate.
The measurement method of the error of centralization of the vascular machine system of above-described embodiment can control equipment as shown in Figure 13 hold
Row.Control equipment includes processor (processor) 1310, communication interface (Communications shown in Figure 13
Interface) 1320, memory (memory) 1330, bus 1340.Processor 1310, communication interface 1320, memory 1330
Mutual communication is completed by bus 1340.
Wherein, it can store the logical order of the measurement of the error of centralization of vascular machine system in memory 1330, this is deposited
Reservoir for example can be nonvolatile memory (non-volatile memory).Processor 1310 can call and execute storage
The logical order of the measurement of the error of centralization of vascular machine system in device 1330 is missed with executing the centering of above-mentioned vascular machine system
The measurement method of difference.As embodiment, the logical order of the measurement of the error of centralization of the vascular machine system can be control software
Corresponding program, when processor executes the instruction, control equipment can accordingly show that the instruction is corresponding in the display interface
Function interface.
If the function of the logical order of the measurement of the error of centralization of vascular machine system is real in the form of SFU software functional unit
Now and when sold or used as an independent product, it can store in a computer readable storage medium.Based in this way
Understanding, the technical solution of the disclosure substantially portion of the part that contributes to existing technology or the technical solution in other words
Dividing can be embodied in the form of software products, which is stored in a storage medium, including several
Instruction is used so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the application
The all or part of the steps of each embodiment method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
The logical order of the measurement of the error of centralization of above-mentioned vascular machine system, is properly termed as " the centering of vascular machine system
The measuring device of error ", the device can be divided into each functional module.Referring specifically to embodiment two.
Embodiment two
Referring to Figure 14, which is the knot of the measuring device of the error of centralization for the vascular machine system that the embodiment of the present application two provides
Structure schematic diagram.
The measuring device of the error of centralization of vascular machine system provided by the embodiments of the present application, comprising:
Adjustment unit 1401, for adjusting the visual field size of beam-defining clipper, so that the visual field of the beam-defining clipper is in the spy
It surveys in device；
Generation unit 1402, for the visual field taking x-rays according to the beam-defining clipper adjusted, with raw on the detector
At x-ray image；
Acquiring unit 1403, for obtaining each boundary in the visual field according to the x-ray image in detector coordinates system
Linear equation；
Computing unit 1304 calculates limit for linear equation of each boundary according to the visual field in detector coordinates system
The error of centralization of beam device and detector.
Optionally, the profile in the visual field is rectangle, and the acquiring unit 1403 specifically includes:
First direction linear equation obtains subelement, for obtaining visual field first direction respectively according to the x-ray image
Linear equation of the two opposite boundaries in detector coordinates system；
Second direction linear equation obtains subelement, for obtaining visual field second direction respectively according to the x-ray image
Linear equation of the two opposite boundaries in detector coordinates system；
Wherein, the first direction is vertical with the second direction.
Optionally, the first direction linear equation obtains subelement, specifically includes:
X-ray signal obtains module, and the X at the first reference line and the second reference line for obtaining the x-ray image is penetrated
Line signal；First reference line and opposite on the visual field first direction two boundaries of second reference line are intersected,
And the intersection point on first reference line and two boundaries opposite on the visual field first direction and second reference line with it is described
The intersection point on two opposite boundaries is different on the first direction of the visual field；
Boundary point obtains module, for obtaining position according to the X-ray signal at first reference line and the second reference line
In two borderline boundary points opposite on the visual field first direction；
Linear equation obtains module, for respectively according to every two boundaries on the visual field first direction
Boundary point, obtain linear equation of each edge circle on the visual field first direction in detector coordinates system.
Optionally, the X-ray signal at first reference line and the second reference line is sequence signal；
The boundary point obtains module, is specifically used for:
Difference is made to the front and back for being located at the X-ray signal at the first reference line and at the second reference line, obtains the first ginseng
Examine the differential signal distribution map at line and at the second reference line；It wherein, include extreme point in each differential signal distribution map, each
Extreme point in differential signal distribution map is respectively the boundary point on the first direction of the visual field in each edge circle.
Optionally, the second reference line described in the measuring device of the error of centralization of the vascular machine system is the X-ray figure
Multiple positions as in.
Optionally, the measuring device of the error of centralization of the vascular machine system further include:
Denoise unit, for be located at the x-ray image the first reference line and the second reference line at X-ray signal into
Row denoising；
The boundary point obtains module, is specifically used for:
The X-ray signal to first reference line after denoising and at the second reference line is obtained positioned at described respectively
Two opposite borderline boundary points on the first direction of the visual field.
Optionally, the computing unit 1404, specifically includes:
Angle calculation subelement, it is corresponding for linear equation of each boundary according to the visual field in detector coordinates system
Slope, calculate beam-defining clipper and detector misaligns angle.
Optionally, to be located at the detector coordinates system farthest away from the visual field boundary of origin as starting point, along side counterclockwise
To the corresponding slope of linear equation on each boundary in the visual field is respectively a1, a2, a3 and a4；
The angle calculation subelement, is specifically used for:
Calculate beam-defining clipper and detector according to the following formula misaligns angle:
In formula, γ is that beam-defining clipper and detector misalign angle.
The measuring device of the error of centralization of vascular machine system provided by the embodiments of the present application can be according to each boundary in the visual field
Linear equation in detector coordinates system calculates the error of centralization of beam-defining clipper and detector；Wherein, linear equation can be by
The x-ray image of shooting obtains, and x-ray image can shoot to obtain according to the visual field for the beam-defining clipper adjusted.Therefore, the application mentions
The all automatic measurement of the error of centralization may be implemented in the measuring device of confession.The measuring device has the characteristics that real-time, fast accurate.
It is the introduction to the measuring device of the error of centralization of vascular machine system provided by the embodiments of the present application above, it is specific real
Existing mode may refer to the description in embodiment of the method illustrated above, and the effect reached is consistent with above method embodiment, this
In repeat no more.
The above is only the preferred embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of measurement method of the error of centralization of vascular machine system, which is characterized in that the vascular machine system includes beam-defining clipper
And detector, which comprises
The visual field size for adjusting beam-defining clipper, so that the visual field of the beam-defining clipper is in the detector；
According to the visual field taking x-rays for the beam-defining clipper adjusted, to generate x-ray image on the detector；
Linear equation of each boundary in the visual field in detector coordinates system is obtained according to the x-ray image；
According to linear equation of each boundary in the visual field in detector coordinates system calculate beam-defining clipper and detector to middle mistake
Difference.
2. the method according to claim 1, wherein the profile in the visual field be rectangle, it is described according to the X-ray
Image obtains linear equation of each boundary in the visual field in detector coordinates system, specifically includes:
Straight line side of two boundaries opposite on the first direction of the visual field in detector coordinates system is obtained respectively according to the x-ray image
Journey；
Straight line side of two boundaries opposite in the second direction of the visual field in detector coordinates system is obtained respectively according to the x-ray image
Journey；
Wherein, the first direction is vertical with the second direction.
3. according to the method described in claim 2, it is characterized in that, described obtain the visual field first according to the x-ray image respectively
Linear equation of the two opposite boundaries in detector coordinates system on direction, specifically includes:
Obtain the X-ray signal at the first reference line and the second reference line of the x-ray image；First reference line and described
Two opposite on visual field first direction boundaries of second reference line are intersected, and first reference line and the visual field the
The intersection point on two opposite boundaries two boundaries opposite on second reference line and the visual field first direction on one direction
Intersection point is different；
It is obtained and is located on the visual field first direction relatively according to the X-ray signal at first reference line and the second reference line
Two borderline boundary points；
Respectively according to every two borderline boundary points on the visual field first direction, the visual field first is obtained
Linear equation of each edge circle in detector coordinates system on direction.
4. according to the method described in claim 3, it is characterized in that, X-ray at first reference line and the second reference line
Signal is sequence signal；
The X-ray signal according at first reference line and the second reference line, which obtains, to be located on the visual field first direction
The borderline boundary point of opposite two, specifically includes:
Difference is made to the front and back for being located at the X-ray signal at the first reference line and at the second reference line, obtains the first reference line
Differential signal distribution map at place and the second reference line；It wherein, include extreme point, each difference in each differential signal distribution map
Extreme point in signal distribution plots is respectively the boundary point on the first direction of the visual field in each edge circle.
5. the method according to claim 3 or 4, which is characterized in that second reference line is more in the x-ray image
A position.
6. according to the method described in claim 4, it is characterized in that, first reference line for obtaining the x-ray image and the
After X-ray signal at two reference lines, the X-ray signal according at first reference line and the second reference line is obtained
On the visual field first direction before two opposite borderline boundary points, further includes:
Denoising is carried out to the X-ray signal at the first reference line and the second reference line for being located at the x-ray image；
The X-ray signal according at first reference line and the second reference line, which obtains, to be located on the visual field first direction
The borderline boundary point of opposite two, specifically includes:
The X-ray signal to first reference line after denoising and at the second reference line, which obtains, respectively is located at the visual field
Two opposite borderline boundary points on first direction.
7. method according to claim 1-6, which is characterized in that described to be visited according to each boundary in the visual field
The linear equation surveyed in device coordinate system calculates the error of centralization of beam-defining clipper and detector, specifically includes:
According to linear equation corresponding slope of each boundary in the visual field in detector coordinates system, beam-defining clipper and detection are calculated
Device misaligns angle.
8. a kind of measuring device of the error of centralization of vascular machine system, which is characterized in that the vascular machine system includes beam-defining clipper
And detector, described device include:
Adjustment unit, for adjusting the visual field size of beam-defining clipper, so that the visual field of the beam-defining clipper is in the detector；
Generation unit, for the visual field taking x-rays according to the beam-defining clipper adjusted, to generate X-ray figure on the detector
Picture；
Acquiring unit, for obtaining straight line side of each boundary in the visual field in detector coordinates system according to the x-ray image
Journey；
Computing unit calculates beam-defining clipper for linear equation of each boundary according to the visual field in detector coordinates system and visits
Survey the error of centralization of device.
9. device according to claim 8, which is characterized in that the profile in the visual field is rectangle, the acquiring unit, tool
Body includes:
First direction linear equation obtains subelement, opposite on the first direction of the visual field for being obtained respectively according to the x-ray image
Linear equation of two boundaries in detector coordinates system；
Second direction linear equation obtains subelement, opposite in the second direction of the visual field for being obtained respectively according to the x-ray image
Linear equation of two boundaries in detector coordinates system；
Wherein, the first direction is vertical with the second direction.
10. device according to claim 9, which is characterized in that the first direction linear equation obtains subelement, specifically
Include:
X-ray signal obtains module, the X-ray letter at the first reference line and the second reference line for obtaining the x-ray image
Number；First reference line and opposite on the visual field first direction two boundaries of second reference line are intersected, and institute
State intersection point and second reference line and the visual field on two boundaries opposite on the first reference line and the visual field first direction
The intersection point on two opposite boundaries is different on first direction；
Boundary point obtains module, is located at institute for obtaining according to the X-ray signal at first reference line and the second reference line
State two borderline boundary points opposite on the first direction of the visual field；
Linear equation obtains module, for respectively according to every two borderline sides on the visual field first direction
Boundary's point obtains linear equation of each edge circle on the visual field first direction in detector coordinates system.
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