CN110301925B - X-ray imaging system convenient for adjusting physical alignment of all parts - Google Patents
X-ray imaging system convenient for adjusting physical alignment of all parts Download PDFInfo
- Publication number
- CN110301925B CN110301925B CN201910750489.7A CN201910750489A CN110301925B CN 110301925 B CN110301925 B CN 110301925B CN 201910750489 A CN201910750489 A CN 201910750489A CN 110301925 B CN110301925 B CN 110301925B
- Authority
- CN
- China
- Prior art keywords
- ray
- ray source
- receiving end
- source end
- adjusting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/40—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention belongs to the technical field of X-ray application, and discloses an X-ray imaging system convenient for adjusting physical alignment of all parts. The invention comprises a ray source end, a ray receiving end, a universal adjusting mechanism, a stand column adjusting mechanism and a control module which is respectively in communication connection with the ray source end, the ray receiving end, the universal adjusting mechanism and the stand column adjusting mechanism. The distance from the ray source end to the ray receiving end can be continuously changed, the space position can be adjusted, the angle of incidence of the X-rays emitted by the ray source end to the ray receiving end can be changed, the purpose of adjusting the physical alignment of each part of the X-ray imaging system is realized, the use is convenient, the quality of the formed X-ray images is improved, the human body is prevented from being unnecessarily radiated, and the X-ray imaging system is suitable for popularization and use.
Description
Technical Field
The invention belongs to the technical field of X-ray application, and particularly relates to an X-ray imaging system convenient for adjusting physical alignment of all parts.
Background
The X-ray image can lead doctors to have visual understanding on the structural condition of tissues and organs in the patient. The existing X-ray imaging system consists of three parts, namely a ray source end and an accessory component part thereof, a ray receiving end and an accessory component part thereof, and other module parts; the ray source end part and the ray receiving end part have three linkage modes: the two parts are not linked at all, and the positions of the two parts need to be respectively adjusted when the X-ray image is shot; the physical structures such as the bracket and the like are linked, so that the movement with the same distance is performed in the same direction; the positions of the ray source end and the ray receiving end are fixed and cannot be changed.
However, existing X-ray imaging systems suffer from the following drawbacks:
a. the X-ray imaging system linked through a physical structure has over high overall coupling degree, if one part of the X-ray imaging system fails, the failure cause is difficult to accurately position, the overall structure is complex, the price is high, and the installation and the maintenance are not facilitated;
b. for the existing X-ray imaging system with the ray source end and the ray receiving end not linked at all, the positions of the ray source end and the ray receiving end can be manually adjusted only by an X-ray technician, so that the X-ray technician needs to respectively adjust the positions of the two parts in order to ensure that the heights of the ray source end and the ray receiving end are consistent, the operation is complicated, and the error is large;
c. the X-ray imaging system with fixed positions of the ray source end and the ray receiving end can only ensure the physical alignment of the center of the object to be shot with the center of the ray source end and the center of the ray receiving end by adjusting the position of the object to be shot, and also has the condition of larger error, and can not meet the requirements when special requirements on the incident angle, the distance and the like of X-rays are met;
d. in the prior art, the condition that the X-rays emitted by the ray source end are not vertically incident to the ray receiving end is avoided, and the distance between the ray source end and the ray receiving end cannot be continuously changed, so that the X-ray receiving end is inflexible.
Disclosure of Invention
The invention aims to provide an X-ray imaging system which is convenient for adjusting the physical alignment of all parts; the invention solves the problems that the existing X-ray imaging system has too high or too low coupling degree, the position and posture adjustment method of hardware is not flexible enough, the use is inconvenient, the intelligent degree and the automation degree are low, and the like; the distance from the ray source end to the ray receiving end can be continuously changed, the space position can be adjusted, the angle of incidence of X-rays emitted by the ray source end to the ray receiving end can be changed, the invention obtains and calculates the center point of a part to be detected of a patient, the center point of the ray receiving end and the center point of the ray source end by acquiring natural light images, and then the purpose of adjusting the physical alignment of each part of the X-ray imaging system is realized by combining the angle of the ray source end (namely the included angle between the plane normal vector of the ray source end and the plane normal vector of the ray receiving end) and the distance between the ray source end and the surface of an object in space.
The technical scheme adopted by the invention is as follows:
an X-ray imaging system capable of conveniently adjusting the physical alignment of all parts comprises a ray source end, a ray receiving end, a universal adjusting mechanism and a stand column adjusting mechanism, and further comprises a control module which is respectively in communication connection with the ray source end, the ray receiving end, the universal adjusting mechanism and the stand column adjusting mechanism;
the ray source end is used for acquiring natural light images, distance information and angle information and emitting X rays and laser patterns;
the ray receiving end is used for receiving the X-rays emitted by the ray source end and outputting X-ray images;
the universal adjusting mechanism is used for adjusting the spatial position of the ray source end and adjusting the angle between the X-ray emitted by the ray source end and the ray receiving end;
the upright column adjusting mechanism is used for adjusting the height of the ray receiving end;
the control module is used for calculating the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end after receiving the natural light image, the distance information and the angle information, and then controlling the universal adjusting mechanism and the upright post adjusting mechanism to start and stop according to the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end.
Preferably, the above-mentioned X-ray imaging system which facilitates the adjustment of the physical alignment of each component further comprises a display end in communication with the control module; the display end is used for displaying natural light images, distance information, angle information, height information of the ray receiving end, position information of the ray source end and/or angle information of the ray source end.
Preferably, the ray source end comprises a shell, a laser source and an X-ray source which are embedded on the shell and have the same light field area, an image acquisition device, a distance measuring device and an angle measuring device which are embedded on the shell and are respectively in communication connection with the control module; the image acquisition device is used for acquiring natural light images, and the distance measuring device is used for acquiring distance information among a plurality of preset reference points; the angle measuring device is used for acquiring the operating angles of the laser source and the X-ray source.
Preferably, the radiation source end further comprises a beam splitter arranged at the opening of the shell; the beam light is used for controlling the laser source and the light field area of the X-ray source; the light beam device is in communication connection with the control module.
Preferably, the radiation source end further comprises a high-voltage generator which is in communication connection with the control module and is connected with the X-ray source; the high voltage generator is used for providing working voltage for the X-ray source.
Preferably, the radiation source end further comprises a manual adjusting bracket arranged on the shell; the manual adjusting support is used for manually adjusting the space position of the shell.
Preferably, the control module is further configured to detect a human body key point, a laser pattern key point, and a ray receiving end key point in the natural light image, and calculate a center point of the part to be detected, a center point of the X-ray source end, and a center point of the ray receiving end.
Preferably, the radiation receiving end comprises a flat panel detector and a box body wrapped on the outer side of the flat panel detector; the bottom of the box body is fixedly connected with the upright post adjusting mechanism; more than 2 key points are preset on the box body; the key points of the ray receiving end are more than 2 box body key points.
Preferably, the ray receiving end further comprises a hand support; more than 2 stand-by key points are arranged on the hand-held stand; and when the key points of the box body are not detected in the natural light image, the standby key points of the bracket are used as the key points of the ray receiving end.
Preferably, the upright post adjusting mechanism comprises an upright post, a motor and a transmission assembly which is matched with the output end of the motor; the bottom of the box body is fixedly connected with the transmission assembly; the motor is in communication connection with the control module.
Preferably, the universal adjusting mechanism adopts a universal arm; the distance measuring device adopts a laser distance measuring instrument or a binocular camera; the angle measuring device adopts a gyroscope.
Preferably, the transmission assembly
The beneficial effects of the invention are as follows:
1) The distance from the ray source end to the ray receiving end can be continuously changed, the space position can be adjusted, the angle of incidence of X-rays emitted by the ray source end to the ray receiving end can be changed, the invention obtains and calculates the center point of a part to be detected of a patient, the center point of the ray receiving end and the center point of the ray source end by acquiring natural light images, and then combines the angles of the ray source end (namely the included angle between the plane normal vector of the ray source end and the plane normal vector of the ray receiving end) and the distance from the ray source end to the surface of an object in space, thereby realizing the purpose of adjusting the physical alignment of each part of an X-ray imaging system, being convenient to use, improving the imaging quality of the X-ray images, avoiding unnecessary radiation to human bodies and being suitable for popularization and use;
2) The position information of the key points of each part in the invention can be intuitively displayed to an X-ray technician, so that the situation that the positions of each part of the X-ray imaging system cannot be accurately adjusted due to insufficient experience is avoided, the X-ray images can be shot at multiple angles and multiple distances, and the X-ray imaging system is more flexible and convenient to use;
3) The whole system of the invention adopts a software coupling mode to link the ray source end and the ray receiving end, gets rid of a complex physical structure and reduces the manufacturing, maintenance and management cost;
4) The defects that the X-ray imaging system without the coupling mode is complicated to use and inconvenient to accurately adjust the position of the component and the problem that the X-ray imaging system without the coupling mode is inconvenient to use under the condition of fixing the ray source end and the ray receiving end are avoided.
Other advantageous effects of the present invention will be described in detail in the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the structure of an X-ray imaging system in embodiment 1 for facilitating adjustment of the physical alignment of the components.
Fig. 2 is a perspective schematic view of an X-ray imaging system in example 1 for facilitating adjustment of physical alignment of components.
Fig. 3 is a flow chart of the method in example 11.
Fig. 4 is a cross-shaped laser pattern and its key point schematic diagram in example 11.
Fig. 5 is a schematic diagram of a radiation receiving end and its key points in embodiment 12.
Fig. 6 is a schematic diagram of the human body and its key points in example 12.
Fig. 7 is a schematic diagram of example 1 in example 12.
Fig. 8 is a schematic diagram of example 2 in example 12.
Fig. 9 is a schematic view of the structure of the transmission assembly in embodiment 9.
In the figure, a 101-X-ray source, a 102-angle measuring device, a 103-beam splitter, a 104-laser source, a 105-image acquisition device, a 106-distance measuring device, a 107-manual adjustment bracket and a 108-universal adjustment mechanism are arranged; 201-upright column adjusting mechanisms, 202-hand supports, 203-box bodies, 204-flat panel detectors, 205-motors, 206-sliding rails, 207-screw rods, 208-sliding blocks, 209-sliding tables and 210-transition supports; 300-a control module; 400-display end.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments. The present invention is not limited to these examples, although they are described in order to assist understanding of the present invention. Functional details disclosed herein are merely for describing example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. The terms "comprises," "comprising," "includes," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, and do not preclude the presence or addition of one or more other features, amounts, steps, operations, elements, components, and/or groups thereof.
It should be appreciated that in some alternative embodiments, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may in fact be executed substantially concurrently or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to provide a thorough understanding of the example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, a system may be shown in block diagrams in order to avoid obscuring the examples with unnecessary detail. In other instances, well-known processes, structures, and techniques may be shown without unnecessary detail in order to avoid obscuring the example embodiments.
Example 1
1-2, an X-ray imaging system capable of conveniently adjusting physical alignment of all parts comprises a ray source end, a ray receiving end, a universal adjusting mechanism and a stand column adjusting mechanism, and further comprises a control module which is respectively in communication connection with the ray source end, the ray receiving end, the universal adjusting mechanism and the stand column adjusting mechanism;
the ray source end is used for acquiring natural light images, distance information and angle information and emitting X rays and laser patterns;
the ray receiving end is used for receiving the X-rays emitted by the ray source end and outputting X-ray images;
the universal adjusting mechanism is used for adjusting the spatial position of the ray source end and adjusting the angle between the X-ray emitted by the ray source end and the ray receiving end;
the upright column adjusting mechanism is used for adjusting the height of the ray receiving end;
the control module is used for calculating the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end after receiving the natural light image, the distance information and the angle information, and then controlling the universal adjusting mechanism and the upright post adjusting mechanism to start and stop according to the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end.
In the embodiment, a ray source end is used for projecting a laser pattern on the surface of a human body by utilizing the ray source end, then a natural light image is obtained, a theoretical basis is provided for position information calculation of each component, and the positions and the postures of a ray source end center point, a human body center point and a ray receiving end center point in an actual three-dimensional space can be obtained by combining distance information and angle information, so that a theoretical basis is provided for subsequent position adjustment of each component; meanwhile, errors caused by manual adjustment are avoided through the arrangement of the universal adjusting mechanism and the upright post adjusting mechanism.
Example 2
This embodiment is a further improvement on the basis of embodiment 1, and differs from embodiment 1 in that:
in this embodiment, the X-ray imaging system described in the embodiment that facilitates adjustment of physical alignment of each component further includes a display end communicatively connected to the control module; the display end is used for displaying natural light images, distance information, angle information, height information of the ray receiving end, position information of the ray source end and/or angle information of the ray source end.
Example 3
This embodiment is a further improvement on the basis of embodiment 2, and differs from embodiment 2 in that:
in this embodiment, the radiation source end includes a housing, and further includes a laser source and an X-ray source which are both embedded on the housing and have the same light field area, and further includes an image acquisition device, a distance measuring device and an angle measuring device which are both embedded on the housing and are respectively connected with the control module in a communication manner; the image acquisition device is used for acquiring natural light images, and the distance measurement device is used for acquiring distance information among a plurality of preset reference points; the angle measuring device is used for acquiring the running angles of the laser source and the X-ray source, wherein the running angles comprise a horizontal deflection angle and a vertical pitching angle. The center point of the part to be detected, the center point of the ray receiving end, the center point of the ray source end and the angle of the ray source end can be obtained by acquiring a natural photo, the angle of the ray source end and the distance from the ray source end to the surface of an object in space; the center point of the part to be detected, the center point of the ray receiving end, the center point of the ray source end and the angle of the ray source end are utilized to guide corresponding components in the X-ray imaging system to carry out position adjustment and angle adjustment, so that the problems of complex operation and error caused by manual position adjustment of an X-ray technician are avoided.
It should be noted that, the laser source is used for emitting a laser pattern, and the laser pattern can be any shape; the light field is an area irradiated on the human body by the X-rays, and in the embodiment, the light field is rectangular.
Example 4
Further improvements of this embodiment are made on the basis of any one of embodiments 1-3, which differ from any one of embodiments 1-3 in that:
in this embodiment, the radiation source end further includes a beam splitter disposed at the opening of the housing; the beam light is used for controlling the light field area of the laser source and the X-ray source; the light beam device is in communication connection with the control module.
Example 5
This embodiment is a further improvement on the basis of embodiment 4, and differs from embodiment 4 in that:
in this embodiment, the radiation source end further includes a high voltage generator communicatively connected to the control module and connected to the X-ray source; the high voltage generator is used for providing an operating voltage for the X-ray source.
As one of the preferred embodiments, the radiation source end further comprises a manual adjusting bracket arranged on the shell; the manual adjustment support is used for manually adjusting the spatial position of the shell.
Example 6
This example is a further improvement over any of examples 1-5, which differs from any of examples 1-5 in that:
in this embodiment, the control module is further configured to detect a human body key point, a laser pattern key point, and a ray receiving end key point in the natural light image, and calculate a center point of the part to be detected, a center point of the X-ray source end, and a center point of the ray receiving end.
Example 7
This example is a further improvement over any of examples 1-6, which differs from any of examples 1-6 in that:
in this embodiment, the radiation receiving end includes a flat panel detector and a box body wrapped around the flat panel detector; the bottom of the box body is fixedly connected with the upright post adjusting mechanism; more than 2 key points are preset on the box body; the key points of the ray receiving end are more than 2 box body key points; wherein, the box body is wrapped up in the periphery and the backside of flat panel detector.
Example 8
This embodiment is a further improvement on the basis of embodiment 7, and differs from embodiment 7 in that:
in this embodiment, the ray receiving end further includes a hand support; more than 2 stand-by key points are arranged on the hand support; and when the key points of the box body are not detected in the natural light image, the standby key points of the bracket are used as the key points of the ray receiving end.
Example 9
This example is a further improvement over any of examples 1-8, which differs from any of examples 1-8 in that:
in the embodiment, the upright column adjusting mechanism comprises an upright rod, a motor and a transmission assembly which is matched with the output end of the motor; the bottom of the box body is fixedly connected with the transmission assembly; the motor is in communication connection with the control module.
As one of the preferred embodiments, as shown in fig. 9, the transmission assembly includes a driving member, a slide rail, a screw rod, a slider and a slide table; the number of the slide rails is 2, the slide rails are all arranged in the vertical rod, and the 2 slide rails are respectively arranged on two sides of the screw rod in parallel; more than 1 sliding blocks are respectively and slidably arranged on the 2 sliding rails, and the sliding blocks are fixedly connected with the sliding tables; the driving piece is connected to the inner top surface of the vertical rod and comprises a driving circuit electrically connected with a motor, and the output end of the motor is fixedly connected with the upper end of the screw rod; the lower end of the screw rod and the inner bottom surface of the vertical rod; the screw rod is in threaded connection with a threaded cylinder which is fixedly connected with the sliding table; the lower end of the screw rod is movably connected with the inner wall or the inner bottom surface of the vertical rod through a bearing; the bottom of the box body is fixedly connected with the sliding table; after receiving the start-stop signal from the control module, the driving circuit controls the start-stop of the motor; when the motor operates, the screw rod is driven to rotate, and the screw rod drives the threaded cylinder to do lifting motion, so that the height adjustment of the ray receiving end can be realized.
As another preferred embodiment, on the basis of the above transmission assembly, as shown in fig. 9, the transmission assembly further includes a transition bracket, where the transition bracket is used to add a new installation hole corresponding to the installation hole of the box body when the installation hole of the sliding table does not correspond to the installation hole of the box body, and the transition bracket is disposed between the sliding table and the box body.
Example 10
This example is a further improvement over any of examples 1-9, and differs from any of examples 1-9 in that:
in the embodiment, the universal adjusting mechanism adopts a universal arm; the distance measuring device adopts a laser distance measuring instrument or a binocular camera; the angle measuring device adopts a gyroscope.
Example 11
As shown in fig. 3, the present embodiment provides, based on embodiments 1 to 10, a working method of an X-ray imaging system that facilitates adjustment of physical alignment of components, that is, a method for adjusting physical alignment of components in an X-ray imaging system, specifically including the following steps:
acquiring information of a part to be detected and positioning information of a current human body to be detected;
projecting a preset laser pattern to a current human body to be detected, acquiring a natural light image comprising the current human body to be detected, the laser pattern and a flat panel detector, and detecting to obtain human body key point information, laser pattern key point information and ray receiving end key point information in the current natural light image; the preset laser pattern may be any shape, for example, a cross shape as shown in fig. 3.
Acquiring reference point information corresponding to the current position information to be detected and the positioning information, and acquiring distance information among a plurality of reference points corresponding to the current reference point information;
obtaining center point information of a current part to be detected, center point information of an X-ray source end and center point information of a ray receiving end according to current human body key point information, laser pattern key point information and ray receiving end key point information, and obtaining spatial position information of the center point of the part to be detected, spatial position information of the center point of the X-ray source end and spatial position information of the center point of the ray receiving end; the human body key point information, the laser pattern key point information and the ray receiving end key point information are all preset information; as shown in fig. 4, when the laser pattern is cross-shaped, numerals 1 to 5 in the figure are laser key points.
According to the spatial position information of the center point of the part to be detected, the spatial position information of the center point of the X-ray source end, the spatial position information of the center point information of the ray receiving end, the reference point information and the distance information, the three points of the center point of the ray receiving end, the center point of the X-ray source end and the center point of the part to be detected are collinear.
Example 12
This embodiment is a further improvement on the basis of embodiment 11, and differs from embodiment 11 in that:
in this embodiment, the spatial position information includes altitude information and horizontal position information.
In this embodiment, after the three points of the center point of the radiation receiving end, the center point of the X-ray source end, and the center point of the part to be detected are collinear, the height of the center point of the radiation receiving end, the height of the center point of the X-ray source end, and the height of the center point of the part to be detected are the same, and the three points are on the same horizontal line.
In this embodiment, the radiation receiving end includes a flat panel detector and a case surrounding the flat panel detector; more than 2 box body key points are arranged on the box body; the key points of the ray receiving end are more than 2 box body key points.
In this embodiment, the ray receiving end further includes a hand support; more than 2 stand-by key points are arranged on the hand support; when the key points of the box body are not detected in the natural light image, the standby key points of the bracket are used as the key points of the ray receiving end; as shown in fig. 5, when the radiation receiving end includes the armrest support, numerals 1 to 15 in the figure are key points of the radiation receiving end; the ray receiving end key points comprise 9 key points including four vertexes of the box body, midpoints of four sides of the box body and a central point of the flat panel detector, and 6 key points on the handrail supports on two sides.
In this embodiment, the human body key point information includes position key point information and joint key point information; the human body key point information is obtained through a key point detection algorithm. It should be noted that, each human body key point has a definite corresponding relation with the corresponding joint or part of the human body; the human body key points may include, but are not limited to, head, neck, left and right shoulder joints, left and right elbow joints, left and right wrist joints, left and right hip joints, left and right knee joints, left and right ankle joints, five sense organs, and finger joints, etc., for example, as shown in fig. 6, the total of 14 human body key points; the numbers 1-14 in fig. 6 are in order of head, neck, left and right shoulder joints, left and right elbow joints, left and right wrist joints, left and right hip joints, left and right knee joints, and left and right ankle joints, the 14 joints being the most common key points of the human body in current X-ray imaging.
As a preferred embodiment, shooting the torso portion of the human body (such as the chest, lumbar, etc.) is implemented using a High resolution network model HRNet (Deep High-Resolution Representation Learning for Human Pose Estimation) human body posture estimation algorithm.
As another preferred embodiment, photographing the hands (fingers, wrists, etc.) of the human body is implemented using a 2D/3D gesture key point algorithm (Hand Keypoint Detection in Single Images using Multiview Bootstrapping).
In another preferred embodiment, when HRNet algorithm is adopted, the algorithm structure is modified so as to output natural light images containing both human body key points and key points of the laser pattern. .
In this embodiment, after spatial position information of a central point of a current to-be-detected part, spatial position information of a central point of an X-ray source end, and spatial position information of a central point of a ray receiving end are obtained, the spatial position information of the central point of the to-be-detected part, the spatial position information of the central point of the X-ray source end, and the spatial position information of the central point of the ray receiving end are output to a display end, and natural light images including key points of a human body, key points of a laser pattern, and key points of the ray receiving end are output to the display end.
In embodiments 11 and 12, by combining the distance information and the information of each key point in the natural light image, the positional relationship among the center point of the radiation source end, the center point of the part to be detected of the human body and the center point of the radiation receiving end in the real space is obtained, and the position of each component in the X-ray imaging system is accurately adjusted, so that the physical alignment among the components is realized, the error caused by adjusting the position of each component after the X-ray technician judges by using naked eyes is eliminated, the quality of the formed X-ray image is improved, and the human body is prevented from being unnecessarily radiated; meanwhile, in the embodiment, the physical alignment process of each component is more accurate and reasonable, the region which is effective for diagnosis in the generated X-ray image can be well presented, the X-ray imaging quality is higher, and the subsequent diagnosis is further facilitated.
Examples of how the adjustment of the physical alignment of the components in examples 11 and 12 is achieved are as follows:
example 1:
except for the key points of the human body, the special key points used in example 1 include 14 key points of a laser pattern and key points of a ray receiving end, the scene of shooting an X-ray image by the human body is shown in fig. 7, the human body stands in front of the ray receiving end, natural light image acquisition is carried out on the current human body, a cross-shaped laser pattern is projected on the surface of the human body by a laser source arranged in the ray source end, a rectangular ABCD is assumed to be a box body of the ray receiving end, O is a camera lens optical center, the surface of the human body is positioned on the same plane alpha, a rectangular HIJK is a central projection of the rectangular ABCD on the alpha plane and taking O as a center, M, N, E is respectively the midpoint of line segments AD, BC and MN, the intersection point of the laser pattern is a point S and is also a projection point of the point O on the plane alpha, namely a line segment OS T plane alpha, R is an intersection point of the line segment OS and an extension line of the line segment MN, in the position relation shown in fig. 7, the center point E of the rectangle ABCD corresponding to the box body at the ray receiving end is blocked by the human body, while the midpoint M of the edge line segment AD is not blocked by the human body.
The device for acquiring distance information is installed at the position OF the point O, so that the distance from the point O to the surface OF any object (except for the blocked portion, for example, in fig. 7, the lengths OF the line segment OE and the line segment ON cannot be measured, and only the lengths OF the line segment OF and the line segment OQ can be measured), and the distance information acquired in example 1 includes the lengths OF the line segment OM, the line segment OS, the line segment OF, and the line segment OQ.
The dimensions of the rectangular ABCD of the box body at the radiation receiving end are known, that is, the lengths of the line segment AB and the line segment BC are known, and the plane imaged by the natural light image is the plane α, that is, the actual distance between each point in the plane α is proportional to the pixel distance between the corresponding points in the natural light image.
In example 1, an optimized human body key point detection algorithm is adopted, and the positions of the center point of the flat panel detector box and the center point of the laser pattern in the natural light image are calculated at the same time of calculating the human body key points, namely, the positions of the point F and the point S in the natural light image are determined.
Since the lengths OF and OS are known, it is available according to the pythagorean theorem:
recording device
For the length of the line segment FS in the image (the unit is the number of pixels), since the actual distance between two points on the α plane is proportional to the pixel distance in the natural light image, it is possible to obtain: />
The angle of the angle POS is:
since the length of the line segment OM is known, the length of the line segment MR is:
the length of the line segment MR obtained from the above is:
since the length of the line segment AB is known, it is possible to obtain from the length of the line segment MR:
the height difference of the center point of the ray receiving end in the actual space is the length of the line segment ER, namely:
the height difference between the center point T of the part to be detected of the human body and the center point O of the ray source end is the length of the line segment ST, namely:
in summary, when the ray receiving end moves to any height, the positions and the height differences of the ray receiving end center point, the human body to-be-detected part center point and the laser pattern center point in the three-dimensional space can be obtained through the natural light image and the distance information, and when the height differences ER and ST are smaller than the threshold value, the three component center points are considered to be at the same height, so that the adjustment of the physical alignment of the three components is realized.
Example 2:
when the ray receiving end moves vertically up and down, the middle points of the edges of the upper box body and the lower box body are possibly shielded, as shown in fig. 8, the current human body is huge, the left and right edges of the box body are shielded, then the standby key points of the brackets on the hand brackets can be used for replacing the key points of the box body at the middle points of the left and right sides of the box body, and the height difference of the center points of the three parts is calculated according to the middle points of the left and right sides or the end points of the hand brackets, namely the standby key points of the brackets are adopted; the point M and the point N are respectively the leftmost end point and the rightmost end point of the hand support, but are not the middle points of the left side and the right side of the box body; at this time, the line segments OF the actual length obtained through the distance information include a line segment OM, a line segment OS and a line segment OF, and the average sizes OF the box body and the hand support are known;
according to the Pythagorean theorem, the distance from the center point E of the ray receiving end to the center point O of the camera is the length of a line segment OE, and specifically:
similarly, the length of the line segment FS is:
due to Δoer Δosf, it is possible to obtain:
from the 3 formulas above, it is possible to obtain:
the height difference of the ray receiving end center point in the actual space is the length of the line segment ER, namely:
since the actual distance between two points on the alpha plane is proportional to the pixel distance in the image, then:
the height difference between the center point T of the human body to be detected and the center point O of the ray source end can be obtained as the length of the line segment ST, namely:
in summary, when the ray receiving end moves to any height, the positions and the height differences of the ray receiving end center point, the human body to-be-detected part center point and the laser pattern center point in the three-dimensional space can be obtained through the natural light image and the distance information, and when the height differences ER and ST are smaller than the threshold value, the three component center points are considered to be at the same height, so that the adjustment of the physical alignment of the three components is realized.
The embodiments described above are merely illustrative and may or may not be physically separate if reference is made to the unit being described as a separate component; if a component is referred to as being a unit, it may or may not be a physical unit, may be located in one place, or may be distributed over multiple network elements. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
The invention is not limited to the alternative embodiments described above, but any person may derive other various forms of products in the light of the present invention. The above detailed description should not be construed as limiting the scope of the invention, which is defined in the claims and the description may be used to interpret the claims.
Claims (8)
1. An X-ray imaging system for facilitating adjustment of physical alignment of components, comprising: the device comprises a ray source end, a ray receiving end, a universal adjusting mechanism and a stand column adjusting mechanism, and also comprises a control module which is respectively in communication connection with the ray source end, the ray receiving end, the universal adjusting mechanism and the stand column adjusting mechanism; the display end is in communication connection with the control module;
the ray source end is used for acquiring natural light images, distance information and angle information and emitting X rays and laser patterns;
the ray receiving end is used for receiving the X-rays emitted by the ray source end and outputting X-ray images;
the universal adjusting mechanism is used for adjusting the spatial position of the ray source end and adjusting the angle between the X-ray emitted by the ray source end and the ray receiving end;
the upright column adjusting mechanism is used for adjusting the height of the ray receiving end;
the control module is used for calculating the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end after receiving the natural light image, the distance information and the angle information, and then controlling the universal adjusting mechanism and the upright post adjusting mechanism to start and stop according to the height information of the ray receiving end, the position information of the ray source end and the angle information of the ray source end;
the display end is used for displaying natural light images, distance information, angle information, height information of the ray receiving end, position information of the ray source end and/or angle information of the ray source end;
the ray source end comprises a shell, a laser source and an X-ray source which are embedded on the shell and have the same light field area, an image acquisition device, a distance measuring device and an angle measuring device which are embedded on the shell and are respectively in communication connection with the control module; the image acquisition device is used for acquiring natural light images, and the distance measuring device is used for acquiring distance information among a plurality of preset reference points; the angle measuring device is used for acquiring the operating angles of the laser source and the X-ray source.
2. The X-ray imaging system for facilitating adjustment of physical alignment of components of claim 1, wherein: the ray source end also comprises a beam splitter arranged at the opening of the shell; the beam light is used for controlling the laser source and the light field area of the X-ray source; the light beam device is in communication connection with the control module.
3. An X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 2, wherein: the ray source end also comprises a high-voltage generator which is in communication connection with the control module and is connected with the X-ray source; the high voltage generator is used for providing working voltage for the X-ray source.
4. An X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 3, wherein: the control module is also used for detecting human body key points, laser pattern key points and ray receiving end key points in the natural light image, and calculating the center points of the part to be detected, the X-ray source end and the ray receiving end.
5. The X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 4, wherein: the ray receiving end comprises a flat panel detector and a box body wrapped on the outer side of the flat panel detector; the bottom of the box body is fixedly connected with the upright post adjusting mechanism; more than 2 key points are preset on the box body; the key points of the ray receiving end are more than 2 box body key points.
6. The X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 5, wherein: the ray receiving end also comprises a hand support; more than 2 stand-by key points are arranged on the hand-held stand; and when the key points of the box body are not detected in the natural light image, the standby key points of the bracket are used as the key points of the ray receiving end.
7. The X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 6, wherein: the upright post adjusting mechanism comprises an upright post, a motor and a transmission assembly which is matched with the output end of the motor; the bottom of the box body is fixedly connected with the transmission assembly; the motor is in communication connection with the control module.
8. The X-ray imaging system for facilitating adjustment of physical alignment of components as recited in claim 7, wherein: the universal adjusting mechanism adopts a universal arm; the distance measuring device adopts a laser distance measuring instrument or a binocular camera; the angle measuring device adopts a gyroscope.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750489.7A CN110301925B (en) | 2019-08-14 | 2019-08-14 | X-ray imaging system convenient for adjusting physical alignment of all parts |
| AU2020255687A AU2020255687A1 (en) | 2019-04-02 | 2020-04-02 | An integrated X-ray precision imaging device |
| PCT/CA2020/050438 WO2020198870A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
| CA3135998A CA3135998A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
| US17/268,949 US20220079544A1 (en) | 2019-04-02 | 2020-04-02 | An integrated x-ray precision imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910750489.7A CN110301925B (en) | 2019-08-14 | 2019-08-14 | X-ray imaging system convenient for adjusting physical alignment of all parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110301925A CN110301925A (en) | 2019-10-08 |
| CN110301925B true CN110301925B (en) | 2023-07-04 |
Family
ID=68083495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910750489.7A Active CN110301925B (en) | 2019-04-02 | 2019-08-14 | X-ray imaging system convenient for adjusting physical alignment of all parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110301925B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1917812A (en) * | 2003-10-31 | 2007-02-21 | 明拉德股份有限公司 | Targeting system and method of targeting |
| CN202776338U (en) * | 2012-09-20 | 2013-03-13 | 北京朗视仪器有限公司 | Radiation imaging equipment |
| CN109924994A (en) * | 2019-04-02 | 2019-06-25 | 晓智科技（成都）有限公司 | A kind of x photo-beat take the photograph during detection position automatic calibrating method and system |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4356400A (en) * | 1980-08-04 | 1982-10-26 | General Electric Company | X-Ray apparatus alignment method and device |
| JP2000135211A (en) * | 1998-08-28 | 2000-05-16 | Well Being:Kk | Radiographic instrument, radiography, memory medium recording program to realize radiography, and transmission medium to be transmitted |
| US8565860B2 (en) * | 2000-08-21 | 2013-10-22 | Biosensors International Group, Ltd. | Radioactive emission detector equipped with a position tracking system |
| JP5904681B2 (en) * | 2012-04-13 | 2016-04-20 | 富士フイルム株式会社 | Radiation imaging system and operating method thereof |
| US10098609B2 (en) * | 2014-12-12 | 2018-10-16 | Samsung Electronics Co., Ltd. | X ray apparatus and method of operating the same |
| CN204813930U (en) * | 2015-07-02 | 2015-12-02 | 武汉数字派特科技有限公司 | Aim at regulation and separator and PET -CT installation frame |
| CN105232070A (en) * | 2015-08-27 | 2016-01-13 | 天津大学 | Multifunctional computer tomography system |
| KR101798939B1 (en) * | 2015-09-08 | 2017-11-17 | 삼성전자주식회사 | X-ray image apparatus and control method for the same |
| US20170336706A1 (en) * | 2016-05-20 | 2017-11-23 | Li-Cor, Inc. | X-ray biopsy specimen imager and methods |
| KR101880742B1 (en) * | 2017-01-20 | 2018-07-20 | (주)레벨소프트 | Radiation emitting apparatus and method for controlling thereof |
| US10478149B2 (en) * | 2017-02-21 | 2019-11-19 | Siemens Healthcare Gmbh | Method of automatically positioning an X-ray source of an X-ray system and an X-ray system |
| CN107515229B (en) * | 2017-09-08 | 2020-09-29 | 中国科学院苏州生物医学工程技术研究所 | Multi-degree-of-freedom industrial X-ray tomography system |
| CN107693035A (en) * | 2017-11-21 | 2018-02-16 | 南方医科大学 | A kind of x-ray imaging device and method that a variety of track scannings can be achieved |
-
2019
- 2019-08-14 CN CN201910750489.7A patent/CN110301925B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1917812A (en) * | 2003-10-31 | 2007-02-21 | 明拉德股份有限公司 | Targeting system and method of targeting |
| CN202776338U (en) * | 2012-09-20 | 2013-03-13 | 北京朗视仪器有限公司 | Radiation imaging equipment |
| CN109924994A (en) * | 2019-04-02 | 2019-06-25 | 晓智科技（成都）有限公司 | A kind of x photo-beat take the photograph during detection position automatic calibrating method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110301925A (en) | 2019-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8147139B2 (en) | Dynamic biplane roentgen stereophotogrammetric analysis | |
| CN104619254B (en) | The vision adjustment based on camera of removable x-ray imaging system | |
| US8885177B2 (en) | Medical wide field of view optical tracking system | |
| CN110897651B (en) | Intelligent physical examination X-ray chest radiography body position tutoring method and system | |
| CN103767722B (en) | The localization method that CT or PET-CT system and carrying out scans | |
| EP3453330A1 (en) | Virtual positioning image for use in imaging | |
| CN110338831B (en) | Method for adjusting physical alignment of each component in X-ray imaging system | |
| US10772576B2 (en) | X-ray imaging apparatus and control method thereof | |
| JP7229705B2 (en) | Method for determining x-ray scan geometry and method for acquiring x-ray images | |
| JP6345468B2 (en) | Medical diagnostic imaging equipment | |
| CN111028341A (en) | Three-dimensional model generation method | |
| CN113440156A (en) | Mobile CT intelligent scanning positioning system, positioning method and storage medium | |
| CN110267597B (en) | Localization and computed tomography of anatomical structures for which imaging is desired | |
| CN105496438B (en) | Multi-modality medical image coincidence status detection method and device | |
| JP2022063223A (en) | X-ray imaging system and x-ray imaging apparatus | |
| CN110301925B (en) | X-ray imaging system convenient for adjusting physical alignment of all parts | |
| KR20170021723A (en) | Portable X-ray photographing apparatus having automatic tilting facility | |
| CN109223012A (en) | Imaging device | |
| CN111860275B (en) | Gesture recognition data acquisition system and method | |
| CN116419715A (en) | Bi-directional mirror display for dental treatment system | |
| CN103690188B (en) | The natural head posture bearing calibration of head front filming apparatus and three-dimensional head model | |
| CN107898500A (en) | Navigation monitoring device for C-arm X-ray machine | |
| JP2018038908A (en) | Medical image diagnostic apparatus | |
| CN110573079A (en) | Computed tomography and localization of a volume to be imaged | |
| CN108143490A (en) | A kind of augmented reality system test platform based on projecting apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 610000 north of Chengdu modern industrial port, PI Du District, Chengdu, Sichuan, No. 269 North Road, Hong Kong. Applicant after: Xiaozhi future (Chengdu) Technology Co.,Ltd. Address before: 610000 north of Chengdu modern industrial port, PI Du District, Chengdu, Sichuan, No. 269 North Road, Hong Kong. Applicant before: XIAOZHI TECHNOLOGY (CHENGDU) Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |