CN110533597A - Artifact processing and rotation center determine method, apparatus and equipment, storage medium - Google Patents
Artifact processing and rotation center determine method, apparatus and equipment, storage medium Download PDFInfo
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Abstract
This application discloses a kind of processing of artifact and rotation center to determine method, apparatus and equipment, storage medium, which determines that method includes: preset coordinates of each marker of acquisition correction model body in the correction model body；Each marker is obtained by the projection coordinate after the scanning of C-arm x-ray machine three-dimensional rotation, on x-ray receiving device；Preset coordinates and projection coordinate based on acquisition calculate the geometric correction matrix for the preset coordinates to be mapped to projection coordinate；By the projection coordinate of the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and acquisition, the coordinate of the rotation center of the C-arm x-ray machine is converted to.The embodiment of the present application can determine the coordinate of rotation center by being concisely and efficiently operation method based on the centre coordinate of the projection coordinate of marker, geometric correction matrix and x-ray receiving device in correction model body.
Description
Technical field
This application involves medical image processing technology field more particularly to a kind of processing of artifact and rotation center determination sides
Method, device and equipment, storage medium.
Background technique
CT (Computed Tomography, i.e. CT scan) is using X-ray beam to scanned pair
Certain position of elephant is scanned, by carrying out a series of processing to scanning result with the one of the CT image for obtaining being made of pixel
Kind technology.The basic functional principle of CT imaging is, according to subject different tissues to the absorption of X-ray and the difference of transmitance,
Subject is scanned using sensitivity high detector.Detector receives the X-ray for penetrating the level, is changed into visible
After light, electric signal is become from photoelectric conversion, then switch to digital signal.These digital signals are properly termed as raw data, and its is defeated
Enter computer.After carrying out reconstruction processing to raw data, the CT reconstruction image for obtaining subject uses computer for diagnosis.
The X-ray beam of conical beam CT is taper or half-cone, have X-ray utilization rate is high, rebuild faultage image high resolution,
The features such as scanning speed is fast is the developing direction and hot spot of current CT research field.According to the difference of machine shape, it is divided into c-type
Arm X-ray machine, U-shaped arm X-ray machine, G shape arm X-ray machine etc..Wherein, C-arm x-ray machine include rack, the C that is mounted on rack main shaft
Arm, the x-ray transmitting equipment for being mounted on C-arm one end and the x-ray receiving device for being mounted on the C-arm other end.
In practical application, for C-arm x-ray machine by three-dimensional rotation C-arm, it is same that x-ray transmitting equipment follows C-arm to rotate
When, emit X-ray to subject, three-dimensional rotation scanning is carried out to subject.In three-dimensional rotation scanning process, C-arm is surrounded
The rotation of rack main shaft.Theoretically, during three-dimensional rotation, C-arm surrounds same center always (the application is known as rotation center)
It is rotated.But the imperfect alignment of each mechanical part as contained by C-arm x-ray machine, rotation center may be with C-arms
It rotates the change of angle and changes, cause C-arm to carry out the center movements such as non-in three-dimensional rotation scanning process, it is difficult to determine C
The rotation center of arm three-dimensional rotation scanning.
In turn, the rotation center of 3-D scanning process is difficult to be projected always to the same position of x-ray receiving device, leads to weight
It builds and occurs ring artifact in image, influence reconstructed image quality.
Summary of the invention
The application provides a kind of processing of artifact and rotation center determines method, apparatus and equipment, storage medium, to determine C
The problem of rotation center of the C-arm three-dimensional rotation scanning of arm X-ray machine.
According to the embodiment of the present application in a first aspect, providing a kind of rotation center determines method, comprising:
Obtain preset coordinates of each marker of correction model body in the correction model body；
Each marker is obtained by the projection coordinate after the scanning of C-arm x-ray machine three-dimensional rotation, on x-ray receiving device；
Preset coordinates and projection coordinate based on acquisition are calculated for the preset coordinates to be mapped to projection coordinate
Geometric correction matrix；
Referring to the following conditions, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and acquisition
Projection coordinate is converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart.
In one embodiment, unlike signal object is received by after C-arm x-ray machine three-dimensional rotation scanning in the x-ray
Projection in equipment is without coincidence.
In one embodiment, the multiple marker helical arrangement is in the surface of the correction model body.
In one embodiment, the correction model body is cylindrical body.
In one embodiment, the square distance and for coordinate direction single in projected coordinate system square distance and.
According to the second aspect of the embodiment of the present application, a kind of artifact processing method is provided, comprising:
Reconstruction image after obtaining C-arm x-ray machine three-dimensional rotation scanning subject；The reconstruction image includes cyclic annular pseudo-
Shadow；
It obtains and is scanned with the three-dimensional rotation of the C-arm x-ray machine, the coordinate of corresponding rotation center；
Based on the coordinate, the center of circle of the ring artifact in the reconstruction image is determined；
According to the identified center of circle, the ring artifact is removed from the reconstruction image；
The coordinate, by geometric correction matrix, the predetermined centre coordinate of x-ray receiving device and each mark of correction model body
The projection coordinate of object converts gained referring to following goal condition:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart；
The geometric correction matrix, for preset coordinates of each marker in the correction model body to be mapped to the throwing
Shadow coordinate；
The projection coordinate indicates that the C-arm x-ray machine scans corresponding scanner program according to the three-dimensional rotation, sweeps
After retouching the correction model body, projected position of each marker on the x-ray receiving device.
In one embodiment, the step of coordinate described in pre-generatmg, comprising:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition are calculated for the preset coordinates to be mapped to projection coordinate
Geometric correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and obtain
The projection coordinate taken is converted to the coordinate.
In one embodiment, unlike signal object is received by after C-arm x-ray machine three-dimensional rotation scanning in the x-ray
Projection in equipment is without coincidence.
In one embodiment, the multiple marker helical arrangement is in the surface of the correction model body.
In one embodiment, the correction model body is cylindrical body.
In one embodiment, the square distance and for coordinate direction single in projected coordinate system square distance and.
According to the third aspect of the embodiment of the present application, a kind of rotation center determining device is provided, comprising:
Space coordinate obtains module, for obtaining preset coordinates of each marker of correction model body in the correction model body；
Projection coordinate obtains module, for obtaining each marker by after the scanning of C-arm x-ray machine three-dimensional rotation, receives in x-ray
Projection coordinate in equipment；
Correction matrix obtains module, for based on acquisition preset coordinates and projection coordinate, calculate for will be described pre-
Position fixing maps to the geometric correction matrix of projection coordinate；
Rotation center determining module, for reference the following conditions, by the predetermined centre coordinate of the x-ray receiving device, institute
The projection coordinate for stating geometric correction matrix and acquisition is converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart.
In one embodiment, the correction model body is cylindrical body, and the multiple marker helical arrangement is in the correction
The surface of die body.
In one embodiment, the square distance and for coordinate direction single in projected coordinate system square distance and.
According to the fourth aspect of the embodiment of the present application, a kind of artifact processing unit is provided, comprising:
Reconstruction image obtains module, for obtaining the reconstruction image after C-arm x-ray machine three-dimensional rotation scans subject；Institute
Stating reconstruction image includes ring artifact；
Centre coordinate obtains module, scans for obtaining with the three-dimensional rotation of the C-arm x-ray machine, corresponding rotation
Turn the coordinate at center；
Artifact center of circle determining module determines the ring artifact in the reconstruction image for being based on the coordinate
The center of circle；
Ring artifact cancellation module, for being removed from the reconstruction image described cyclic annular pseudo- according to the identified center of circle
Shadow；
The coordinate, by geometric correction matrix, the predetermined centre coordinate of x-ray receiving device and each mark of correction model body
The projection coordinate of object converts gained referring to following goal condition:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart；
The geometric correction matrix, for preset coordinates of each marker in the correction model body to be mapped to the throwing
Shadow coordinate；
The projection coordinate indicates that the C-arm x-ray machine scans corresponding scanner program according to the three-dimensional rotation and scans
After the correction model body, projected position of each marker on the x-ray receiving device.
In one embodiment, the module of coordinate described in pre-generatmg, is configured as:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition are calculated for the preset coordinates to be mapped to projection coordinate
Geometric correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and obtain
The projection coordinate taken is converted to the coordinate.
In one embodiment, the correction model body is cylindrical body, and the multiple marker helical arrangement is in the correction
The surface of die body.
In one embodiment, the square distance and for coordinate direction single in projected coordinate system square distance and.
According to the 5th of the embodiment of the present application the aspect, a kind of computer equipment is provided, comprising:
Processor；
The memory of storage processor executable instruction；
Wherein, the processor is coupled in the memory, for reading the program instruction of the memory storage, and makees
For response, the operation in method as described above is executed.
According to the 6th of the embodiment of the present application the aspect, one or more machine readable storage mediums are provided, are stored thereon with
Instruction, when executed by one or more processors, so that processor executes the operation in method as described above.
Using the embodiment of the present application, preset coordinates and projection coordinate by marker in correction model body are calculated and are used for
After the preset coordinates to be mapped to the geometric correction matrix of projection coordinate, referring to rotation center and each marker every time described
Square distance and this minimum condition between projection on x-ray receiving device, with the center of the x-ray receiving device, pass through letter
Clean efficient operation method, by the projection coordinate of marker in correction model body, the center of geometric correction matrix and x-ray receiving device
Coordinate is converted to the coordinate of rotation center.Relative to by calculating x-ray focus motion profile and detector center movement rail
Mark, the mode of accurate rotation center is found using the round regression technique of a large amount of least square fittings, and the method for this case guarantees
It while accuracy, is simple and efficient, and saves calculation resources.
It in turn, can be based on rotation when the artifact that the rotation center that the application determines is applied to reconstruction image handles scene
The coordinate at center determines the center of circle of the ring artifact in the reconstruction image；In turn, according to the identified center of circle, from described heavy
It builds in image and removes the ring artifact, the ring artifact in reconstruction image can be made to be improved, reach raising reconstruction image
Quality purpose, and for it is subsequent based on reconstruction image carry out diagnosis accurate foundation is provided.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Figure 1A is the architecture diagram of the C-arm x-ray machine shown in one exemplary embodiment of the application；
Figure 1B is the three-dimensional rotation scanning schematic diagram of the C-arm x-ray machine shown in one exemplary embodiment of the application；
Fig. 1 C is the perspective view of the correction model body shown in one exemplary embodiment of the application；
Fig. 1 D is the plan view of the correction model body shown in one exemplary embodiment of the application；
Fig. 2 is the flow chart that rotation center shown in one exemplary embodiment of the application determines method；
Fig. 3 is the flow chart that rotation center shown in the application another exemplary embodiment determines method；
Fig. 4 A is the schematic diagram of the ring artifact shown in one exemplary embodiment of the application；
Fig. 4 B is the flow chart of the artifact processing method shown in the application another exemplary embodiment；
Fig. 5 is the hardware structural diagram of the computer equipment shown in one exemplary embodiment of the application；
Fig. 6 is the block diagram of the rotation center determining device shown in one exemplary embodiment of the application；
Fig. 7 is the block diagram of the artifact processing unit shown in the application another exemplary embodiment.
Specific embodiment
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
Figure 1A is please referred to, Figure 1A is the architecture diagram of the C-arm x-ray machine shown in one exemplary embodiment of the application.
C-arm x-ray machine shown in Figure 1A includes rack 101, C-arm 102, x-ray transmitting equipment 103, x-ray receiving device
104, the examination couch 106 of computer system 105 and carrying subject.
Wherein, driver, drive control device and record that examination couch 106 may include movable bed, drive bed motion
And feed back the device of bed position.
C-arm 102 is installed on the main shaft of rack 101；Two arm ends of C-arm 102 are relatively equipped with x-ray transmitting and set
For 103 and x-ray receiving device 104.
X-ray transmitting equipment 103 may include the x-ray bulb for generating X-ray；X-ray receiving device 104 may include that plate is visited
Device is surveyed, flat panel detector is used to receive the X-ray through subject and detects X-ray intensity；X-ray receiving device 104 may be used also
To include electrooptical device, for the X-ray intensity according to detection, received X-ray photoelectric conversion is switched into electric signal.
Computer system 105 is communicated with x-ray receiving device 104, can be used to implement three kinds of functions: first, control rack
101 and examination couch 106: after operator selects sweep parameter starting scanning appropriate, arranging various events during scanning
Sequentially.Secondly, data for projection processing, including data for projection pretreatment and image reconstruction.Thirdly, image shows.
In order to realize that three kinds of above-mentioned functions, the computer system 105 may include following component part: control equipment,
Image reconstruction device, computer, display, station and storage equipment.
Wherein, equipment is controlled, can be used for controlling rack 101 and C-arm 102 is driven to rotate around the spindle, major axes orientation is figure
Z-direction shown in 1B, x-ray transmitting equipment 103 are rotated with x-ray receiving device 104 with the rotation of C-arm 102.Meanwhile it controlling
Control equipment control x-ray bulb emits X-ray along the x axis in rotary course, realizes and scans to the three-dimensional rotation of subject.This
In example, control equipment may include following module:
X-ray controller, for providing energy and clock signal for x-ray bulb；
Gantry drive controller, for controlling revolving speed and the initial position of rack 101；
Data collection system (data acquisition system, DAS), for acquiring simulation from flat panel detector
Signal, and above-mentioned analog signal is converted to and is used for the digital signal of subsequent image processing and (is referred to as data for projection or life
Data), the digital signal is exported to coupled image reconstruction device.
Image reconstruction device can be used for carrying out image reconstruction according to the scan data that data collection system exports, obtain
Reconstruction image；
Computer, the order and parameter that can be used for inputting operator by station are converted into control signal or information
It is sent to the drive control device of control equipment and/or examination couch 106, control examination couch 106 moves to corresponding position；The computer
The image of image reconstruction device reconstruction can also be received and stored.
Display, for showing reconstruction image and related data；
Station, for receiving the order and sweep parameter of operator's input；
Equipment is stored, for storing reconstruction image.
The three-dimensional rotation of subject is scanned under being described in detail below in conjunction with Figure 1A and Figure 1B:
Coordinate system is x-y-z coordinate system, 103 ' x-ray source of x-ray bulb, the reception that flat panel detector 104 ' projects in Figure 1B
X-ray, D are the center of flat panel detector 104 ', and P is spatial point, and P ' is subpoint of the P on flat panel detector 104 ', and U, V are
The coordinate direction of subpoint.
In three-dimensional rotation scanning process, C-arm 102 is rotated around the main shaft (Z-direction) of rack 101；X-ray emits equipment
103 follow C-arm 102 rotate while, x-ray bulb 103 ' generate ray, from x-ray emit equipment 103 to subject project,
Three-dimensional rotation scanning is carried out to subject, subject is projected to the flat panel detector 104 ' of x-ray receiving device 104；X-ray receives
While equipment 104 follows C-arm 102 to rotate, receives the X-ray through subject and be converted to electric signal；Computer system
105 carry out data for projection pretreatment and image reconstruction simultaneously.
Theoretically, entire scanning process rotation repeatedly, rotates by a certain angle, the angle summation of multiple rotary can be every time
200 degree, and in entire three-dimensional rotation scanning process, C-arm 102 always around same center (the application is known as rotation center,
106 ' in Figure 1B) it is rotated, which projects always in entire scanning process to flat panel detector 104 '
Same position D, the rotation center 106 ' are also the center of subject.
But the imperfect alignment of each mechanical part as contained by C-arm x-ray machine, rotation center 106 ' may be with C-arms
The change of 102 rotation angle and change, i.e., the rotation center 106 ' in entire scanning process is inconsistent, and C-arm 102 is caused to exist
The center movements such as non-are carried out in three-dimensional rotation scanning process, it is difficult to determine the rotation center 106 ' of C-arm 102.In addition, C-arm
102 center movements such as non-are also possible to cause many problems, such as: the rotation center 106 ' of 3-D scanning process is difficult to throw always
Shadow leads to occur ring artifact in reconstruction image, influences reconstructed image quality to the same position D of flat panel detector 104 '.
Firstly, the designer of application scheme, carries out for C-arm 102 in three-dimensional rotation scanning process in non-wait
Heart movement, it is difficult to which the problem of determining the rotation center 106 ' of 102 three-dimensional rotation scanning process of C-arm proposes one kind, this method
Preset coordinates and projection coordinate by marker in correction model body are calculated and are sat for the preset coordinates to be mapped to projection
It is and described referring to rotation center and the projection on the x-ray receiving device every time of each marker after target geometric correction matrix
Square distance and this minimum condition between the center of x-ray receiving device, by being concisely and efficiently operation method, by correction model body
The centre coordinate of the projection coordinate of upper marker, geometric correction matrix and x-ray receiving device, is converted to the coordinate of rotation center.
Relative to by calculating x-ray focus motion profile and detector center movement track, the circle of a large amount of least square fittings is used
Shape regression technique is found the mode of accurate rotation center and is simple and efficient while the method for this case guarantees accuracy, and saves
Calculation resources.Below in conjunction with the determination process of rotation center under attached drawing introduction:
Referring to Fig. 2, Fig. 2 is the flow chart that rotation center shown in one exemplary embodiment of the application determines method, it should
Embodiment can be applied to computer equipment, include the following steps S201-S204:
Step S201, preset coordinates of each marker of correction model body in the correction model body are obtained.It is mentioned herein pre-
Position fixing is used to describe the position of marker, can be the coordinate value in spatial coordinate system.
Step S202, each marker is obtained by the projection after the scanning of C-arm x-ray machine three-dimensional rotation, on x-ray receiving device
Coordinate.Projection coordinate mentioned herein is used to describe the projected position of marker, can be the coordinate value in projection coordinate system.
Step S203, the preset coordinates based on acquisition and projection coordinate calculate for mapping to the preset coordinates
The geometric correction matrix of projection coordinate.
Step S204, referring to the following conditions, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction square
Battle array and the projection coordinate obtained, are converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart.
The computer equipment of the embodiment of the present application application, as set forth above, it is possible to be that image reconstruction in computer system is set
Standby or computer is also possible to outside computer machine system the calculating equipment with data-handling capacity.
The designer of application scheme, rotation center when in order to determine that C-arm x-ray machine carries out three-dimensional rotation scanning.
, can be with a preset correction model body in one example, which includes multiple markers, and presets each marker in the correction
Preset coordinates on die body, each marker corresponded in the correction model body store.
In another example, school can also be simulated by modeling software with position of the preset each marker in correction model body
Each marker on positive die body and correction model body each position, then calculates coordinate of each marker in correction model body.
In preset correction model body, for the ease of modeling software simulation, correction model body can be predisposed to symmetric shape
Correction model body can be predisposed to cylindrical body as shown in Figure 1 C by die body.Marker can be the circular hole or bead of periphery
Deng.
In turn, it in order to avoid projection coincidence of the unlike signal object on x-ray receiving device in correction model body, and then influences to obtain
Take the projection coordinate of each marker, the embodiment of the present application, after preset unlike signal object is scanned by C-arm x-ray machine three-dimensional rotation,
Projection on the x-ray receiving device is without coincidence.
In certain examples, as shown in figure iD, multiple marker helical arrangements are in the surface of the correction model body.Marker can
Think circular hole or the bead etc. of periphery.It can be C (i :)=[r*cos with the coordinate of predetermined flag object in the example
(theta), r*sin (theta), i*h], wherein r is the radius of correction model body, and theta is that each marker is (small in correction model body
Ball) between angle, h be Interglobular distance, i is variable, indicates any bead.
After preseting correction model body and marker, preset coordinates of the marker in correction model body can be simulated.In addition,
The projection coordinate of marker in order to obtain finds out the geometric correction matrix that the preset coordinates of marker are mapped to projection coordinate,
Correction model body can be placed on examination couch 106 shown in figure 1A, the computer system as shown in Figure 1A by the embodiment of the present application
105 controls check 106 carrying correction model bodies to designated position, and then control rack 101 drives C-arm 102 to rotate, x-ray transmitting
While equipment 103 follows C-arm 102 to rotate, the ray that x-ray bulb 103 ' generates emits equipment 103 to straightening die from x-ray
Body projection carries out three-dimensional rotation scanning to correction model body, correction model body and each marker is projected to x-ray receiving device 104
Flat panel detector 104 '；While x-ray receiving device 104 follows C-arm 102 to rotate, receives the X-ray through subject and turn
It is changed to electric signal；Computer system 105 carries out data for projection pretreatment simultaneously.It, can be according in order to improve the accuracy of calculating
Multiple angles, rotation repeatedly, repeatedly project X-ray to correction model body, and then obtain multiple projection coordinates of each marker, such as
200 projection coordinates.
From the projection coordinate of the available each marker of pretreated data for projection, which can be penetrated by receiving
The probe access of the X-ray of each marker determines.
In practical application, the embodiment of the present application in real time can be scanned the three-dimensional rotation of correction model body by c-type X-ray machine,
The projection coordinate of each marker is obtained, c-type X-ray machine can also be first passed through in advance, the three-dimensional rotation of correction model body is scanned, storage is each
The projection coordinate of marker, it is thus necessary to determine that rotation center coordinate is directly to transfer the projection coordinate prestored.
After the preset coordinates and projection coordinate for getting each marker, it can be fitted in such a way that data are fitted
For the preset coordinates to be mapped to the geometric correction matrix of projection coordinate.
The preset coordinates that can also be will acquire and projection coordinate substitute into following formula:
Pt=PC (x, y, z, 1) (1)；
Wherein, the projected position of marker is pt, and the predetermined position of marker is (x, y, z), and P indicates geometric correction square
Battle array.
Equation is optimized by solving to above-mentioned formula (1), obtains geometric correction matrix P:
(2)；
Wherein, P is the matrix of 3*4.
After acquiring geometric correction matrix, it is contemplated that rotation center and each marker are every time on the x-ray receiving device
Projection, square distance and minimum between the center of the x-ray receiving device can be by geometric correction matrixes, marker
Preset coordinates and the projection coordinate being irradiated by X-rays every time calculate rotation of the C-arm x-ray machine in three-dimensional rotation scanning process
Turn center.
For example, the angular range at 200 degree of rack main shaft rotates, corotating 200 times, C-arm x-ray machine can be calculated and existed
The coordinate of rotation center in three-dimensional rotation scanning process.
Under certain scenes, in order to improve the efficiency for calculating rotation center, the computation complexity of rotation center, example can be simplified
Such as, preset distance quadratic sum be in projected coordinate system the square distance of single coordinate direction and, specifically may refer to Fig. 3, Fig. 3
Shown method can be applied to computer equipment, including step S301-S304:
Step S301, preset coordinates of each marker of correction model body in the correction model body are obtained.
Step S302, each marker is obtained by the projection after the scanning of C-arm x-ray machine three-dimensional rotation, on x-ray receiving device
Coordinate.
Step S303, the preset coordinates based on acquisition and projection coordinate calculate for mapping to the preset coordinates
The geometric correction matrix of projection coordinate.
Step S304, referring on following single projection coordinate direction square distance and the smallest condition, the x-ray is connect
The projection coordinate of the predetermined centre coordinate of receiving unit, the geometric correction matrix and acquisition, is converted to the C-arm x-ray machine
The coordinate of rotation center:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum of the heart on scheduled single projection coordinate direction.
The technical characteristic of the present embodiment is corresponding to the technical characteristic that aforementioned rotation center determines that method is related to, no longer superfluous herein
It states.
Below in conjunction with a specific example, the calculating process of lower rotation center is introduced:
In this example, the two-dimensional slice image of any layer, first installation space coordinate system x-y-z and plate can be visited
The initial value of device ordinate of orthogonal axes ufit is surveyed, coordinate points (0,0,0) indicate the initial value of rotation center, and ideally carry out
Rotation center when equal centers rotation, ufit=flat panel detector length/2-0.5.
The preset coordinates of marker and projection are obtained to the projection coordinate when two-dimensional slice image, substitute into following formula:
Wherein, X (x, y, z) is the preset coordinates of marker, and x (u, v) is that projection of the marker on flat panel detector is sat
Mark.By formula (3), projection coordinate of the available coordinate points (0,0,0) on flat panel detector.
By taking the ordinate u in projection coordinate as an example, in z=0, by the initial value of flat panel detector ordinate of orthogonal axes ufit,
And projection coordinate's following formula of the calculated coordinate u direction of formula (3):
So that the value of formula (4) is minimum, the coordinate that rotation center is arranged is (x, y), and initial value is (0,0), because of plate
Detector size is 978 pixels, and ufit initial value is 479.5, carries out Matlab programming to formula (4), can be obtained at this time
Rotation center coordinate: x=7.12, y=-4.50.
As can be seen from the above embodiments, the preset coordinates by marker in correction model body and projection coordinate, calculate and are used for
After the preset coordinates to be mapped to the geometric correction matrix of projection coordinate, referring to rotation center and each marker every time described
Square distance and this minimum condition between projection on x-ray receiving device, with the center of the x-ray receiving device, pass through letter
Clean efficient operation method, by the projection coordinate of marker in correction model body, the center of geometric correction matrix and x-ray receiving device
Coordinate is converted to the coordinate of rotation center.Relative to by calculating x-ray focus motion profile and detector center movement rail
Mark, the mode of accurate rotation center is found using the round regression technique of a large amount of least square fittings, and the method for this case guarantees
It while accuracy, is simple and efficient, and saves calculation resources.
In turn, the rotation center that the application determines can be applied to the artifact processing scene of reconstruction image, as shown in Figure 4 A,
Image is reconstruction image when correction model body is scanned by C-arm x-ray machine three-dimensional rotation, is existed in the reconstruction image cyclic annular pseudo-
Shadow, the center of circle of ring artifact are stain shown in Fig. 4 A, and non-image center, in order to remove ring artifact, it is thus necessary to determine that go out
The center of circle of ring artifact, it is contemplated that when C-arm x-ray machine three-dimensional rotation scans correction model body, rotation center, that is, correction model body
Center, therefore by the determination method of aforementioned rotation center, it can determine the coordinate of rotation center, and then rotation can be passed through
The coordinate at center and its mapping relations in reconstruction image between coordinate, obtain coordinate of the rotation center in reconstruction image, i.e.,
The coordinate for rotating the center of circle of artifact, specifically may refer to Fig. 4 B, method shown in Fig. 4 B can be applied to computer equipment, including step
Rapid S401-S404:
Step S401, the reconstruction image after obtaining C-arm x-ray machine three-dimensional rotation scanning subject；The reconstruction image packet
Include ring artifact.
Step S402, it obtains and is scanned with the three-dimensional rotation of the C-arm x-ray machine, the coordinate of corresponding rotation center.
Step S403, it is based on the coordinate, determines the center of circle of the ring artifact in the reconstruction image.
Step S404, according to the identified center of circle, the ring artifact is removed from the reconstruction image.
Wherein, the coordinate, by geometric correction matrix, the predetermined centre coordinate of x-ray receiving device and correction model body it is each
The projection coordinate of marker converts gained referring to following goal condition:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart；
The geometric correction matrix, for preset coordinates of each marker in the correction model body to be mapped to the throwing
Shadow coordinate；
The projection coordinate indicates that the C-arm x-ray machine scans corresponding scanner program according to the three-dimensional rotation, sweeps
After retouching the correction model body, projected position of each marker on the x-ray receiving device.
The invention relates to technical characteristic it is corresponding to previous embodiment, details are not described herein.
For step S401, C-arm x-ray machine described in the present embodiment, the c-type being related to the method for aforementioned determining rotation center
Arm X-ray machine is identical, the three-dimensional that the method for three-dimensional rotation scanning and aforementioned determining rotation center that the present embodiment is related to is related to
Rotary scanning is consistent, such as the angle of rotation, direction are consistent.
If the corresponding C-arm x-ray machine of reconstruction image and three-dimensional rotation scanning, c-type corresponding with correction model body before
Arm X-ray machine and three-dimensional rotation scanning, there is any transformation, are required to scan according to transformed C-arm x-ray machine and three-dimensional rotation,
The coordinate of rotation center is calculated again through correction model body, could carry out artifact processing to reconstruction image.
For step S402, rotation center can be believed with scannings such as the rotation angle of corresponding three-dimensional rotary scanning process, directions
The corresponding storage of breath, can be according to scanning informations such as the corresponding rotation angle of reconstruction image, directions when obtaining the coordinate of rotation center
To transfer coordinate.
The coordinate of rotation center can be with pre-generatmg, and the step of coordinate of pre-generatmg rotation center is as follows:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition are calculated for the preset coordinates to be mapped to projection coordinate
Geometric correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and obtain
The projection coordinate taken is converted to the coordinate.
In one example, after unlike signal object is scanned by the C-arm x-ray machine three-dimensional rotation, on the x-ray receiving device
Projection without coincidence.
As an example, the multiple marker helical arrangement is in the surface of the correction model body.
As an example, the correction model body is cylindrical body.
As an example, the square distance and for coordinate direction single in projected coordinate system square distance and.
For step S403, it is contemplated that when C-arm x-ray machine three-dimensional rotation scans correction model body, rotation center is corrected
The center of die body, therefore by the determination method of aforementioned rotation center, it can determine the coordinate of rotation center, and then can lead to
The coordinate and its mapping relations in reconstruction image between coordinate for crossing rotation center, obtain seat of the rotation center in reconstruction image
Mark, the i.e. coordinate in the center of circle of rotation artifact.
When for step S404, elimination ring artifact, reconstruction image can be transformed into polar coordinates by cartesian coordinate system
System carries out artifact elimination, eliminates pseudo- movie queen, then go back to cartesian coordinate system.In addition it is also possible to take other customary in the art
Means carry out artifact elimination, and details are not described herein.
Below by taking Fig. 4 A as an example, by step shown in Fig. 4 B, the coordinate (the artifact center of circle) of rotation center can be determined
For x=286.9977, y=234.0887；After the image data of Fig. 4 A is read in software using software I mageJ, cyclic annular puppet is obtained
Shadow center is consistent with the above results.
As can be seen from the above embodiments, the application can determine ring artifact in the reconstruction based on the coordinate of rotation center
The center of circle in image；In turn, according to the identified center of circle, the ring artifact is removed from the reconstruction image, can make weight
The ring artifact built in image is improved, and achievees the purpose that the quality for improving reconstruction image, and be based on reconstruction image to be subsequent
The diagnosis of progress provides accurate foundation.
Determine that the example of method is corresponding with the processing of the application artifact and rotation center, present invention also provides artifact processing
And the example of rotation center determining device.Artifact processing and rotation center determining device can be applied to various computer equipments,
As personal computer, laptop computer, cellular phone, camera phone, smart phone, navigation equipment, E-mail receiver/send are set
Standby, game console, tablet computer, internet television, intelligent locomotive, pilotless automobile, intelligent interaction plate, intelligent family
Occupy the combination of any several equipment in equipment or these equipment.
As shown in figure 5, the hardware knot of the computer equipment for the processing of the application artifact and the application of rotation center determining device
Structure schematic diagram, the computer equipment may include processor 510, memory 520, nonvolatile memory 530.Wherein, memory 520
It is machine readable storage medium with nonvolatile memory 530, processor 510 and machine readable storage medium 520,530 can be borrowed
It is connected with each other by internal bus 540.In other possible implementations, the computer equipment is also possible that network interface
550, can be communicated with other equipment or component.In addition to processor 510 shown in fig. 5, memory 450, network interface
550 and nonvolatile memory 530 except, which needs to include other hardware according to actual functional capability, in Fig. 5
No longer show one by one.
In different examples, the machine readable storage medium 520,530 can be ROM (Read-Only Memory,
Read-only memory), volatile memory, nonvolatile memory, flash memory, memory driver (such as hard disk drive), solid state hard disk,
Any kind of storage dish (such as CD, DVD) perhaps similar storage medium or their combination.
Further, machine readable storage medium, can be specially that machine corresponding with image processing apparatus is stored on memory 520
Device executable instruction.It functionally divides, as shown in fig. 6, rotation center determining device may include that space coordinate obtains module
610, projection coordinate obtains module 620, correction matrix obtains module 630 and rotation center determining module 640.
Wherein, space coordinate obtains module 610, and each marker for obtaining correction model body is pre- in the correction model body
Position fixing.
Projection coordinate obtain module 620, for obtain each marker by C-arm x-ray machine three-dimensional rotation scanning after, in x-ray
Projection coordinate on receiving device.
Correction matrix obtains module 630, for based on acquisition preset coordinates and projection coordinate, calculate for will be described
Preset coordinates map to the geometric correction matrix of projection coordinate.
Rotation center determining module 640, for referring to the following conditions, by the predetermined centre coordinate of the x-ray receiving device,
The projection coordinate of the geometric correction matrix and acquisition, is converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart.
In one example, after unlike signal object is scanned by the C-arm x-ray machine three-dimensional rotation, on the x-ray receiving device
Projection without coincidence.
As an example, the multiple marker helical arrangement is in the surface of the correction model body.
As an example, the correction model body is cylindrical body.
As an example, the square distance and for coordinate direction single in projected coordinate system square distance and.
As shown in fig. 7, artifact processing unit may include reconstruction image obtain module 710, centre coordinate obtain module 720,
Artifact center of circle determining module 730 and ring artifact cancellation module 740.
Wherein, reconstruction image obtains module 710, for obtaining the reconstruction after C-arm x-ray machine three-dimensional rotation scans subject
Image；The reconstruction image includes ring artifact.
Centre coordinate obtains module 720, scans for obtaining with the three-dimensional rotation of the C-arm x-ray machine, corresponding
The coordinate of rotation center.
Artifact center of circle determining module 730 determines the ring artifact in the reconstruction image for being based on the coordinate
The center of circle.
Ring artifact cancellation module 740, for removing the ring-type from the reconstruction image according to the identified center of circle
Artifact.
The coordinate, by geometric correction matrix, the predetermined centre coordinate of x-ray receiving device and each mark of correction model body
The projection coordinate of object converts gained referring to following goal condition:
Rotation center and each marker are every time in the projection on the x-ray receiving device, with the x-ray receiving device
Square distance and minimum in the heart；
The geometric correction matrix, for preset coordinates of each marker in the correction model body to be mapped to the throwing
Shadow coordinate；
The projection coordinate indicates that the C-arm x-ray machine scans corresponding scanner program according to the three-dimensional rotation and scans
After the correction model body, projected position of each marker on the x-ray receiving device.
In one example, the module of coordinate described in pre-generatmg is configured as:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition are calculated for the preset coordinates to be mapped to projection coordinate
Geometric correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and obtain
The projection coordinate taken is converted to the coordinate.
As an example, after unlike signal object is scanned by the C-arm x-ray machine three-dimensional rotation, on the x-ray receiving device
Projection without coincidence.
As an example, the multiple marker helical arrangement is in the surface of the correction model body.
As an example, the correction model body is cylindrical body.
As an example, the square distance and for coordinate direction single in projected coordinate system square distance and.
The technical characteristic of aforementioned device is referred to preceding method, and details are not described herein.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the application
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims.
Claims (20)
1. a kind of rotation center determines method characterized by comprising
Obtain preset coordinates of each marker of correction model body in the correction model body；
Each marker is obtained by the projection coordinate after the scanning of C-arm x-ray machine three-dimensional rotation, on x-ray receiving device；
Preset coordinates and projection coordinate based on acquisition, calculate the geometry for the preset coordinates to be mapped to projection coordinate
Correction matrix；
Referring to the following conditions, by the projection of the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and acquisition
Coordinate is converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and the projection on the x-ray receiving device every time of each marker, between the center of the x-ray receiving device
Square distance and minimum.
2. the method according to claim 1, wherein unlike signal object is swept by the C-arm x-ray machine three-dimensional rotation
After retouching, the projection on the x-ray receiving device is without coincidence.
3. according to the method described in claim 2, it is characterized in that, the multiple marker helical arrangement is in the correction model body
Surface.
4. according to the method described in claim 3, it is characterized in that, the correction model body is cylindrical body.
5. method according to claim 1 to 4, which is characterized in that the square distance and be projection coordinate
In system the square distance of single coordinate direction and.
6. a kind of artifact processing method characterized by comprising
Reconstruction image after obtaining C-arm x-ray machine three-dimensional rotation scanning subject；The reconstruction image includes ring artifact；
It obtains and is scanned with the three-dimensional rotation of the C-arm x-ray machine, the coordinate of corresponding rotation center；
Based on the coordinate, the center of circle of the ring artifact in the reconstruction image is determined；
According to the identified center of circle, the ring artifact is removed from the reconstruction image；
The coordinate, by geometric correction matrix, each marker of the predetermined centre coordinate and correction model body of x-ray receiving device
Projection coordinate converts gained referring to following goal condition:
Rotation center and the projection on the x-ray receiving device every time of each marker, between the center of the x-ray receiving device
Square distance and minimum；
The geometric correction matrix is sat for preset coordinates of each marker in the correction model body to be mapped to the projection
Mark；
The projection coordinate indicates that the C-arm x-ray machine scans corresponding scanner program according to the three-dimensional rotation, scans institute
After stating correction model body, projected position of each marker on the x-ray receiving device.
7. according to the method described in claim 6, it is characterized in that, described in pre-generatmg the step of coordinate, comprising:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition, calculate the geometry for the preset coordinates to be mapped to projection coordinate
Correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and acquisition
Projection coordinate is converted to the coordinate.
8. the method according to the description of claim 7 is characterized in that unlike signal object is swept by the C-arm x-ray machine three-dimensional rotation
After retouching, the projection on the x-ray receiving device is without coincidence.
9. according to the method described in claim 8, it is characterized in that, the multiple marker helical arrangement is in the correction model body
Surface.
10. according to the method described in claim 9, it is characterized in that, the correction model body is cylindrical body.
11. method according to any one of claims 7 to 10, which is characterized in that the square distance and for projection sit
In mark system the square distance of single coordinate direction and.
12. a kind of rotation center determining device characterized by comprising
Space coordinate obtains module, for obtaining preset coordinates of each marker of correction model body in the correction model body；
Projection coordinate obtain module, for obtain each marker by C-arm x-ray machine three-dimensional rotation scanning after, in x-ray receiving device
On projection coordinate；
Correction matrix obtains module, for based on acquisition preset coordinates and projection coordinate, calculate for by the predetermined seat
Mark maps to the geometric correction matrix of projection coordinate；
Rotation center determining module, for referring to the following conditions, by the predetermined centre coordinate of the x-ray receiving device, described several
The projection coordinate of what correction matrix and acquisition, is converted to the coordinate of the rotation center of the C-arm x-ray machine:
Rotation center and the projection on the x-ray receiving device every time of each marker, between the center of the x-ray receiving device
Square distance and minimum.
13. device according to claim 12, which is characterized in that the correction model body is cylindrical body, the multiple mark
Object helical arrangement is in the surface of the correction model body.
14. device according to claim 12 or 13, which is characterized in that the square distance and be single in projected coordinate system
The square distance of a coordinate direction and.
15. a kind of artifact processing unit characterized by comprising
Reconstruction image obtains module, for obtaining the reconstruction image after C-arm x-ray machine three-dimensional rotation scans subject；It is described heavy
Building image includes ring artifact；
Centre coordinate obtains module, scans for obtaining with the three-dimensional rotation of the C-arm x-ray machine, in corresponding rotation
The coordinate of the heart；
Artifact center of circle determining module determines the center of circle of the ring artifact in the reconstruction image for being based on the coordinate；
Ring artifact cancellation module, for removing the ring artifact from the reconstruction image according to the identified center of circle；
The coordinate, by geometric correction matrix, each marker of the predetermined centre coordinate and correction model body of x-ray receiving device
Projection coordinate converts gained referring to following goal condition:
Rotation center and the projection on the x-ray receiving device every time of each marker, between the center of the x-ray receiving device
Square distance and minimum；
The geometric correction matrix is sat for preset coordinates of each marker in the correction model body to be mapped to the projection
Mark；
The projection coordinate indicates that the C-arm x-ray machine scans described in corresponding scanner program scanning according to the three-dimensional rotation
After correction model body, projected position of each marker on the x-ray receiving device.
16. device according to claim 15, which is characterized in that the module of coordinate described in pre-generatmg is configured as:
Obtain the preset coordinates and the projection coordinate；
Preset coordinates and projection coordinate based on acquisition, calculate the geometry for the preset coordinates to be mapped to projection coordinate
Correction matrix；
Referring to the goal condition, by the predetermined centre coordinate of the x-ray receiving device, the geometric correction matrix and acquisition
Projection coordinate is converted to the coordinate.
17. device according to claim 16, which is characterized in that the correction model body is cylindrical body, the multiple mark
Object helical arrangement is in the surface of the correction model body.
18. device described in any one of 5 to 17 according to claim 1, which is characterized in that the square distance and for projection sit
In mark system the square distance of single coordinate direction and.
19. a kind of computer equipment characterized by comprising
Processor；
The memory of storage processor executable instruction；
Wherein, the processor is coupled in the memory, for reading the program instruction of the memory storage, and as sound
It answers, executes such as the operation in any one of claim 1-11 the method.
20. one or more machine readable storage mediums, which is characterized in that instruction is stored thereon with, when by one or more
When managing device execution, so that processor is executed such as the operation in any one of claim 1-11 the method.
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| CN116831607A (en) * | 2023-09-01 | 2023-10-03 | 赛诺威盛科技(北京)股份有限公司 | Correction device and correction method for medical imaging equipment and medical imaging equipment |
| CN116831607B (en) * | 2023-09-01 | 2023-12-01 | 赛诺威盛科技(北京)股份有限公司 | Correction device and correction method for medical imaging equipment and medical imaging equipment |
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