CN111528890A - Medical image acquisition method and system - Google Patents
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Abstract
The present application relates to a medical image acquisition method and system, and more particularly, to an image acquisition method and system that can obtain a large reconstruction field of view. The method is implemented by a cone beam computed tomography apparatus comprising a radiation source and a detector. The method comprises the following steps: deflecting the source and detector about a central point of the detector; and rotating the deflected ray source and the detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object. The radiation source and the detector have a first reconstruction view field before deflection, and have a second reconstruction view field after deflection, wherein the second reconstruction view field is larger than the first reconstruction view field. According to the method and the device, a larger reconstruction visual field can be obtained under the condition that the size of the detector is certain.
Description
Technical Field
The present application relates to a medical image acquisition method and system, and more particularly, to an image acquisition method and system that can obtain a large reconstruction field of view.
Background
With the development of modern medicine, the diagnosis and treatment work of medical institutions increasingly depends on the examination of medical images. A medical imaging apparatus in a medical imaging system generally includes a plurality of systems (data acquisition system, image reconstruction system, image display storage system, etc.). Wherein the reconstructed field of view in the image reconstruction system is limited by the size of the detector of the medical scanning apparatus. In order to meet the requirement that a larger reconstruction view field is needed for some target objects (such as an abdomen and the like), the application provides a medical image acquisition method and a medical image acquisition system, and the larger reconstruction view field can be obtained under the condition that the size of a detector is a certain size.
Disclosure of Invention
The application aims to provide a medical image acquisition method and a medical image acquisition system, so that a larger reconstruction view field can be obtained under the condition that the size of a detector is fixed, and the requirement that a larger reconstruction view field is needed for certain target objects in medical diagnosis and treatment work can be met.
One of the embodiments of the present application provides a medical image acquisition method, which is implemented by a cone beam computed tomography apparatus including a radiation source and a detector. The method comprises the following steps: deflecting the source and the detector about a central point of the detector; rotating the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object. Wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
One of the embodiments of the present application provides a medical image acquisition system for controlling a cone beam computed tomography apparatus including a source of radiation and a detector. The system comprises: a deflection module for deflecting the source and the detector about a central point of the detector; and the rotating module is used for rotating the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object. Wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
One of the embodiments of the present application provides a medical image acquisition apparatus, which includes at least one processor and at least one storage device, where the storage device is used to store instructions, and when the at least one processor executes the instructions, the medical image acquisition method is implemented.
One of the embodiments of the present application provides a cone beam computed tomography scanner, which includes a mechanical arm, a radiation source and a detector; the robotic arm is configured in a yaw mode and a rotational mode; wherein, in the deflection mode, the mechanical arm drives the ray source and the detector to deflect around the central point of the detector; in the rotating mode, the mechanical arm drives to rotate the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object; wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
One of the embodiments of the present application provides a cone beam computed tomography apparatus, which includes: a radiation source and a detector; a deflection mechanism for deflecting the source and the detector about a central point of the detector; and the rotating mechanism is used for rotating the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object. Wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
Drawings
The present application will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is a schematic diagram of an application scenario of a medical image acquisition system according to some embodiments of the present application;
FIG. 2 is an exemplary flow chart of a medical image acquisition method according to some embodiments of the present application;
FIG. 3 is a schematic illustration of a first reconstructed field of view and a second reconstructed field of view obtained by a medical image acquisition method according to some embodiments of the present application;
FIG. 4 is a schematic diagram of a preset weight curve according to some embodiments of the present application;
FIG. 5 is a block diagram of a medical image acquisition system according to some embodiments of the present application; and
fig. 6 is a schematic diagram of a reconstructed field of view FOV in accordance with some embodiments of the present application.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system", "device", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
The image acquisition method disclosed in the present application can be applied to a variety of medical scanning imaging devices, including but not limited to one or any combination of a Computed Radiography (CR), a Digital Radiography (DR), a Computed Tomography (CT), a flat-film X-ray machine, a mobile X-ray device (such as a mobile C-arm machine), a digital subtraction angiography scanner (DSA), a linear accelerator, an Emission Computed Tomography (ECT), and the like. For illustrative purposes only, the present application will describe the disclosed embodiments in detail with reference to a Cone Beam Computed Tomography (CBCT) system, which may be referred to as a mobile C-arm machine or a Digital subtraction angiography scanner (DSA). It will be appreciated by those of ordinary skill in the art that the foregoing CBCT terminology is not intended to limit the scope of the present invention.
In conventional CBCT imaging systems, the size of the reconstructed field of view is limited by the detector size, the distance of the source to the center of interest of the object of interest, and the distance of the source to the detector. FIG. 6 is a schematic diagram of a reconstructed Field of View (FOV) according to some embodiments of the present application. As shown in fig. 6, point G represents the radiation source, EF represents the flat panel detector, and the length of the flat panel detector is L. The interested center of the target object is an O point, and the O point is positioned on a connecting line of the geometric center point of the detector and the ray source. SOD denotes the distance of the radiation source G to the center of interest of the target object. SID represents the distance of the source G from the detector EF. The reconstruction field of view fov (field of view) is a circle with a radius R and a center at O point in fig. 6. As can be seen from fig. 6, the diameter 2R of the reconstruction field of view FOV is 2 × SOD × sin (θ), and θ is arctan (L/2/SID).
In some embodiments, the reconstruction field of view can be enlarged by translating the flat panel detector, but translating the flat panel detector cannot ensure that the central ray of the ray bundle is perpendicular to the central point of the flat panel detector, so that the grid cannot filter out the scattered rays. Therefore, a corresponding asymmetric grid design or a method of increasing the grid length to match the flat panel detector translation is needed to filter out the scattered radiation. In addition, for a C-arm type scanning device (e.g., a mobile C-arm machine), the method of translating the flat panel detector to enlarge the reconstruction field of view requires not only the addition of a sliding device of the flat panel detector, but also the addition of a counterweight device to ensure that the center of gravity of the scanning device is not changed. These all increase the manufacturing cost of the scanning device. In still other embodiments, the reconstructed field of view may be enlarged by a scanning method in which the scanning apparatus is rotated by 360 ° + fan angle, but the method has a long scanning time and increases the radiation dose to the target object. In still other embodiments of the present application, a medical image acquisition method is provided, in which a radiation source and a detector are deflected around a central point of the detector and then scanned in a 360 ° rotation manner, so that not only a large reconstruction field of view can be obtained, but also the cost of a scanning device can be reduced, the scanning time can be shortened, and the radiation dose to a target object can be reduced.
Fig. 1 is a schematic view of an application scenario of a medical image acquisition system according to some embodiments of the present application. In some embodiments, the medical image acquisition system may acquire scan data of a target object based on the acquisition methods disclosed herein.
As shown in fig. 1, the medical image acquisition system 100 may include a scanning apparatus 110, a network 120, a terminal 130, a processing device 140, and a storage device 150.
The scanning apparatus 110 may include a gantry, a source of radiation 112, a detector 113, a deflection mechanism (not shown), and a rotation mechanism (not shown). The frame may include a support portion 111 and a moving portion 114. The moving part 114 may be connected with the supporting part 111 to move the supporting part 111. Wherein the support 111 may support the source of radiation 112 and the detector 113. The support portion 111 may be a C-shaped arm as shown in fig. 1, or may be a U-shaped arm, a G-shaped arm, or the like. In some embodiments, the moving portion 114 may rotate the source 112 and the detector 113 together, for example, clockwise or counterclockwise around the center of interest of the target object. The source 112 and the detector 113 may be disposed opposite to each other, and a space between the source 112 and the detector 113 may include an accommodating space of the target object. The source 112 may emit a radiation beam to a target object, which may be positioned in a space between the source 112 and the detector 113 to receive a scan. The detector 113 may detect a radiation beam (e.g., X-ray) emitted from the radiation source 112, and upon receiving the radiation beam that has passed through the target object, the detector 113 may convert the radiation beam into visible light, convert the visible light into an electric signal by photoelectric conversion, convert the electric signal into digital information by an analog/digital converter, input into a computing device (e.g., a computer) for processing, or transmit the digital information to the storage device 150 for storage. In some embodiments, detector 113 may include one or more detector cells. The detector units may include scintillation detectors (e.g., cesium iodide detectors), other detectors, and the like. The deflection mechanism may be used to deflect the source 112 and the detector 113 as a whole about a center point of the detector 113. In some embodiments, the center point of the detector 113 may refer to a geometric center point of the detector 113. For example, when the detector 113 is a flat panel detector, the center point thereof may be referred to as a geometric center point of the flat panel detector. A rotation mechanism may be used to rotate the source 112 and detector 113 as a unit in any direction about the center of rotation of the scanning apparatus 110. In some embodiments, the Center of rotation may be the isocenter of the Region of Interest (Center of Interest) or the Center of Interest (Center of Interest). It will be appreciated that the centre of rotation may be located on or outside the line connecting the source of radiation 112 and the centre point of the detector 113. For further explanation of the scanning device 110, reference may be made to fig. 6 of the present application and its associated description.
The terminal 130 may include a mobile device 131, a tablet computer 132, a notebook computer 133, and the like, or any combination thereof. In some casesIn an embodiment, the terminal 130 may interact with other components in the medical image acquisition system 100 via a network. For example, the terminal 130 may send one or more control instructions to the scanning device 110 to control the scanning device 110 to scan according to the instructions. For another example, the terminal 130 may also receive processing results of the processing device 140, e.g., 2D images, such as fluoroscopic images, and/or 3D images, such as reconstructed or post-reconstructed images. In some embodiments, the mobile device 131 may include smart home devices, wearable devices, mobile devices, virtual reality devices, augmented reality devices, and the like, or any combination thereof. In some embodiments, the smart home devices may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart televisions, smart cameras, interphones, and the like, or any combination thereof. In some embodiments, the wearable device may include a bracelet, footwear, glasses, helmet, watch, clothing, backpack, smart accessory, and the like, or any combination thereof. In some embodiments, the mobile device may comprise a mobile phone, a Personal Digital Assistant (PDA), a gaming device, a navigation device, a POS device, a laptop, a tablet, a desktop, or the like, or any combination thereof. In some embodiments, the virtual reality device and/or augmented reality device may include a virtual reality helmet, virtual reality glasses, a virtual reality patch, an augmented reality helmet, augmented reality glasses, an augmented reality patch, and the like, or any combination thereof. For example, the virtual reality device and/or augmented reality device may include a Google GlassTM、Oculus RiftTM、HoloLensTMOr Gear VRTMAnd the like. In some embodiments, the terminal 130 may be part of the processing device 140.
In some embodiments, processing device 140 may process data and/or information obtained from scanning apparatus 110, terminal 130, and/or storage device 150. For example, the processing device 140 may perform a weighting process on the partial scan data (e.g., scan data of a repeatedly scanned region) to determine the data needed to reconstruct the image. For another example, the processing device 140 may perform data preprocessing, image reconstruction, post-reconstruction processing, etc. on the scan data. In some embodiments, the processing device 140 may also control the scanning action of the scanning apparatus 110. For example, the processing device 140 may control the source of radiation 112 and the detector 113 to deflect a particular angle around a center point of the detector 113. As another example, the processing device 140 may control the source of radiation 112 and the detector 113 to perform a rotational scan about a center of interest of the target object. In some embodiments, the processing device 140 may include a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, the processing device 140 may be local or remote. For example, processing device 140 may access information and/or data from scanning apparatus 110, terminal 130, and/or storage device 150 via network 120. As another example, the processing device 140 may be directly connected to the scanning apparatus 110, the terminal 130, and/or the storage device 150 to access information and/or data. In some embodiments, the processing device 140 may be implemented on a cloud platform. For example, the cloud platform may include one or a combination of private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, cross-cloud, multi-cloud, and the like.
In some embodiments, the storage device 150 may be connected to the network 120 to enable communication with one or more components (e.g., the processing device 140, the terminal 130, etc.) in the medical image acquisition system 100. One or more components in the medical image acquisition system 100 may read data or instructions in the storage device 150 through the network 120. In some embodiments, the storage device 150 may be part of the processing device 140, or may be separate and connected directly or indirectly to the processing device 140.
The network 120 may comprise any suitable network capable of facilitating the exchange of Information and/or data of the medical image acquisition system 100, and may also be part of or connected to a hospital network HIS (hospital Information system) or PACS (picture acquisition and communication systems) or other hospital networks, although independent therefrom. In some embodiments, one or more components of the medical image acquisition system 100 (e.g., the scanning apparatus 110, the terminal 130, the processing device 140, the storage device 150, etc.) may exchange information and/or data with one or more components of the medical image acquisition system 100 via the network 120. For example, processing device 140 may obtain planning data from a data processing planning system via network 120. Network 120 may include a public network (e.g., the Internet), a private network (e.g., a local area network)A Network (LAN), a Wide Area Network (WAN)), etc.), a wired network (e.g., ethernet), a wireless network (e.g., an 802.11 network, a wireless Wi-Fi network, etc.), a cellular network (e.g., a Long Term Evolution (LTE) network), a frame relay network, a Virtual Private Network (VPN), a satellite network, a telephone network, a router, a hub, a server computer, etc. For example, network 120 may include a wireline network, a fiber optic network, a telecommunications network, a local area network, a Wireless Local Area Network (WLAN), a Metropolitan Area Network (MAN), a Public Switched Telephone Network (PSTN), Bluetooth, or a Bluetooth networkTMNetwork, ZigBeeTMNetwork, Near Field Communication (NFC) network, and the like. In some embodiments, network 120 may include one or more network access points. For example, the network 120 may include wired and/or wireless network access points, such as base stations and/or internet exchange points, through which one or more components of the medical image acquisition system 100 may connect to the network 120 to exchange data and/or information.
Fig. 2 is an exemplary flow chart of a medical image acquisition method according to some embodiments of the present application. In some embodiments, flow 200 may be performed by processing logic that may comprise hardware (e.g., circuitry, dedicated logic, programmable logic, microcode, etc.), software (instructions run on a processing device to perform hardware simulation), etc., or any combination thereof. One or more of the operations in the flow 200 for acquiring a medical image illustrated in fig. 2 may be implemented by the processing device 140 illustrated in fig. 1. For example, the process 200 may be stored in the storage device 150 in the form of instructions and executed and/or invoked by the processing device 140.
As shown in fig. 2, the medical image acquisition method may include the following operations.
The medical image acquisition method can be realized through a CBCT system. In some embodiments, the CBCT system may include, but is not limited to, a mobile C-arm machine or DSA. Also, in some examples, as shown, the DSA may be a robotic DSA, i.e., the source and detector described above are supported by a C-arm, which in turn is manipulated by a robot. The CBCT may include a source of radiation and a detector. The radiation source may emit a beam of radiation (e.g., X-rays) that passes through the target object and is attenuated. The detector may be disposed opposite to the radiation source, and may receive a radiation beam (e.g., X-ray) passing through a target object, convert the radiation beam into visible light, convert the visible light into an electrical signal by a photoelectric converter, and convert the electrical signal into digital information by an analog/digital converter. In some embodiments, the detector may include, but is not limited to, a flat panel detector. For convenience of description, the application takes DSA as an example to illustrate a medical image acquisition method and a system thereof.
In some embodiments, the center point of the detector may refer to the geometric center point of the detector. For example, when the detector is a flat panel detector, the center point thereof may refer to the geometric center point of the flat panel detector. In scanning, the processing device 140 may first deflect the source and detector around the center point of the detector. As shown in FIG. 3, D is the geometric center of the detector, G is the position of the source before deflection, EF is the position of the detector before deflection, C is the position of the source after deflection, and AB is the position of the detector after deflection. The deflection direction may include clockwise deflection or counterclockwise deflection. The deflection angle may be such that the scanning field of view of a single frame of the deflected scanning device (e.g., the area bounded by triangle ABC) contains the center of interest of the target object, such that the scanning field of view of the single frame can cover more than half of the second reconstructed field of view (e.g., the area bounded by the large circle). In this embodiment, the center of rotation may be aligned with the therapeutic or imaging isocenter (e.g., the center of the region to be imaged) of the DSA, which is located outside the line CD connecting the source to the detector center point. For further explanation of the scan field and the second reconstructed field of view of the single frame, reference may be made to step 220 of the present application and the related description of fig. 3, which are not repeated herein.
In some embodiments, the target object may include a patient, other medical subjects (e.g., animals such as laboratory mice), organs and/or tissues of the patient, phantom, or other medical subjects, etc., e.g., arms, etc. The definition of the center of rotation can be found in relation to the description in step 210. The processing device 140 may rotate the deflected source and detector about a center of interest of the target object to scan the target object. In some embodiments, the direction of rotation may be any direction centered on the center of interest of the target object. E.g., clockwise, counterclockwise, etc. The rotation angle may include 10 °, 15 °, 90 °, 180 °, 360 °, or the like.
In some embodiments, reconstructing the field of view may refer to the circular area of maximum coverage of the radiation beam centered about the center of interest of the target object over a particular range of angles of rotation of the scanning device. The circle C1 in fig. 3 may be referred to as the first reconstruction field of view, which may be understood as the reconstruction field of view that the scanning apparatus has rotated 360 deg. before the source and detector are deflected. The second reconstructed field of view may include a reconstructed field of view that the scanning device has rotated 360 after the source and detector are deflected, such as the largest circular region circle C2 in fig. 3. As can be seen from fig. 3, the second reconstruction view circle C2 is larger than the first reconstruction view circle C1. For further explanation of the first reconstructed view and the second reconstructed view, reference may be made to fig. 3 of the present application and its related description, which are not described herein again.
After the end of the rotational scan of the scanning apparatus, the processing device 140 may acquire scan data of the target object from the detector 113 and/or the storage device 150.
In some embodiments, reconstructing may include acquiring a reconstructed image of the target object based on the scan data of the target object using, for example, an iterative reconstruction algorithm. Exemplary iterative reconstruction algorithms may include a Synchronous Algebraic Reconstruction Technique (SART), a Synchronous Iterative Reconstruction Technique (SIRT), an ordered subset convex technique (OSC), an ordered subset maximum likelihood (ml-ml), an Ordered Subset Expectation Maximization (OSEM) method, an adaptive statistical iterative reconstruction technique (ASIR) method, a least squares QR method, an Expectation Maximization (EM) method, an ordered subset-separable parabolic substitution technique (OS-SPS), an Algebraic Reconstruction Technique (ART), a Kacsmarz reconstruction technique, or any other iterative reconstruction technique or method that meets the requirements of a particular application. In some embodiments, the reconstructing may further include acquiring a reconstructed image of the target object based on the scan data of the target object using direct backprojection. In some embodiments, reconstructing may further include using an analytical method to acquire a reconstructed image of the target object based on the scan data of the target object. Exemplary analytical methods may include fourier transform reconstruction methods and filtered backprojection methods.
After the radiation source and the detector are deflected, a partial region of the target object can be scanned all the time during the 360-degree rotation around the interested center of the target object, that is, the scanning data of the partial region of the target object is repeated and is scanned twice or more. Here, the repeated scanning is understood to mean that, during the course of 360 ° rotation of the source and the detector around the center of interest of the target object, a part of the region is not scanned after the source and the detector rotate more than 180 ° around the center of interest of the target object, and a part of the region can be scanned all the time during the 360 ° rotation of the source and the detector around the center of interest of the target object, and this part of the region which can be scanned all the time is referred to as a repeatedly scanned region. The image reconstruction using the scan data of the repeatedly scanned region may generate obvious artifacts, and therefore, before the reconstruction, the scan data of the repeatedly scanned region needs to be processed to obtain the scan data after the "deduplication" for reconstructing a reconstructed image with better image quality. In some embodiments, the processing of the scan data may include weighting the scan data based on a preset weight curve. The weighting process may refer to multiplying the scan data of the repeatedly scanned area by different weight coefficients to eliminate the influence of the scan data of the repeatedly scanned area on the reconstructed image. For the preset weight curve and the obtaining thereof, refer to fig. 4 and the related description thereof, which are not repeated herein.
It should be noted that the above description related to the flow 200 is only for illustration and explanation, and does not limit the applicable scope of the present application. Various modifications and changes to flow 200 will be apparent to those skilled in the art in light of this disclosure. However, such modifications and variations are intended to be within the scope of the present application.
Fig. 3 is a schematic illustration of a first reconstructed field of view and a second reconstructed field of view obtained according to a medical image acquisition method as shown in some embodiments of the present application.
As shown in fig. 3, the triangular EFG represents a schematic diagram of the position relationship between the source and the detector before deflection. Triangle ABC shows the schematic diagram of the position relationship between the radiation source and the detector after deflection. The interested centers of the target object before and after the deflection of the ray source and the detector are all O points, and the O points are positioned on the connecting line of the geometric central point of the detector before the deflection and the focal point of the ray source. In the triangular EFG, EF represents the position of the flat panel detector before deflection, D represents the central point of the flat panel detector, and G represents the focal point of the radiation source before deflection. Circle C1 represents the reconstructed field of view (first reconstructed field of view) before the source and detector are deflected. After the source and the detector (triangle EFG in fig. 3) are deflected by a specific angle around the central point D of the detector, a schematic diagram of the positional relationship after deflection (triangle ABC) is obtained.
In triangle ABC, AB represents the position of the flat panel detector after deflection, point D remains unchanged and still represents the center point of the flat panel detector, and point C represents the focal point of the radiation source after deflection. Circle C2 represents the reconstructed field of view (second reconstructed field of view) after the source and detector have been deflected. As can be seen from fig. 3, the reconstructed field of view after the source and the detector are deflected (second reconstructed field of view) is larger than the reconstructed field of view before the source and the detector are deflected (first reconstructed field of view). And to obtain a second reconstructed field of view as shown in figure 3 without deflecting the source and detector, a detector corresponding to the dimension AH in figure 3 is required. Therefore, by adopting the scheme, a larger reconstruction visual field can be obtained on the premise of not increasing the size of the detector.
In some embodiments, a single frame of the scan field of view may refer to a scan field of view corresponding to a particular angle of rotation of the source and detector as they rotate about the center of interest of the target object. As shown in fig. 3, the area enclosed by triangle ABC can be used as the scan field of view of a single frame. In some embodiments, the deflection angle is sized to ensure that the boundary rays AC, BC do not cross the center of interest O point of the target object (as shown, when C is deflected to the right about D, AC cannot cross O point, and similarly, when C is deflected to the left about D, BC cannot cross O point), as can be seen in fig. 3, the scan field of view of a single frame after deflecting the source and detector under such conditions can cover more than half of the second reconstructed field of view to ensure adequate scan data.
FIG. 4 is a schematic diagram of a preset weight curve according to some embodiments of the present application.
For a description of the repeatedly scanned area, reference may be made to the description of step 230 of the present application. It will be appreciated that the area which is repeatedly scanned may be the area shown by circle C3 shown in figure 3. The preset weight curve is associated with the position of the repeatedly scanned area corresponding to the detector. In some embodiments, the location on the detector at which the repeatedly scanned region corresponds to the detector may include a location on the detector at which scan data for the repeatedly scanned region is acquired. For example, the position of the repeatedly scanned region corresponding to the detector may be the detector BN portion shown in fig. 3. In particular, as shown in fig. 3, starting from the deflected source C, two tangents, CB and CN respectively, can be determined that are tangent to the area repeatedly scanned (circle C3). The tangent lines CB and CN pass through the deflected first point (point B) and second point (point N) of the detector AB, respectively. The position between the first point (point B) and the second point (point N) on the detector may correspond to the position of the detector as an area (circle C3) that is repeatedly scanned.
When determining the preset weight curve, as shown in fig. 3, a straight line CO passing through the center of interest O point of the target object is determined from the deflected ray source C, and the straight line CO passes through the third point (M point) of the deflected detector AB. As can be seen from fig. 3, the first point (point B) may be located at an edge of the deflected detector AB, the second point (point N) may be located at a non-edge region of the deflected detector AB, and the third point (point M) may be located between the first point (point B) and the second point (point N).
The preset weight curve may be determined by: the scan data corresponding to the first point (e.g., point B) is set to a weight, the scan data corresponding to the second point (e.g., point N) is set to B weight, and the scan data corresponding to the third point (e.g., point M) is set to c weight. Wherein a is more than or equal to 0 and more than c and b is more than or equal to 1. Then, the first point (e.g., point B), the third point (e.g., point M), and the second point (e.g., point N) are connected in this order by a smooth curve, and the resulting curve may be used as a preset weight curve. In some embodiments, the smooth curve passing through the first point (e.g., point B), the third point (e.g., point M), and the second point (e.g., point N) may be a distribution of curves. For example, a smooth curve passing through a first point (e.g., point B), a third point (e.g., point M), and a second point (e.g., point N) may include a sine curve, a cosine curve, a tangent curve, a logarithmic curve, or the like. In some embodiments, a smooth curve passing through a first point (e.g., point B) and a third point (e.g., point M) may be one type of curve distribution, and a smooth curve passing through a third point (e.g., point M) and a second point (e.g., point N) may be another type of curve distribution. For example, a smooth curve passing through a first point (e.g., point B) and a third point (e.g., point M) may be a sinusoidal curve, and a smooth curve passing through a third point (e.g., point M) and a second point (e.g., point N) may be a logarithmic curve. For another example, a smooth curve passing through the first point (e.g., point B) and the third point (e.g., point M) may be a logarithmic curve, and a smooth curve passing through the third point (e.g., point M) and the second point (e.g., point N) may be a tangential curve. The present application does not set any limit to the type of the smooth curve.
As shown in fig. 4, the abscissa represents the detector position at which scan data of a repeatedly scanned area is acquired, and the ordinate represents the weight value. In fig. 4, a smooth curve l connecting the weight value (a) corresponding to the first point (B point) to the weight value (c) corresponding to the third point (e.g., M point), and then to the weight value (B) corresponding to the second point (N point) may be used as a preset weight curve. Other points on the preset weight curve may respectively correspond to weight values of other partial regions of the repeatedly scanned region. Specifically, for each frame of scan data of the repeatedly scanned area, the detector position corresponding to the scan data for acquiring the repeatedly scanned area can be known. According to the detector position and the preset weight curve, the weight value corresponding to the detector position corresponding to the scanning data of the repeatedly scanned area can be known. The scanning data of the repeatedly scanned area is multiplied by the weight value to obtain the scanning data after the repeated scanning so as to reconstruct a reconstructed image with better image quality.
It should be noted that the preset weight curve and the determination method thereof in fig. 4 are only for illustration and explanation, and do not limit the application scope of the present application. Various modifications and changes to the preset weight curve and its determination method will be apparent to those skilled in the art in light of the present disclosure. However, such modifications and variations are intended to be within the scope of the present application.
FIG. 5 is a block diagram of a medical image acquisition system according to some embodiments of the present application.
As shown in fig. 5, the medical image acquisition system 500 may include a deflection module 510 and a rotation module 520. In some embodiments, the deflection module 510 may be used to deflect the source and detector about a center of interest of the target object. In some embodiments, the rotation module 520 may be configured to rotate the deflected source and detector about a center of interest of the target object to scan the target object to acquire scan data of the target object. In some embodiments, the medical image acquisition system 500 may further include a reconstruction module 530. The reconstruction module 530 may be configured to reconstruct scan data of the target object, resulting in a reconstructed image of the target object. If the source and detector have a first reconstructed field of view before deflection and a second reconstructed field of view after deflection, the second reconstructed field of view is larger than the first reconstructed field of view. For a detailed description of the deflection module 510, the rotation module 520, and the reconstruction module 530, reference may be made to fig. 2 and its related description, which are not described herein again.
It will be appreciated by those skilled in the art that, given the teachings of the present system, any combination of modules or sub-system configurations may be used to connect to other modules without departing from such teachings. For example, the deflection module 510 and the rotation module 520 disclosed in fig. 5 may be implemented by one module to realize the functions of the two modules. For example, each module may share one memory module, and each module may have its own memory module. Such variations are within the scope of the present application.
The present application further provides a cone beam computed tomography scanner, as shown in fig. 1, the cone beam computed tomography scanner 110 can include a robotic arm 114, a radiation source 112, and a detector 113. In the embodiment of the application, the mechanical arm and the moving part can be used interchangeably. The cone beam computed tomography scanner 110 may also include a support 111. The robot arm 114 may be connected to the support 111 to move the support 111. The support 111 may be used to support the source of radiation 112 and the detector 113. The space between the source of radiation 112 and the detector 113 may comprise an accommodation space for the target object. The source 112 may be used to emit X-rays that pass through the target object and are attenuated. The detector 113 may be disposed opposite to the radiation source 112, and the detector 113 may receive the X-rays passing through the target object, convert the X-rays into visible light, convert the visible light into an electric signal by a photoelectric converter, and convert the electric signal into digital information by an analog/digital converter.
The robotic arm 114 of the cone beam computed tomography scanner 110 may be configured in a deflection mode and a rotation mode. In some embodiments, the robotic arm 114 may also be configured in a translation mode, such as a side-to-side translation mode. In some embodiments, the robotic arm 114 may also be configured in a lift mode, such as an up-down lift mode. In some embodiments, the robotic arm 114 may also be configured to translate in an elevation mode, such as a right-hand translation followed by a down mode.
In the deflection mode, the robotic arm 114 may drive the radiation source 112 and the detector 113 to deflect around a center point of the detector 113. In some embodiments, the center point of the detector 113 may refer to a geometric center point of the detector 113. For example, when the detector 113 is a flat panel detector, the center point thereof may be referred to as a geometric center point of the flat panel detector.
In the rotation mode, the mechanical arm 114 may drive the deflected radiation source 112 and the detector 113 to rotate around the interested center of the target object, so as to scan the target object and acquire the scan data of the target object. In some embodiments, the direction of rotation may be any direction centered on the center of interest of the target object. E.g., clockwise, counterclockwise, etc. The rotation angle may include 10 °, 15 °, 90 °, 180 °, 360 °, or the like.
It is assumed that the source and detector have a first reconstructed field of view before deflection and a second reconstructed field of view after deflection. The second reconstructed view is larger than the first reconstructed view. For a detailed description of the first reconstructed view and the second reconstructed view, refer to fig. 2 and fig. 3 and their related descriptions, which are not repeated herein.
In some embodiments, the cone beam computed tomography scanner may comprise a digital subtraction angiography scanner DSA or a mobile C-arm machine. In some embodiments, the robotic arm 114 may be replaced with a robot. The robot may be a library card robot or a multi-degree-of-freedom robot, and may include an execution unit, a drive unit, a control unit, and the like. In some embodiments, the control portion may control the driving portion based on an instruction (e.g., a control instruction from a processing device) to drive the executing portion to execute the above-described yaw mode and rotation mode. For example, the control section may include a controller, a microcontroller unit (MCU), a Reduced Instruction Set Computer (RISC), and the like. In some embodiments, the driving portion may be configured to drive the actuator to perform the yaw mode and the rotation mode. For example, the driving part may include a motor or the like. In some embodiments, the actuator may perform the yaw mode and the rotation mode described above. For example, the actuator may include a deflection rotation mechanism, one end of which may be connected to the support 111 and the other end of which may be connected to the driving part. As an example, in the deflection mode, the control portion may control the driving portion, the driving portion may drive the executing portion, and the executing portion may deflect the radiation source 112 and the detector 113 around a center point of the detector 113. In the rotation mode, the control unit may control the driving unit, and the driving unit may drive the executing unit, and the executing unit may rotate the deflected source 112 and detector 113 around the center of interest of the target object to scan the target object, so as to acquire scan data of the target object.
The present application also provides a cone beam computed tomography apparatus, as shown in fig. 1, the scanning apparatus 110 may include a cone beam computed tomography apparatus CBCT. The cone beam computed tomography apparatus may include a gantry, a source of radiation 112, and a detector 113. The frame may include a support portion 111. The support 111 may be used to support the source of radiation 112 and the detector 113. The space between the source of radiation 112 and the detector 113 may comprise an accommodation space for the target object. The source 112 may be used to emit X-rays that pass through the target object and are attenuated. The detector 113 may be disposed opposite to the radiation source 112, and the detector 113 may receive the X-rays passing through the target object, convert the X-rays into visible light, convert the visible light into an electric signal by a photoelectric converter, and convert the electric signal into digital information by an analog/digital converter.
The cone beam computed tomography apparatus CBCT may further comprise a deflection mechanism (not shown in the figures) which may be used to deflect the source 112 and the detector 113 around a center point of the detector 113. In some embodiments, the center point of the detector 113 may refer to a geometric center point of the detector 113. For example, when the detector 113 is a flat panel detector, the center point thereof may be referred to as a geometric center point of the flat panel detector. In some embodiments, the deflection mechanism may include a first motive device and a deflection shaft. One end of the deflection axis may be connected to the first power means and the other end may be connected to the radiation source 112 and the detector 113 (or the support 111). The first power means may be used to provide a power for deflection of the deflection axis to deflect the radiation source 112 and the detector 113 around a center point of the detector 113. In some embodiments, the first power means may comprise an electric motor or the like. The present application does not impose any limitations on the deflection mechanism, and any electromechanical structure that can drive the source and detector as a whole to deflect around the detector center point can be used to achieve the technical objectives of the present application.
In some embodiments, the cone beam computed tomography apparatus CBCT may further include a first control mechanism. The first control mechanism may control the angle of deflection of the source of radiation 112 and the detector 113 based on a scanning protocol. In some embodiments, the scan field of view of the single frame after deflection of the source 112 and detector 113 can cover at least half of the second reconstructed field of view. For a detailed description of the scan field and the second reconstructed field of view of a single frame, reference may be made to fig. 2 and 3 and their associated description.
The cone beam computed tomography apparatus CBCT may further comprise a rotation mechanism (not shown in the figure). A rotation mechanism may be used to rotate the deflected source 112 and detector 113 about the center of interest of the target object. In some embodiments, the rotary mechanism may include a second motive device and a rotary shaft. One end of the rotation shaft may be connected to the second power unit and the other end may be connected to the frame (e.g., the support portion 111). The second power device may be used to provide a rotational power to the rotating shaft to rotate the radiation source 112 and the detector 113 around the center of interest of the target object. In some embodiments, the second power means may comprise an electric motor or the like. The present application does not impose any limitation on the rotation mechanism, and any electromechanical structure capable of driving the deflected radiation source and the detector as a whole to rotate around the center of interest of the target object can be used to achieve the technical object of the present application. It is assumed that the source and detector have a first reconstructed field of view before deflection and a second reconstructed field of view after deflection. The second reconstructed view is larger than the first reconstructed view. For a detailed description of the first reconstructed view and the second reconstructed view, refer to fig. 2 and fig. 3 and their related descriptions, which are not repeated herein.
In some embodiments, the cone beam computed tomography apparatus CBCT may further include a second control mechanism. The second control mechanism may be configured to control the radiation source 112 and the detector 113 to rotate around the center of interest of the target object to scan the target object, and to acquire scan data of the target object.
In some embodiments, the deflection mechanism and the rotation mechanism of the cone beam computed tomography device CBCT may be implemented by one mechanism (e.g., a deflection rotation mechanism) to perform the functions of the deflection mechanism and the rotation mechanism described above. The present application is not limited thereto, and any mechanism that can deflect the radiation source and the detector around the center point of the detector and rotate the deflected radiation source and detector around the center of interest of the target object to scan the target object can be used to achieve the technical objects of the present application.
The medical image acquisition method and system provided by the embodiment of the application have the following possible beneficial effects including but not limited to: (1) under the condition that the size of the detector is fixed, a larger reconstruction visual field can be obtained; (2) based on the obtained reconstructed view field, the scanning data of the repeatedly scanned area can be weighted), the scanning data after the repeated scanning is obtained, and an image with artifact removal and better quality can be reconstructed.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (13)
1. A medical image acquisition method, characterized in that it is implemented by a cone beam computed tomography apparatus comprising a radiation source and a detector; the method comprises the following steps:
deflecting the source and the detector about a central point of the detector;
rotating the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object;
wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
2. The method of claim 1, wherein a scan field of view of the single frame after the deflection of the source and the detector covers at least half of the second reconstructed field of view.
3. The method of claim 1, wherein the second reconstructed field of view includes a region that is repeatedly scanned; the method further includes reconstructing scan data of the target object to obtain a reconstructed image of the target object, which further includes:
weighting the scanning data of the repeatedly scanned region based on a preset weight curve aiming at the repeatedly scanned region so as to reconstruct an image of the repeatedly scanned region.
4. A method according to claim 3, characterized in that the preset weight curve is related to the position of the repeatedly scanned area corresponding to the detector, which is determined by:
starting from the ray source, determining two tangent lines tangent to the repeatedly scanned area, wherein the two tangent lines respectively pass through a first point and a second point of the detector; determining, from the source, a straight line through the center of interest, which passes through a third point of the detector; wherein the first point is located at the edge of the detector, the second point is located at a non-edge region of the detector, and the third point is located between the first point and the second point;
setting a weight of the scan data corresponding to the first point to a;
setting the weight of the scanning data corresponding to the second point as b;
setting a weight of scan data corresponding to the third point to c;
wherein a is more than or equal to 0 and less than c and b is less than or equal to 1; and
determining a weight curve from the first point to the second point of the detector as the preset weight curve according to the set weight.
5. The method of claim 1, wherein the detector is a flat panel detector.
6. The method of claim 1, wherein the cone beam computed tomography device is a digital subtraction angiography scanner or a mobile C-arm machine.
7. A medical image acquisition system for controlling a cone beam computed tomography apparatus, the cone beam computed tomography apparatus comprising a source of radiation and a detector; the system comprises:
a deflection module for deflecting the source and the detector about a central point of the detector;
a rotation module, configured to rotate the deflected radiation source and the deflected detector around a center of interest of a target object, so as to scan the target object, and acquire scan data of the target object;
wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
8. A medical image acquisition apparatus, characterized in that the apparatus comprises at least one processor and at least one memory device for storing instructions which, when executed by the at least one processor, implement the medical image acquisition method as claimed in any one of claims 1 to 6.
9. A cone beam computed tomography scanner comprising a mechanical arm, a radiation source and a detector;
the robotic arm is configured in a yaw mode and a rotational mode;
wherein, in the deflection mode, the mechanical arm drives the ray source and the detector to deflect around the central point of the detector;
in the rotating mode, the mechanical arm drives to rotate the deflected ray source and the deflected detector around the interested center of the target object so as to scan the target object and acquire the scanning data of the target object;
wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
10. The cone beam computed tomography scanner of claim 9 wherein said cone beam computed tomography scanner is a digital subtraction angiography scanner or a mobile C-arm machine.
11. The cone beam computed tomography scanner of claim 9 wherein said robotic arm is a couka robot.
12. The cone beam computed tomography scanner of claim 9 wherein said robotic arm is a multi-degree of freedom robot.
13. A cone beam computed tomography apparatus comprising:
a radiation source and a detector;
a deflection mechanism for deflecting the source and the detector about a central point of the detector;
a rotating mechanism, configured to rotate the deflected radiation source and the deflected detector around a center of interest of a target object, so as to scan the target object, and acquire scan data of the target object;
wherein the source and the detector have a first reconstruction field of view before the deflection and a second reconstruction field of view after the deflection, and the second reconstruction field of view is larger than the first reconstruction field of view.
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| CN202010387567.4A CN111528890B (en) | 2020-05-09 | 2020-05-09 | Medical image acquisition method and system |
| EP21802999.9A EP4134007A4 (en) | 2020-05-09 | 2021-05-10 | Scanning apparatus, and method and system |
| PCT/CN2021/092898 WO2021228056A1 (en) | 2020-05-09 | 2021-05-10 | Scanning apparatus, and method and system |
| US18/054,123 US20230092496A1 (en) | 2020-05-09 | 2022-11-09 | Scanning apparatus, method, and system |
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