CN111991015B

CN111991015B - Three-dimensional image stitching method, device, equipment, system and storage medium

Info

Publication number: CN111991015B
Application number: CN202010813300.7A
Authority: CN
Inventors: 牛杰; 张宇
Original assignee: Shanghai United Imaging Healthcare Co Ltd
Current assignee: Shanghai United Imaging Healthcare Co Ltd
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2024-04-26
Anticipated expiration: 2040-08-13
Also published as: CN111991015A

Abstract

The application relates to a three-dimensional image stitching method, a device, equipment, a system and a storage medium. The X-ray medical imaging system comprises a detector and an array X-ray source, wherein the array X-ray source comprises a plurality of X-ray sources with different projection angles, and each imaging area corresponding to each X-ray source is formed on the detector; the method comprises the following steps: acquiring projection data of each region of a part to be detected; the projection data are generated by exposing each region by an X-ray source which is positioned at least two different projection angles relative to each region in the array X-ray source; respectively carrying out three-dimensional image reconstruction on the projection data of each region to obtain each reconstructed image block; and splicing the reconstructed image blocks according to the relative position relation among the reconstructed image blocks to obtain a three-dimensional reconstructed image of the part to be detected. The method can improve the quality of the three-dimensional reconstruction image.

Description

Three-dimensional image stitching method, device, equipment, system and storage medium

Technical Field

The present application relates to the field of image processing technologies, and in particular, to a method, an apparatus, a device, a system, and a storage medium for stitching three-dimensional images.

Background

With the continuous development of the X-ray technology, at present, when a patient is subjected to breast examination, most of X-ray data of the patient are acquired through an X-ray machine, then the acquired data are subjected to image reconstruction to obtain a medical image of a breast area of the patient, and the medical image is further analyzed, so that an image analysis result of the patient can be obtained.

In general, in a conventional mammary gland X-ray medical image product, a single light source for rotating motion of a hot cathode is generally adopted, and in order to enable multi-view X-ray scanning, the X-ray light source is fixed on a rotating frame to do arc motion for performing X-ray scanning. Due to the motion artifact caused by mechanical motion and time delay generated by a thermionic emission mechanism, the spatial resolution of a scanned image is reduced, the scanning time is prolonged, and the motion artifact is easy to generate in the shooting process, so that the quality of a three-dimensional tomographic image is influenced.

Therefore, how to improve the spatial resolution of the three-dimensional image and further improve the quality of the three-dimensional tomographic image has become a technical problem to be solved.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a three-dimensional image stitching method, apparatus, device, system, and storage medium that can improve the quality of three-dimensional reconstructed images.

The three-dimensional image stitching method is applied to an X-ray medical imaging system, the X-ray medical imaging system comprises a detector and an array X-ray source, the array X-ray source comprises a plurality of X-ray sources with different projection angles, and each imaging area corresponding to each X-ray source is formed on the detector; the method comprises the following steps:

acquiring projection data of a part to be detected on each imaging area; the projection data are generated by exposing a part to be detected by a plurality of X-ray sources in an array X-ray source;

Respectively carrying out three-dimensional image reconstruction on projection data of each imaging area to obtain a plurality of reconstructed image blocks;

and splicing the reconstructed image blocks according to the relative position relation among the reconstructed image blocks to obtain a three-dimensional reconstructed image of the part to be detected.

In one embodiment, the array X-ray source includes a linear array source and an area array source, and the reconstructing three-dimensional image of the projection data of each imaging region to obtain a plurality of reconstructed image blocks includes:

acquiring a plurality of first imaging areas corresponding to the linear array ray sources and a plurality of second imaging areas corresponding to the area array ray sources;

Obtaining overlapping parts corresponding to the plurality of first imaging areas according to the plurality of first imaging areas, and obtaining overlapping parts corresponding to the plurality of second imaging areas according to the plurality of second imaging areas;

Obtaining a plurality of overlapped areas according to the overlapped parts corresponding to the plurality of first imaging areas and the overlapped parts corresponding to the plurality of second imaging areas;

and respectively carrying out three-dimensional image reconstruction on the projection data of each overlapping area to obtain a plurality of reconstructed image blocks.

In one embodiment, the obtaining the overlapping portions corresponding to the plurality of first imaging areas according to the plurality of first imaging areas, and obtaining the overlapping portions corresponding to the plurality of second imaging areas according to the plurality of second imaging areas includes:

Performing intersection operation processing on the plurality of first imaging areas to obtain overlapping parts corresponding to the plurality of first imaging areas;

And performing intersection arithmetic processing on the plurality of second imaging areas to obtain overlapping parts corresponding to the plurality of second imaging areas.

In one embodiment, the performing an intersection operation on the plurality of first imaging areas to obtain overlapping portions corresponding to the plurality of first imaging areas includes:

Performing intersection arithmetic processing on two adjacent first imaging areas in the plurality of first imaging areas to obtain a plurality of first boundary points corresponding to each two adjacent first imaging areas, and obtaining overlapping parts corresponding to each two adjacent first imaging areas according to the plurality of first boundary points;

The above-mentioned performing intersection arithmetic processing on the plurality of second imaging regions to obtain overlapping portions corresponding to the plurality of second imaging regions includes:

And performing intersection arithmetic processing on two adjacent second imaging areas in the plurality of second imaging areas to obtain a plurality of second boundary points corresponding to each two adjacent second imaging areas, and obtaining overlapping parts corresponding to each two adjacent second imaging areas according to the plurality of second boundary points.

In one embodiment, the obtaining the overlapping portion corresponding to each two adjacent first imaging areas according to the plurality of first boundary points includes:

Determining a part surrounded by a plurality of first boundary points corresponding to each two adjacent first imaging areas as an overlapping part corresponding to each two adjacent first imaging areas;

obtaining overlapping portions corresponding to each two adjacent second imaging areas according to the plurality of second boundary points, wherein the overlapping portions comprise:

And determining a part surrounded by a plurality of second boundary points corresponding to each two adjacent second imaging areas as an overlapping part corresponding to each two adjacent second imaging areas.

Fitting a plurality of first boundary points corresponding to each two adjacent first imaging areas to obtain overlapping parts corresponding to each two adjacent first imaging areas;

fitting a plurality of second boundary points corresponding to each two adjacent second imaging areas to obtain overlapping parts corresponding to each two adjacent second imaging areas.

In one embodiment, each of the reconstructed image blocks comprises a plurality of sub-image slices; the above-mentioned each rebuilding image block is spliced according to the relative position relation among each rebuilding image block to obtain the three-dimensional rebuilding image of the part to be detected, including:

acquiring slice information of each sub-image slice in each reconstructed image block;

Splicing all the sub-image slices of each reconstructed image block according to the relative position relation among the reconstructed image blocks and the slice information of each sub-image slice to obtain a plurality of image slices;

the plurality of image slices is determined as a three-dimensional reconstructed image of the region to be detected.

In one embodiment, the slice information of the sub-image slice includes a layer number of the sub-image slice; the above-mentioned each sub-image slice according to the relative positional relationship between each reconstructed image block and slice information of each sub-image slice, splice each sub-image slice of each reconstructed image block, get a plurality of image slices, include:

Determining each sub-image slice in the same layer according to the layer number of each sub-image slice in each reconstructed image block;

Determining the splicing sequence of sub-image slices in the same layer according to the relative position relation among the reconstructed image blocks; the splicing sequence comprises a front-back splicing sequence, a left-right splicing sequence or an up-down splicing sequence;

And splicing all the sub-image slices in the same layer according to the splicing sequence among all the sub-image slices in the same layer to obtain a plurality of image slices.

The three-dimensional image stitching device is applied to an X-ray medical imaging system, the X-ray medical imaging system comprises a detector and an array X-ray source, the array X-ray source comprises a plurality of X-ray sources with different projection angles, and each imaging area corresponding to each X-ray source is formed on the detector; the device comprises:

the acquisition module is used for acquiring projection data of the part to be detected on each imaging area; the projection data are generated by exposing a part to be detected by a plurality of X-ray sources in an array X-ray source;

the reconstruction module is used for respectively carrying out three-dimensional image reconstruction on the projection data of each imaging area to obtain a plurality of reconstructed image blocks;

and the splicing module is used for splicing the reconstructed image blocks according to the relative position relation among the reconstructed image blocks to obtain a three-dimensional reconstructed image of the part to be detected.

A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:

An X-ray medical imaging system comprising an array X-ray source, a compression paddle, a detector, and a computer device as described above.

In one embodiment, the array of X-ray sources includes a plurality of X-ray sources, each of which is a field emission X-ray source.

In one embodiment, the array X-ray source includes a linear array source and an area array source; the linear array ray source is arranged on the side of the breast wall of the part to be detected, and the area array ray source is arranged on the side of the breast wall far away from the part to be detected; the arrangement position of the linear array radiation source is provided with an inclined angle relative to the arrangement position of the surface array radiation source.

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to the three-dimensional image stitching method, device, equipment, system and storage medium, the projection data of the part to be detected in each imaging area can be obtained, three-dimensional image reconstruction is respectively carried out on the projection data of each imaging area to obtain each reconstructed image block, and the reconstructed image blocks are stitched according to the relative position relation among the reconstructed image blocks to obtain the three-dimensional reconstructed image of the part to be detected. The method is applied to an X-ray medical imaging system, the X-ray medical imaging system comprises a detector and an array X-ray source, the array X-ray source comprises a plurality of X-ray sources with different projection angles, each imaging area corresponding to each X-ray source is formed on the detector, and the projection data are generated by exposing a part to be detected correspondingly by the plurality of X-ray sources. In the method, the array X-ray source is adopted to collect data of the part, so that the part does not need to be rotationally scanned, on one hand, the scanning time can be shortened, and the radiation time to a patient can be reduced; on the other hand, motion artifacts caused by the motion of the light source can be avoided, and the quality of the generated image is improved; further, with this method, more projection data is acquired in the same time, so that the spatial resolution of the image can be improved.

Drawings

FIG. 1 is an application environment diagram of a three-dimensional image stitching method in one embodiment;

FIG. 2 is a flow chart of a three-dimensional image stitching method in one embodiment;

FIG. 3 is an exemplary view of an exposure camera for a region using an array of X-ray sources in one embodiment;

FIG. 4 is an exemplary diagram of an imaging region of each of the X-ray sources in the array of X-ray sources in one embodiment;

FIG. 5 is a flow chart of a three-dimensional image stitching method according to another embodiment;

FIG. 6 is an exemplary diagram of acquiring overlapping portions of two adjacent imaging regions in another embodiment;

FIG. 7 is a flow chart of a three-dimensional image stitching method according to another embodiment;

FIG. 8 is a block diagram of a three-dimensional image stitching device in one embodiment;

fig. 9 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The three-dimensional image stitching method provided by the embodiment of the application can be applied to the X-ray medical imaging system 10 shown in fig. 1, wherein the X-ray medical imaging system 10 comprises an array X-ray source 101, a compression plate 102, a detector 103 and a computer device 104.

Wherein an array of X-ray sources 101 is used for emitting X-rays. The array X-ray source comprises a plurality of X-ray sources, each X-ray source is a field emission X-ray source and can emit X-rays. Optionally, the array of X-ray sources comprises one or more of a linear array of ray sources and an area array of ray sources. That is, the array X-ray source may include only a linear array source, may include only an area array source, or may include both a linear array source and an area array source. In addition, the linear array ray sources can be arranged in a straight line, or can be arranged in a fold line, or can also be arranged in a curve. The planar array radiation source may be composed of two or more X-ray sources arranged in a planar (e.g., matrix) configuration. The number of the linear array radiation sources and the number of the X-ray sources specifically included in the linear array radiation sources may be set according to practical situations, for example, the linear array radiation sources may include 15X-ray sources, and the planar array radiation sources may include 25X-ray sources in total of 5 rows and 5 columns.

Further, the linear array ray source is arranged on the side of the breast wall of the part to be detected, and the area array ray source is arranged on the side of the breast wall far away from the part to be detected; the arrangement position of the linear array radiation source is provided with an inclined angle relative to the arrangement position of the surface array radiation source. That is, the linear array radiation source may be disposed on a breast wall side of the portion to be detected, and the breast wall side may refer to a portion side far from the nipple, so that radiation of the X-rays to the human body caused by penetration of the human body may be avoided, and the inclination angle may be set according to practical situations, for example, 5 degrees or 10 degrees, and the like.

Compression paddle 102 may be disposed between array X-ray source 101 and detector 103. The device is used for pressing the part to be detected, so that the part to be detected is in a thin and uniform state, and the subsequent data acquisition and detection are facilitated.

In addition, the irradiation surface of the X-ray irradiation area of the linear array ray source near the breast wall side can be vertical or nearly vertical to the compression plate, so that the X-rays of the linear array ray source can be prevented from penetrating through the breast wall, and unnecessary X-ray radiation is brought to a human body. The approximately vertical may be understood as a deviation angle from the vertical state not greater than a preset threshold (e.g., 1 °,2 °,5 °, etc.). For example, approximately perpendicular may include an angle of the irradiated area of the linear array X-ray source between 89 ° -91 °, 88 ° -92 °, 85 ° -95 °, etc., with the compression plate at the irradiated surface near the breast wall side. The area array radiation source may be arranged parallel to the detector.

The detector 103 is used for detecting projection data of the X-rays emitted by the array X-ray source 101 after passing through the part to be detected, and transmitting the acquired projection data to the computer device 104 for processing. The portion to be detected is located between the detector 103 and the compression plate 102, where the detector may be a flat panel detector.

The computer device 104 may be a server, and may be implemented as a stand-alone server or as a server cluster including a plurality of servers. Of course, the terminal may also be a terminal, and may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like.

The execution subject of the following embodiments of the present application may be a computer device or an X-ray medical imaging system, and the following description will take the computer device as an example.

In one embodiment, a three-dimensional image stitching method is provided, and this embodiment relates to a specific process of reconstructing a three-dimensional reconstructed image of a portion to be detected according to projection data of each region of the portion to be detected. As shown in fig. 2, the method may include the steps of:

S202, acquiring projection data of a part to be detected on each imaging area; the projection data are generated by exposing the part to be detected by a plurality of X-ray sources in the array X-ray source.

In this step, when the array X-ray source performs exposure imaging of the part to be detected, the relative position between the array X-ray source and the detector is fixed.

The array X-ray sources comprise a plurality of X-ray sources with different projection angles, namely, when each X-ray source exposes a part to be detected, the projection angles are different, and accordingly, the imaging areas of each X-ray source on the detector are different, and then, the imaging areas corresponding to the X-ray sources are formed on the detector. The part to be detected can be the breast to be detected, and can also be other parts to be detected.

Taking an example that the array X-ray source includes a linear array X-ray source and an area array X-ray source as an example, an example diagram of exposing and photographing a part to be detected by the array X-ray source can be shown in fig. 3, and an imaging area of each X-ray source in the array X-ray source can be shown in fig. 4. It should be noted that fig. 3 and fig. 4 are only examples, and do not affect the essence of the embodiments of the present application.

Specifically, each X-ray source in the array X-ray source may be used to perform X-ray exposure (may be simultaneous exposure or sequential exposure) on the portion to be detected, and the detector is used to collect the exposed X-rays, so that each X-ray source has a corresponding imaging area on the detector, and each imaging area includes projection data corresponding to each X-ray source. The projection data corresponding to each imaging region may be referred to herein as projection data of the portion to be detected on each imaging region.

The detector may then transmit the projection data of the detected part onto the imaging areas to the computer device, so that the computer device may obtain the projection data of the detected part onto the imaging areas.

S204, respectively carrying out three-dimensional image reconstruction on projection data of each imaging area to obtain a plurality of reconstructed image blocks.

Wherein each reconstructed image block herein may be a three-dimensional reconstructed image block. When the three-dimensional image is reconstructed, an image reconstruction algorithm can be adopted, and the image reconstruction algorithm can be a filtered back projection method, a maximum likelihood method, an iteration method, an algebraic method, a minimum likelihood method, a Fourier transformation method, a convolution back projection method and the like.

Specifically, after the computer device obtains the projection data of the part to be detected on each imaging area, that is, the projection data on each imaging area on the detector, the computer device may directly reconstruct the image of the projection data on each imaging area by using an image reconstruction algorithm, so as to obtain a three-dimensional reconstructed image block corresponding to each imaging area.

Of course, the projection data of each imaging region may be processed, for example, the projection data of the overlapping region of each two adjacent imaging regions may be taken, and the projection data of each overlapping region may be respectively reconstructed by using an image reconstruction algorithm, so as to obtain a three-dimensional reconstruction image block corresponding to each reconstruction region.

S206, splicing the reconstructed image blocks according to the relative position relation among the reconstructed image blocks to obtain a three-dimensional reconstructed image of the part to be detected.

In this embodiment, when the array X-ray source performs exposure imaging on the portion to be detected, the relative position between the array X-ray source and the detector is fixed. Meanwhile, the relative position relationship between the X-ray sources in the array X-ray source is also fixed (for example, the linear array light source 1 is in front of the linear array light source 2, etc.), and the relative position relationship between the corresponding imaging areas of each X-ray source on the detector is the same as the relative position relationship between the X-ray sources, so that the relative position relationship between the corresponding imaging areas of each X-ray source on the detector (for example, the imaging areas of the linear array light source 1 are in front of the imaging areas of the linear array light source 2, etc.) can be obtained.

Specifically, after the computer device obtains the relative positional relationship between the imaging regions, each reconstructed image block reconstructs the projection data of each imaging region, so that the relative positional relationship between each reconstructed image block can be obtained. And then, the computer equipment can splice the reconstructed image blocks in sequence according to a certain sequence according to the relative position relation among the reconstructed image blocks to obtain a spliced reconstructed image, namely a three-dimensional reconstructed image of the part to be detected.

The certain sequence may include front-to-back or back-to-front, or top-to-bottom or bottom-to-top, or left-to-right or right-to-left, although other sequences are also possible.

In the three-dimensional image stitching method, the projection data of the part to be detected in each imaging area can be acquired, three-dimensional image reconstruction is respectively carried out on the projection data of each imaging area, each reconstructed image block is obtained, and the reconstructed image blocks are stitched according to the relative position relation among the reconstructed image blocks, so that the three-dimensional reconstructed image of the part to be detected is obtained. The method is applied to an X-ray medical image imaging system, the medical image imaging system comprises a detector and an array X-ray source, the array X-ray source comprises a plurality of X-ray sources with different projection angles, each imaging area corresponding to each X-ray source is formed on the detector, and the projection data are generated by exposing a part to be detected correspondingly by the plurality of X-ray sources. In the method, the array X-ray source is adopted to collect data of the part, so that the part does not need to be rotationally scanned, on one hand, the scanning time can be shortened, and the radiation time to a patient can be reduced; on the other hand, motion artifacts caused by the motion of the light source can be avoided, and the quality of the generated image is improved; further, with this method, more projection data is acquired in the same time, so that the spatial resolution of the image can be improved.

In another embodiment, another three-dimensional image stitching method is provided, and the embodiment relates to a specific process of how to reconstruct an image of projection data of each imaging area to obtain each reconstructed image block when the array X-ray source includes a linear array source and an area array source. On the basis of the above embodiment, as shown in fig. 5, the step S204 may include the following steps:

S302, a plurality of first imaging areas corresponding to the linear array ray sources and a plurality of second imaging areas corresponding to the area array ray sources are obtained.

In this step, before the array X-ray source performs exposure and image capturing on the part to be detected, the relative positions between the linear array X-ray source and the area array X-ray source in the array X-ray source are fixed, and the relative positions between the linear array X-ray source and the area array X-ray source and the detector are also fixed, so that the projection area of each X-ray source at the detector end can be determined.

The imaging area of each of the linear array sources may be referred to herein as a first imaging area and the imaging area of each of the planar array sources may be referred to herein as a second imaging area.

It should be noted that, the linear array ray source and the X-ray source in the area array ray source are both field emission X-ray sources, the field emission X-ray source is a ray source for generating electron beams by adopting a cold cathode technology, and the cold cathode technology is limited by insufficient cathode power at present, so in this embodiment, the linear array ray source array is arranged at one side of the breast wall, and the area array ray source arrays are arranged at other areas, so that the problem of insufficient power at the side of the breast wall is not only made up, but also the rays emitted by the ray sources are ensured not to penetrate the human body. Therefore, in this embodiment, a linear array radiation source and an area array radiation source are used as the array X-ray source to image the portion to be detected.

Further, when the linear array ray source and the area array ray source are adopted to image the part to be detected, each X-ray source in the linear array ray source and the area array ray source exposes the part to be detected sequentially or one by one so as to obtain projection data of the part to be detected on a plurality of first imaging areas corresponding to the linear array ray source and projection data of the part to be detected on a plurality of second imaging areas corresponding to the area array ray source.

S304, according to the plurality of first imaging areas, overlapping portions corresponding to the plurality of first imaging areas are obtained, and according to the plurality of second imaging areas, overlapping portions corresponding to the plurality of second imaging areas are obtained.

In this step, projection data at overlapping areas of the imaging areas of the plurality of X-ray sources are mostly used for reconstructing a three-dimensional image. The reconstructed image is more accurate because of more information on the overlapping portions. When the overlapping region is obtained, the overlapping portion may be obtained first for each first imaging region of the linear array radiation source, or the overlapping portion may be obtained first for each second imaging region of the linear array radiation source, or the overlapping portion may be obtained simultaneously for each first imaging region and each second imaging region.

When the overlapping portion is obtained, optionally, intersection operation processing can be performed on the plurality of first imaging areas to obtain overlapping portions corresponding to the plurality of first imaging areas; and performing intersection arithmetic processing on the plurality of second imaging areas to obtain overlapping parts corresponding to the plurality of second imaging areas.

In summary, the overlapping portions corresponding to the plurality of first imaging regions and the overlapping portions corresponding to the plurality of second imaging regions can be obtained finally.

S306, obtaining a plurality of overlapped areas according to the overlapped parts corresponding to the plurality of first imaging areas and the overlapped parts corresponding to the plurality of second imaging areas.

In this step, the overlapping portions corresponding to the plurality of first imaging regions and the overlapping portions corresponding to the plurality of second imaging regions are combined to obtain a plurality of overlapping portions, and the overlapping portions are two-dimensional and are also regions corresponding to the imaging regions, and are referred to as a plurality of overlapping regions.

And S308, respectively carrying out three-dimensional image reconstruction on the projection data of each overlapping area to obtain a plurality of reconstructed image blocks.

In this step, after the overlapping areas of all the imaging areas are obtained, the projection data of each overlapping area may be obtained from the projection data of each imaging area, and the projection data of each overlapping area may be subjected to image reconstruction to obtain a reconstructed image block corresponding to each overlapping area.

According to the three-dimensional image stitching method provided by the embodiment, the overlapping areas corresponding to the imaging areas of the linear array ray source and the overlapping areas corresponding to the imaging areas of the area array ray source can be obtained, and each reconstructed image block can be obtained by carrying out data reconstruction on the obtained projection data of the overlapping areas. By the method of the embodiment, the accuracy of the reconstructed image block can be improved, and the accuracy of the finally obtained three-dimensional reconstructed image can be further improved.

In another embodiment, another three-dimensional image stitching method is provided, and this embodiment relates to a specific process of how to obtain the corresponding overlapping portion by taking the intersection of each first imaging area and each second imaging area. On the basis of the above embodiment, the intersection process in S304 may include the following steps one and two:

step one, intersection operation processing is carried out on two adjacent first imaging areas in the plurality of first imaging areas, a plurality of first boundary points corresponding to the two adjacent first imaging areas are obtained, and overlapping portions corresponding to the two adjacent first imaging areas are obtained according to the plurality of first boundary points.

In this step, the imaging area of each X-ray source in the array X-ray source on the detector is fixed, and the size of the detector is usually fixed, so that the position coordinates of each first imaging area on the detector can be obtained by taking two boundaries of the detector as coordinate axes and any corner point as an origin to establish a coordinate system, and the coordinates of the boundary point of each first imaging area can be obtained by extracting the edge point of the position coordinates of each first imaging area.

Since the overlapping area is generally for two adjacent imaging areas, it is also generally for every two adjacent first imaging areas when taking the intersection. The coordinates of the boundary points of each adjacent two of the first imaging regions may be matched, where matching refers to comparing whether the boundary point coordinates of each adjacent two of the first imaging regions have the same boundary point coordinates, and if so, considering the same boundary point coordinates as the boundary point coordinates of the overlapping portion. In summary, the coordinates of the boundary points of the overlapping areas of each adjacent two first imaging areas can be obtained, where the boundary points are denoted as first boundary points, typically a plurality.

After obtaining the plurality of first boundary points of the overlapping region of each adjacent two of the first imaging regions, optionally, a portion surrounded by the plurality of first boundary points corresponding to each adjacent two of the first imaging regions may be determined as an overlapping portion corresponding to each adjacent two of the first imaging regions.

Of course, alternatively, fitting may be performed on a plurality of first boundary points corresponding to each two adjacent first imaging regions, so as to obtain overlapping portions corresponding to each two adjacent first imaging regions.

The fitting may be performed on a plurality of first boundary points corresponding to each two adjacent first imaging regions, or may be a curve fitting, or may be a linear fitting, or may be any other fitting method, and in any case, an overlapping portion corresponding to each two adjacent first imaging regions may be obtained.

And secondly, performing intersection arithmetic processing on two adjacent second imaging areas in the plurality of second imaging areas to obtain a plurality of second boundary points corresponding to each two adjacent second imaging areas, and obtaining overlapping parts corresponding to each two adjacent second imaging areas according to the plurality of second boundary points.

In this step, referring to the first step, coordinates of boundary points of overlapping areas of each adjacent two second imaging areas can be obtained, where the boundary points are denoted as second boundary points, and are usually plural.

After obtaining the plurality of second boundary points of the overlapping region of each adjacent two of the second imaging regions, optionally, a portion surrounded by the plurality of second boundary points corresponding to each adjacent two of the second imaging regions may be determined as an overlapping portion corresponding to each adjacent two of the second imaging regions.

Of course, alternatively, a plurality of second boundary points corresponding to each two adjacent second imaging regions may be fitted to obtain overlapping portions corresponding to each two adjacent second imaging regions.

The fitting may be performed on a plurality of second boundary points corresponding to each of the two adjacent second imaging regions, or may be a curve fitting, or may be a linear fitting, or may be any other fitting method, and in any case, an overlapping portion corresponding to each of the two adjacent second imaging regions may be obtained.

For example, referring to fig. 6, a set of two adjacent imaging areas (may be two first imaging areas or two second imaging areas) are assumed to be rectangular areas a and B respectively, where the imaging area a is a solid rectangular area in the figure, and there are 6 boundary points a1-a6 on four boundaries, and the coordinates of the 6 boundary points are (1, 15), (1, 12), (1, 6), (20, 12), (20, 15) respectively, taking two-dimensional coordinates as an example; the imaging area B is a dotted rectangular area in the figure, B1-B6 respectively, and the coordinates of the 6 boundary points are (1, 12), (1, 6), (1, 3), (20, 6) and (20, 12) respectively by taking two-dimensional coordinates as an example; comparing the 12 boundary points a1-a6 and B1-B6, the coordinates a2 and B1 are the same, the coordinates a3 and B2 are the same, the coordinates a4 and B5 are the same, and the coordinates a5 and B6 are the same, therefore, the four pairs of coordinates are the same boundary point coordinates, and in terms of the coordinates of the imaging region A, the coordinates a2 and the coordinates a3 can be respectively connected, the coordinates a3 and the coordinates a4 are connected, the coordinates a4 and the coordinates a5 are connected, and a rectangular region surrounded by the coordinates a2, a3, a4 and a5 is obtained, and a rectangular region surrounded by the coordinates B1, B2, B5 and B6 is obtained, namely, an overlapping region of the imaging region A and the imaging region B is obtained.

This operation can be performed for all other adjacent imaging regions, so that the overlapping region of all adjacent imaging regions can be obtained.

It should be noted that, the first step and the second step are not limited in time sequence, that is, the first step may be performed first, the second step may be performed first, the first step may be performed second, or the first and second steps may be performed simultaneously.

According to the three-dimensional image stitching method provided by the embodiment, the intersection of the adjacent first imaging areas and the intersection of the adjacent second imaging areas can be obtained, and the corresponding overlapping portions can be obtained. By the method of the embodiment, a more accurate overlapping area can be obtained, so that the obtained projection data is more accurate during the subsequent image reconstruction, namely, the reconstructed data source is more accurate, and the accuracy of the three-dimensional reconstructed image obtained according to the projection data is higher.

In another embodiment, another three-dimensional image stitching method is provided, and this embodiment relates to a specific process of how each reconstructed image block includes a plurality of sub-image slices, so as to stitch each reconstructed image block to obtain a three-dimensional reconstructed image. On the basis of the above embodiment, as shown in fig. 7, the step S206 may include the following steps:

s402, acquiring slice information of each sub-image slice in each reconstructed image block.

In this step, slice information of the sub-image slices may include layer numbers, layer thicknesses, and the like of the sub-image slices.

When the three-dimensional image reconstruction is carried out on each overlapping area by adopting an image reconstruction algorithm, the layer thickness, the image imaging size and the like of the reconstructed image slice can be preset, so that after each overlapping area is reconstructed, the size of a reconstructed image block corresponding to each overlapping area can be obtained, and the layer number of each sub-image slice in each reconstructed image block can be obtained through the size and the layer thickness of the reconstructed image block.

In addition, the layer thickness can be represented here by a reconstruction interval. The number of sub-image slices included in each reconstructed image block is typically also equal.

S404, splicing all the sub-image slices of each reconstructed image block according to the relative position relation among each reconstructed image block and the slice information of each sub-image slice to obtain a plurality of image slices.

In this step, after the relative positional relationship between the reconstructed image blocks and the layer numbers of the sub-image slices in the reconstructed image blocks are obtained, the reconstructed image blocks may be sequentially spliced using the relative positional relationship and the layer numbers. Alternatively, the splicing may be performed using steps B1-B3 as follows:

b1, determining each sub-image slice in the same layer according to the layer number of each sub-image slice in each reconstructed image block.

B2, determining the splicing sequence of sub-image slices positioned in the same layer according to the relative position relation among the reconstructed image blocks; the splicing sequence comprises a front-back splicing sequence, a left-right splicing sequence or an up-down splicing sequence.

And B3, splicing all the sub-image slices in the same layer according to the splicing sequence among all the sub-image slices in the same layer to obtain a plurality of image slices.

Specifically, after the layer number of each sub-image slice in each reconstructed image block is obtained, sub-image slices belonging to the same layer number can be found out from the layer numbers, then according to the same positional relationship with each reconstructed image block, each group of sub-image slices with the same layer number is spliced into one layer of image slices in the sequence from front to back or back to front, from top to bottom or from left to right or from right to left, and all groups of sub-image slices with the same layer number are spliced in this way, so that a multi-layer image slice is obtained.

S406, determining a plurality of image slices as three-dimensional reconstruction images of the part to be detected.

When the sub-image slices of each group are spliced, the sub-image slices are spliced layer by layer from large to small or spliced layer by layer from small to large according to the size of the layer number, so that a plurality of layers of image slices which are arranged in sequence can be formed, and then the plurality of layers of image slices which are arranged in sequence can be used as three-dimensional reconstructed images of the part to be detected.

According to the three-dimensional image stitching method, information of each sub-image slice in each reconstructed image block can be obtained, and the sub-image slices in each reconstructed image block are stitched by combining the relative position relationship among the reconstructed image blocks to obtain a plurality of image slices, namely a three-dimensional reconstructed image of a part to be detected is obtained. In the method, as the sub-image slices can be spliced according to the information of the sub-image slices and the relative position relation between the reconstructed image blocks, the spliced image slices of each layer are more accurate, and the three-dimensional reconstructed image of the part to be detected is finally obtained more accurately.

It should be understood that, although the steps in the flowcharts of fig. 2, 5, and 7 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 2, 5, 7 may comprise a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily follow one another, but may be performed alternately or alternately with at least some of the other steps or stages.

In one embodiment, as shown in fig. 8, a three-dimensional image stitching device is provided, and is applied to an X-ray medical imaging system, where the X-ray medical imaging system includes a detector and an array X-ray source, the array X-ray source includes a plurality of X-ray sources with different projection angles, and each imaging area corresponding to each X-ray source is formed on the detector; comprising the following steps: an acquisition module 10, a reconstruction module 11 and a splicing module 12, wherein:

an acquisition module 10, configured to acquire projection data of a portion to be detected on each imaging region; the projection data are generated by exposing a part to be detected by a plurality of X-ray sources in an array X-ray source;

the reconstruction module 11 is configured to reconstruct three-dimensional images of projection data of each imaging region, so as to obtain a plurality of reconstructed image blocks;

And the stitching module 12 is configured to stitch each reconstructed image block according to the relative positional relationship between each reconstructed image block, so as to obtain a three-dimensional reconstructed image of the part to be detected.

For specific limitations of the three-dimensional image stitching device, reference may be made to the above limitation of the three-dimensional image stitching method, and no further description is given here.

In another embodiment, another three-dimensional image stitching device is provided, where, on the basis of the above embodiment, the array X-ray source includes a linear array source and an area array source, and the reconstruction module 11 may include an imaging region acquiring unit, an overlapping portion determining unit, an overlapping region acquiring unit, and a reconstruction unit, where:

The imaging region acquisition unit is used for acquiring a plurality of first imaging regions corresponding to the linear array ray source and a plurality of second imaging regions corresponding to the area array ray source;

An overlapping portion determining unit, configured to obtain overlapping portions corresponding to the plurality of first imaging areas according to the plurality of first imaging areas, and obtain overlapping portions corresponding to the plurality of second imaging areas according to the plurality of second imaging areas;

An overlapping region obtaining unit, configured to obtain a plurality of overlapping regions according to overlapping portions corresponding to the plurality of first imaging regions and overlapping portions corresponding to the plurality of second imaging regions;

and the reconstruction unit is used for respectively carrying out three-dimensional image reconstruction on the projection data of each overlapping area to obtain a plurality of reconstructed image blocks.

Optionally, the above overlapping portion determining unit may include a first intersection taking subunit and a second intersection taking subunit, where:

the first intersection taking subunit is used for carrying out intersection taking operation processing on the plurality of first imaging areas to obtain overlapping parts corresponding to the plurality of first imaging areas;

and the second intersection taking subunit is used for carrying out intersection taking operation processing on the plurality of second imaging areas to obtain overlapping parts corresponding to the plurality of second imaging areas.

Optionally, the first intersection sub-unit is specifically configured to perform intersection operation processing on two adjacent first imaging areas in the plurality of first imaging areas, obtain a plurality of first boundary points corresponding to each two adjacent first imaging areas, and obtain overlapping portions corresponding to each two adjacent first imaging areas according to the plurality of first boundary points;

The second intersection sub-unit is specifically configured to perform intersection operation processing on two adjacent second imaging areas in the plurality of second imaging areas, obtain a plurality of second boundary points corresponding to each of the two adjacent second imaging areas, and obtain overlapping portions corresponding to each of the two adjacent second imaging areas according to the plurality of second boundary points.

Optionally, the first intersection subunit is specifically configured to determine a portion surrounded by a plurality of first boundary points corresponding to each two adjacent first imaging areas as an overlapping portion corresponding to each two adjacent first imaging areas;

optionally, the second intersection subunit is specifically configured to determine a portion surrounded by a plurality of second boundary points corresponding to each two adjacent second imaging areas as an overlapping portion corresponding to each two adjacent second imaging areas.

Optionally, the first intersection subunit is specifically configured to fit a plurality of first boundary points corresponding to each two adjacent first imaging areas to obtain an overlapping portion corresponding to each two adjacent first imaging areas;

optionally, the second intersection subunit is specifically configured to fit a plurality of second boundary points corresponding to each two adjacent second imaging areas, so as to obtain an overlapping portion corresponding to each two adjacent second imaging areas.

In another embodiment, another three-dimensional image stitching apparatus is provided, where each reconstructed image block includes a plurality of sub-image slices; the above-described stitching module 12 may include an information acquisition unit, a stitching unit, and an image determination unit, wherein:

An information acquisition unit for acquiring slice information of each sub-image slice in each reconstructed image block;

The splicing unit is used for splicing each sub-image slice of each reconstructed image block according to the relative position relation among each reconstructed image block and the slice information of each sub-image slice to obtain a plurality of image slices;

an image determination unit for determining a plurality of image slices as three-dimensional reconstructed images of the region to be detected.

Optionally, the slice information of the sub-image slice includes a layer number of the sub-image slice; the splicing unit may include a layer number determining subunit, a splicing order determining subunit, and a splicing subunit, where:

a layer number determination subunit configured to determine, from the layer numbers of the sub-image slices in each reconstructed image block, sub-image slices in the same layer;

A splicing order determining subunit, configured to determine a splicing order between sub-image slices in the same layer according to a relative positional relationship between the reconstructed image blocks; the splicing sequence comprises a front-back splicing sequence, a left-right splicing sequence or an up-down splicing sequence;

and the splicing subunit is used for splicing the sub-image slices in the same layer according to the splicing sequence among the sub-image slices in the same layer to obtain a plurality of image slices.

The respective modules in the three-dimensional image stitching device described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, taking the computer device as a terminal as an example, and the internal structure diagram thereof may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a three-dimensional image stitching method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of:

Acquiring a plurality of first imaging areas corresponding to the linear array ray sources and a plurality of second imaging areas corresponding to the area array ray sources; obtaining overlapping parts corresponding to the plurality of first imaging areas according to the plurality of first imaging areas, and obtaining overlapping parts corresponding to the plurality of second imaging areas according to the plurality of second imaging areas; obtaining a plurality of overlapped areas according to the overlapped parts corresponding to the plurality of first imaging areas and the overlapped parts corresponding to the plurality of second imaging areas; and respectively carrying out three-dimensional image reconstruction on the projection data of each overlapping area to obtain a plurality of reconstructed image blocks.

Performing intersection operation processing on the plurality of first imaging areas to obtain overlapping parts corresponding to the plurality of first imaging areas; and performing intersection arithmetic processing on the plurality of second imaging areas to obtain overlapping parts corresponding to the plurality of second imaging areas.

performing intersection arithmetic processing on two adjacent first imaging areas in the plurality of first imaging areas to obtain a plurality of first boundary points corresponding to each two adjacent first imaging areas, and obtaining overlapping parts corresponding to each two adjacent first imaging areas according to the plurality of first boundary points; and performing intersection arithmetic processing on two adjacent second imaging areas in the plurality of second imaging areas to obtain a plurality of second boundary points corresponding to each two adjacent second imaging areas, and obtaining overlapping parts corresponding to each two adjacent second imaging areas according to the plurality of second boundary points.

Determining a part surrounded by a plurality of first boundary points corresponding to each two adjacent first imaging areas as an overlapping part corresponding to each two adjacent first imaging areas; and determining a part surrounded by a plurality of second boundary points corresponding to each two adjacent second imaging areas as an overlapping part corresponding to each two adjacent second imaging areas.

fitting a plurality of first boundary points corresponding to each two adjacent first imaging areas to obtain overlapping parts corresponding to each two adjacent first imaging areas; fitting a plurality of second boundary points corresponding to each two adjacent second imaging areas to obtain overlapping parts corresponding to each two adjacent second imaging areas.

Acquiring slice information of each sub-image slice in each reconstructed image block; splicing all the sub-image slices of each reconstructed image block according to the relative position relation among the reconstructed image blocks and the slice information of each sub-image slice to obtain a plurality of image slices; the plurality of image slices is determined as a three-dimensional reconstructed image of the region to be detected.

Determining each sub-image slice in the same layer according to the layer number of each sub-image slice in each reconstructed image block; determining the splicing sequence of sub-image slices in the same layer according to the relative position relation among the reconstructed image blocks; the splicing sequence comprises a front-back splicing sequence, a left-right splicing sequence or an up-down splicing sequence; and splicing all the sub-image slices in the same layer according to the splicing sequence among all the sub-image slices in the same layer to obtain a plurality of image slices.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. The three-dimensional image stitching method is characterized by being applied to an X-ray medical imaging system, wherein the X-ray medical imaging system comprises a detector and an array X-ray source, and the relative positions between the array X-ray source and the detector are fixed; the array X-ray source comprises a plurality of X-ray sources with different projection angles, and the array X-ray source comprises a linear array ray source and an area array ray source; the linear array ray source is arranged on the side of the breast wall of the part to be detected, and the area array ray source is arranged on one side of the breast wall far away from the part to be detected; an inclination angle exists between the setting position of the linear array ray source and the setting position of the area array ray source; the detector having formed thereon respective imaging regions corresponding to respective ones of the X-ray sources; the method comprises the following steps:

acquiring projection data of a part to be detected on each imaging area; the projection data are generated by exposing the part to be detected by a plurality of X-ray sources in the array X-ray source correspondingly;

respectively carrying out three-dimensional image reconstruction on projection data of each imaging region to obtain a plurality of reconstructed image blocks;

2. The method of claim 1, wherein the array X-ray source comprises a linear array source and an area array source, the acquiring projection data of any adjacent overlapping region in each imaging region, and performing three-dimensional image reconstruction on the projection data of each overlapping region to obtain a plurality of reconstructed image blocks, respectively, including:

acquiring a plurality of first imaging areas corresponding to the linear array ray source and a plurality of second imaging areas corresponding to the area array ray source;

obtaining overlapping parts corresponding to the plurality of first imaging areas according to the plurality of first imaging areas, and obtaining overlapping parts corresponding to the plurality of second imaging areas according to the plurality of i second imaging areas;

And respectively carrying out three-dimensional image reconstruction on the projection data of each overlapping region to obtain a plurality of reconstructed image blocks.

3. The method of claim 2, wherein the obtaining, from the plurality of first imaging regions, overlapping portions corresponding to the plurality of first imaging regions, and obtaining, from the plurality of second imaging regions, overlapping portions corresponding to the plurality of second imaging regions, comprises:

performing intersection arithmetic processing on the plurality of first imaging areas to obtain overlapping parts corresponding to the plurality of first imaging areas;

4. A method according to any one of claims 1 to 3, wherein each of the reconstructed image blocks comprises a plurality of sub-image slices; the step of stitching the reconstructed image blocks according to the relative positional relationship between the reconstructed image blocks to obtain a three-dimensional reconstructed image of the part to be detected comprises the following steps:

and determining the plurality of image slices as three-dimensional reconstruction images of the part to be detected.

5. The method of claim 4, wherein the slice information of the sub-image slice comprises a layer number of the sub-image slice; splicing each sub-image slice of each reconstructed image block according to the relative position relation between each reconstructed image block and slice information of each sub-image slice to obtain a plurality of image slices, wherein the method comprises the following steps:

determining the splicing sequence of all sub-image slices in the same layer according to the relative position relation among all the reconstructed image blocks; the splicing sequence comprises a front-back splicing sequence, a left-right splicing sequence or an up-down splicing sequence;

And splicing the sub-image slices in the same layer according to the splicing sequence among the sub-image slices in the same layer to obtain the plurality of image slices.

6. The three-dimensional image stitching device is characterized by being applied to an X-ray medical imaging system, wherein the X-ray medical imaging system comprises a detector and an array X-ray source, and the relative positions between the array X-ray source and the detector are fixed; the array X-ray source comprises a plurality of X-ray sources with different projection angles, and the array X-ray source comprises a linear array ray source and an area array ray source; the linear array ray source is arranged on the side of the breast wall of the part to be detected, and the area array ray source is arranged on one side of the breast wall far away from the part to be detected; an inclination angle exists between the setting position of the linear array ray source and the setting position of the area array ray source; the detector having formed thereon respective imaging regions corresponding to respective ones of the X-ray sources; the device comprises:

the acquisition module is used for acquiring projection data of the part to be detected on each imaging area; the projection data are generated by exposing the part to be detected by a plurality of X-ray sources in the array X-ray source correspondingly;

and the splicing module is used for splicing the reconstructed image blocks according to the relative position relation among the reconstructed image blocks to obtain the three-dimensional reconstructed image of the part to be detected.

7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 5 when the computer program is executed.

8. An X-ray medical imaging system, comprising an array X-ray source, a compression paddle, a detector, and the computer device of claim 7.

9. The system of claim 8, wherein the compression paddle is disposed between the array X-ray source and the detector for compressing a site to be examined.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.