CN114445497A

CN114445497A - Image positioning method, image positioning device, dynamic image generating method, dynamic image generating device, dynamic image generating system and storage medium

Info

Publication number: CN114445497A
Application number: CN202210196748.8A
Authority: CN
Inventors: 蔡宗远; 戴兴武
Original assignee: Shanghai Taoying Medical Technology Co ltd
Current assignee: Shanghai Taoying Medical Technology Co ltd
Priority date: 2022-03-01
Filing date: 2022-03-01
Publication date: 2022-05-06
Also published as: WO2023165074A1

Abstract

The invention discloses a method, a device, a system and a storage medium for image positioning and dynamic image generation, which relate to the technical field of medical imaging, wherein the dynamic image generation method comprises the following steps: setting an image acquisition site and setting at least two imaging paths through the image acquisition site; respectively acquiring image data corresponding to each imaging path; generating a three-dimensional image corresponding to an image acquisition site based on a three-dimensional imaging algorithm according to the angle formed between each imaging path and the acquired image data, and generating a three-dimensional dynamic image according to the three-dimensional image generated by continuous acquisition in a set time period; or generating a three-dimensional dynamic image based on a three-dimensional dynamic image generation method according to the comparison result of the actual image data shot by each imaging path and the virtual image data virtually generated based on the three-dimensional static model. The method in the scheme can be used for dynamically tracking the imaging object at the image acquisition site and displaying the three-dimensional dynamic image, and is convenient for dynamic function analysis of the bone joint.

Description

Image positioning method, image positioning device, dynamic image generating method, dynamic image generating device, dynamic image generating system and storage medium

Technical Field

The present invention relates to the field of medical imaging technology, and more particularly, to a method, an apparatus, a system, and a storage medium for image positioning and dynamic image generation.

Background

Currently, in the field of orthopedic medical imaging, most preoperative diagnosis is performed by relying on X-ray static imaging (including digital radiography systems, DT, and the like), and preoperative nuclear magnetism or ultrasound is commonly used for joint soft tissue imaging.

As described above, the imaging device used in the orthopedic surgery can only collect a static image of an imaging subject when standing, and cannot collect and display a motion state of a joint in a load bearing state, so that a dynamic function analysis of the joint cannot be performed.

Disclosure of Invention

Aiming at the problem that orthopedics medical imaging equipment can only collect static images of an imaging object when the imaging object stands and cannot collect and display motion state images under a joint load state in practical application, the application aims to provide a method for generating and determining the position of the imaging object in a set three-dimensional coordinate system based on the static images of the imaging object, and the imaging object can be accurately positioned in a three-dimensional reference space coordinate system. The second application object is to provide a three-dimensional dynamic image generation method, which generates a three-dimensional dynamic image of an imaging object based on the positioning data and the three-dimensional static model data of the imaging object. The third purpose of the present application is to provide a joint dynamic image generation method, which can accurately obtain a dynamic image of an imaging object (such as bone joint tissue, etc.), and is convenient for performing dynamic function analysis on the imaging object; the fourth purpose is to provide a joint dynamic image acquisition device which can accurately complete the acquisition of the graphic data; the fifth objective is to provide a joint dynamic image acquisition and generation system capable of generating a dynamic three-dimensional image based on image data acquired by the image acquisition device, so as to facilitate dynamic function analysis of a bone joint, and finally the present application further provides and protects a computer readable storage medium loaded with a computer program for implementing the joint dynamic image generation method.

The specific scheme is as follows:

a method for generating and determining the position of an imaging object based on a static image of the imaging object in a set three-dimensional coordinate system,

setting a plurality of imaging paths based on an imaging object, storing the relative position relation of each imaging path, and acquiring actual image data corresponding to the imaging object shot by each imaging path;

establishing a three-dimensional reference space coordinate system, generating a three-dimensional static model according to the imaging object, and placing the three-dimensional static model at a set imaging position point in the three-dimensional reference space coordinate system;

setting a plurality of virtual imaging paths according to the relative position relationship after passing through the imaging sites, and acquiring virtual image data corresponding to each virtual imaging path;

calculating and comparing the similarity of the virtual image data and the actual image data:

if the position data meets the expectation, the position coordinate data of the current imaging position point is used as position data;

if the position of the imaging position point of the imaging object in the three-dimensional reference space coordinate system does not meet the expectation, adjusting the position of the imaging position point of the imaging object in the three-dimensional reference space coordinate system by using an optimization operator, and acquiring and generating new virtual image data based on the new imaging position point;

and comparing the newly generated and acquired virtual image data with the actual image data until the similarity of the two meets the expectation.

According to the technical scheme, the three-dimensional static model of the imaging object is taken as a basis, the virtual image data is obtained from a set angle and compared with the actual image data, if the virtual image data and the actual image data are the same, the position of the three-dimensional static model at the moment is consistent with the position of the actual imaging object, and therefore accurate positioning of the imaging object is achieved.

Further, the imaging path is determined based on the positions of the ray source and the detector which are arranged in pairs;

the relative position relation of each imaging path comprises an angle relation and a position distance relation formed between the imaging paths;

and the actual image data is acquired by alternately exposing the radiation source and the detector on a plurality of imaging paths.

Through the technical scheme, the radiation sources on the imaging paths are alternately exposed, so that the mutual interference among the imaging paths can be reduced, and the positioning accuracy is improved.

Further, the position of the imaging position point of the imaging object in the three-dimensional reference space coordinate system is adjusted by utilizing an optimization operator, and the posture of the imaging object in the three-dimensional reference space coordinate system is also adjusted.

Through the technical scheme, the position and the posture of the imaging object with the irregular outline structure can be accurately positioned.

Further, calculating and comparing the similarity between the virtual image data and the actual image data includes:

setting a set number of image characteristic parameters in the actual image data;

establishing an image characteristic parameter similarity comparison algorithm;

searching the image characteristic parameters in the virtual image data, comparing the image characteristic parameters, and outputting similarity based on a comparison result and the comparison algorithm;

the image characteristic parameters comprise the shape and size of the image, or the shape and size of a local image selected from the image, or the shape and size and relative position relation of a plurality of points in the image.

Based on the imaging object positioning method, the application also provides a three-dimensional dynamic image generation method, which comprises the following steps:

acquiring a three-dimensional static model of an imaging object;

acquiring actual image data of an imaging object shot on a set imaging path at the current moment;

determining the position and the posture of the imaging object in the three-dimensional reference space coordinate system at the current moment by utilizing the method for generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the three-dimensional static image of the imaging object;

and continuously generating and outputting the position and the posture of the imaging object according to the control time sequence of the imaging object during imaging to obtain a three-dimensional dynamic image of the imaging object.

By the technical scheme, the three-dimensional dynamic image can be generated in a correlated manner according to the two-dimensional actual image data obtained by continuous exposure sampling, and the dynamic analysis of the imaging object is facilitated.

Based on the above three-dimensional dynamic image generation method, the present application further provides a joint dynamic image generation method, including:

setting an image acquisition site and setting at least two imaging paths through the image acquisition site;

respectively acquiring image data corresponding to each imaging path;

generating a three-dimensional image corresponding to the image acquisition site based on a three-dimensional imaging algorithm according to the angle between each imaging path and the acquired image data,

continuously acquiring generated three-dimensional images within a set time period, and generating three-dimensional dynamic images based on a dynamic imaging algorithm; or

A three-dimensional moving image is generated based on the three-dimensional moving image generation method described above from the image data captured by each of the imaging paths.

According to the technical scheme, the images of the set image acquisition sites are acquired from multiple angles, then the images are converted into three-dimensional images through a three-dimensional imaging algorithm, the two-dimensional images are upgraded to the three-dimensional images, then the three-dimensional images in the set time period are spliced to form continuous three-dimensional dynamic images, and further dynamic tracking of the image acquisition sites is achieved. In addition, the method can also generate a three-dimensional dynamic image according to the existing three-dimensional static model and the image data corresponding to each imaging path obtained by actual sampling.

Further, the method further comprises:

at least one tracking site is set in the image acquisition site or the periphery thereof in a correlated manner;

and adjusting the space vector of each imaging path based on the tracking position to ensure that each imaging path passes through the image acquisition position.

By the technical scheme, when the position of the image acquisition site is constantly changed, the imaging paths can acquire image data from a set angle, and the accuracy of later-stage three-dimensional imaging is ensured.

Further, the method further comprises:

calculating a time length value required by each imaging path to finish image acquisition and imaging;

calculating and generating a time difference value of starting imaging action of each imaging path based on the time length value;

and controlling the imaging action of each imaging path in a set time period based on the time difference.

By the technical scheme, the imaging action time of each imaging path can be arranged more accurately, mutual interference of each imaging path in imaging action is avoided, and the accuracy of an imaging result is ensured.

Further, the method further comprises:

adjusting angles formed among the imaging paths to generate corresponding three-dimensional images under various angle conditions;

judging and generating image quality data of the three-dimensional image, and determining the optimal imaging angle among the imaging paths according to the image quality data;

and finishing the three-dimensional image acquisition and generation actions required by the three-dimensional dynamic image based on the optimal imaging angle.

By the technical scheme, the optimal imaging path angle for different image acquisition sites can be quickly found, and the quality of subsequent static and dynamic three-dimensional images is further ensured.

Further, the method further comprises:

collecting real-time position data of the tracking sites;

calculating and generating a position change rate of the tracking locus in a set time period;

establishing an incidence relation between the position change rate of the tracking point and the image acquisition frequency of each imaging path;

and adjusting the image acquisition frequency of each imaging path in real time based on the incidence relation and the position change rate of the tracking point.

By the technical scheme, when the position change rate of the set image acquisition site is accelerated, the image acquisition frequency of each imaging path can be correspondingly improved, so that the imaging precision when the position of the image acquisition site is changed violently can be ensured.

Further, the method further comprises:

collecting and storing motion trail data of the tracking points;

generating a motion prediction algorithm for expressing the motion rule of the tracking position point and/or a motion relation model for reflecting the corresponding relation between the motion states of the tracking position point based on the motion trail data;

acquiring motion trail data of the tracking point at the current moment, and predicting and outputting a pre-judging point based on the motion prediction algorithm and/or the motion relation model;

and adjusting the space vector of each imaging path based on the prejudgment site to ensure that each imaging path passes through the image acquisition site.

Through the technical scheme, the position of the tracking point at the next moment can be pre-judged and output in advance based on the position and the motion track of the tracking point at the current moment, so that the control quantity can be output in advance to adjust the space vector of the imaging path, and the imaging is more timely and accurate.

In order to realize the collection of joint dynamic image, this application has still provided a joint dynamic image collection system, includes:

the image acquisition assembly comprises an image acquisition controller, a plurality of groups of ray sources and detectors which are arranged in pairs, a plurality of imaging paths are formed respectively, and a plurality of groups of image data are acquired and output;

the position adjusting assembly comprises a mounting bracket for mounting the ray sources and the detectors and adjusting pieces for adjusting the positions of the ray sources and the detectors of each group;

the position control assembly comprises a marking piece, a position detection piece and a position control piece, wherein the marking piece is arranged on an imaging object and used for marking an image acquisition site, the position detection piece is used for detecting and outputting position information of the marking piece, and the position control piece is used for generating a position adjusting signal based on a position detection signal output by the position detection piece;

the position control component receives and responds to the position detection signal to generate a position adjusting signal and outputs the position adjusting signal to the position adjusting component, and the position adjusting component receives and responds to the position adjusting signal to control the positions of the ray sources and the detectors in each group.

By the technical scheme, the image acquisition sites, namely the joint bone tissues, can be subjected to image acquisition from different angles, and the three-dimensional image and the three-dimensional dynamic image of the acquired object can be generated based on the acquired image data in the later period, so that the dynamic function analysis of the bone joints is facilitated.

Further, the adjusting member includes:

the system comprises a plurality of groups of screw rod transmission parts, a plurality of groups of screw rod transmission parts and a plurality of sets of imaging parts, wherein each group of screw rod transmission parts are arranged oppositely in pairs and surround a set imaging area, each group of screw rod transmission parts comprises an upright post, a screw rod, a sliding block arranged on the screw rod and a servo motor driving the screw rod to rotate, and each group of the ray source and the detector are respectively arranged on two oppositely arranged sliding blocks; or

The mechanical arms are configured into a plurality of groups, each group is arranged oppositely in pairs and surrounds a set imaging area, and the ray source and the detector are respectively arranged on the clamping ends of the two oppositely arranged mechanical arms;

and the motion control part is configured to be in control connection with the servo motor or the mechanical arm, and receives and responds to the position adjusting signal to output a control signal to control the servo motor or the mechanical arm to act.

Through the technical scheme, the positions of the ray source and the detector, particularly the horizontal height position can be conveniently adjusted to form different imaging paths aiming at different image acquisition sites.

Further, the position adjustment assembly further includes an angle adjustment member for adjusting an angle formed between the respective imaging paths, the angle adjustment member including:

the circular ring bases are configured into a plurality of circular ring bases which are coaxially and rotatably arranged, and the vertical columns of the mechanical arms or the screw rod transmission pieces of each group are respectively and fixedly arranged on the circular ring bases;

the rotary driving part is configured into a plurality of rotary motors and rotary controllers thereof, the rotary motors are used for driving the circular ring bases to rotate around the axes of the rotary motors, each rotary motor is in transmission connection with the corresponding circular ring base, and the rotary controllers receive and respond to the position adjusting signals and output control signals to control the rotary motors to act.

Through the technical scheme, the angle formed between the imaging paths can be changed conveniently.

Further, the ray source is configured as an X-ray source, and the detector is configured as a dynamic flat panel detector matched with the X-ray source;

the image acquisition controller is respectively connected with the X-ray source and the detector in a control way and controls the imaging actions of the X-ray source and the detector.

Further, the marker comprises a shielding piece, an RFID positioning label, a heat source piece or a combination thereof which is positioned between the ray source and the detector;

the position detection piece comprises the detector, the RFID identifier or the thermal imager and outputs a position detection signal;

the position control includes:

the coordinate generating module is configured to be in signal connection with the position detection piece, receive the position detection signal and generate mark coordinate data of the mark piece in a set imaging area;

the imaging path storage module is configured to be used for storing space vector data of an imaging path corresponding to each mark coordinate data in an associated manner and position coordinate data of an image acquisition assembly corresponding to the space vector data;

and the motion instruction generation module is configured to be in signal connection with the coordinate generation module and the imaging path storage module, receive the marking coordinate data, acquire position coordinate data of the corresponding image acquisition assembly and generate the position adjusting signal.

Through the technical scheme, the tracking locus, namely the position of the marker can be quickly and accurately captured, an accurate position adjusting signal is generated, and the precision of image acquisition is improved.

Further, the image acquisition controller is configured with:

the change rate calculation module is configured to be in signal connection with the position detection piece, receive the position detection signal and calculate and output position change rate data of the marker;

the frequency storage module is configured for storing the position change rate data and the corresponding image acquisition frequency data in an associated manner;

the frequency control module is configured to be electrically connected with the change rate calculation module and the frequency storage module, receive the position change rate data of the marker and search and output corresponding image acquisition frequency data;

and the trigger controller is configured to be in control connection with the ray source and the detector and in signal connection with the frequency control module, receive the image acquisition frequency data and output a trigger signal with set frequency to trigger the ray source to act.

Through the technical scheme, the image acquisition controller can change the trigger frequency of the ray source according to the position change rate of the marking piece, so that the image of the image acquisition site can be effectively captured when the marking piece, namely the imaging object, is in a motion state, and the imaging quality is ensured.

Further, the position control member is provided with:

the track generation module is configured to be in signal connection with the position detection piece, receive the position detection signal and generate and store motion track data of the marking piece;

the track pre-judging algorithm generating module is configured to be in data connection with the track generating module, receive the motion track data, and generate and store a motion predicting algorithm for expressing the motion rule of the marker;

the first track pre-judging module is configured to be in data connection with the track pre-judging algorithm generating module and the track generating module, receive motion track data of the marker at the current moment, and calculate and output a pre-judging point signal of the position of the marker at the next moment according to the motion prediction algorithm;

the position control element is in data connection with the first track prejudging module, receives the prejudging point signal and generates the position adjusting signal.

According to the technical scheme, the motion track of the marker can be generated based on the collected position detection signal of the marker, the motion prediction algorithm for the imaging object is calculated and generated based on the motion track, the motion track of the marker in the future set time can be predicted based on the motion prediction algorithm and the motion track of the current moment, the position adjusting signal output by the position control piece has an advance, the response time of the position adjusting assembly is offset, the position of an imaging path can be changed along with the motion of the marker, and the imaging quality of an image is improved.

Further, the position control member is provided with:

the relation model generation module is configured to be in data connection with the track generation module, receive the motion track data and generate and store a motion relation model for reflecting the incidence relation among the motion states of the marker based on the motion track data;

the second track pre-judging module is in signal connection with the position detection part and/or the track generating module, receives the position detection signal and/or the motion track data, and outputs a pre-judging point signal of the position of the marker at the next moment according to the motion relation model;

the position control element is in data connection with the second track prejudging module, receives the prejudging point signal and generates the position adjusting signal.

According to the technical scheme, the motion relation model of the motion rule of the marker is obtained based on the analysis of the motion track data of the marker, and the motion state of the marker at the next moment can be pre-judged based on the motion relation model and the motion state of the marker at the current moment, so that the position adjusting signal output by the position control piece has the advance, the position of the imaging path can be changed along with the motion of the marker, and the imaging quality of an image is improved.

Based on the joint dynamic image acquisition device, the application also provides a joint dynamic image acquisition and generation system, which comprises the joint dynamic image acquisition device; and

the three-dimensional image generation unit is configured to receive the multiple groups of image data output by the joint dynamic image acquisition device and generate three-dimensional image data based on a three-dimensional imaging algorithm;

and the dynamic image generating unit is configured to receive the three-dimensional image data and generate a three-dimensional dynamic image based on a dynamic imaging algorithm, and/or receive the image data and generate a three-dimensional dynamic image based on the three-dimensional dynamic image generating method.

According to the technical scheme, the image acquisition device acquires accurate two-dimensional image data, and then the three-dimensional image generation unit generates a corresponding three-dimensional image, so that a continuous three-dimensional dynamic image is finally obtained.

Further, the joint dynamic image acquisition and generation system further comprises an angle acquisition unit for acquiring an optimal imaging angle between the imaging paths, and the angle acquisition unit comprises:

the imaging quality judging module is in data connection with the three-dimensional image generating unit, receives the three-dimensional image data, judges the image quality of the three-dimensional image based on a set algorithm and outputs image quality data;

the preset angle output module is configured to be in control connection with a position control assembly in the joint dynamic image acquisition device and output preset imaging angle data to adjust angles formed among all imaging paths;

and the imaging angle correction module is configured to be in data connection with the imaging quality judgment module, acquire image quality data corresponding to each preset imaging angle, judge optimal imaging angle data and output the optimal imaging angle data to the position control assembly.

By the technical scheme, the included angle between the imaging paths can be adjusted according to the imaging image quality, the optimal imaging angle is finally obtained, and the dynamic three-dimensional image generated in the later stage is more accurate.

A computer-readable storage medium having loaded thereon a computer program for implementing the joint dynamic image generation method as described above.

By the technical scheme, the method can be applied to the positioning operation of the imaging object in the set three-dimensional reference space coordinate system, and is convenient to popularize and use.

By the technical scheme, the joint dynamic image generation method can be applied to an image acquisition and generation system with related hardware conditions, and the method is convenient to popularize.

Compared with the prior art, the invention has the following beneficial effects:

(1) the method comprises the steps of acquiring actual image data of an imaging object from a plurality of imaging paths, generating virtual image data according to a three-dimensional static model of the imaging object, determining the position and the posture of the three-dimensional static model by comparing the actual image data with the virtual image data, and generating a three-dimensional dynamic image by utilizing the position and posture data at the later stage, wherein the positioning is convenient and efficient;

(2) acquiring image data of a set image acquisition site from a plurality of angles, and then converting and splicing the images through a three-dimensional imaging algorithm to form a continuous three-dimensional dynamic image, thereby realizing dynamic tracking of the image acquisition site and facilitating dynamic function analysis of bone joints;

(3) the working state of each imaging path is set to be alternately triggered, so that the interference between two adjacent imaging paths is effectively reduced, and the imaging quality of an image acquisition site is improved;

(4) the image acquisition frequency of each imaging path is changed by capturing and judging the movement speed of the imaging object, so that the imaging device can capture rapidly-changed images, and three-dimensional dynamic images generated in the later period are more accurate;

(5) the motion state of the imaging object is analyzed to generate the motion rule of the imaging object, so that the image acquisition device can pre-judge the position of the set image acquisition site in advance, each imaging path can accurately penetrate through the set image acquisition site, and the accuracy of image data is ensured.

Drawings

FIG. 1 is a schematic overall flow chart of the imaging subject positioning method of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for calculating and comparing similarity between virtual image data and actual image data according to the present invention;

FIG. 3 is a schematic overall flow chart of the method of the present invention;

FIG. 4 is a schematic diagram of a method of varying image acquisition frequency based on the rate of change of position of a tracking location;

FIG. 5 is a schematic diagram of a method for pre-adjusting imaging path positions based on a tracking point trajectory;

FIG. 6 is a schematic diagram of a method of time-interleaved control during image acquisition;

FIG. 7 is a schematic diagram of a method for obtaining an optimal imaging angle between imaging paths;

FIG. 8 is a schematic diagram showing the connection of the whole functional modules of the joint dynamic image acquisition device;

FIG. 9 is a functional block diagram of a position control assembly and a position adjustment assembly;

FIG. 10 is a block diagram of a position control with tracking site anticipation function;

FIG. 11 is a schematic diagram of a frame of a position control device with tracking position anticipation function (II);

FIG. 12 is a functional block diagram of an image acquisition controller;

FIG. 13 is a schematic structural diagram of a joint dynamic image acquisition device;

FIG. 14 is a schematic structural diagram of a joint dynamic image acquisition device (with parts omitted for clarity);

fig. 15 is a functional framework diagram (with an angle acquisition unit) of the joint dynamic image acquisition system.

Reference numerals: 100. an image acquisition component; 110. an image acquisition controller; 111. a rate of change calculation module; 112. a frequency storage module; 113. a frequency control module; 114. triggering a controller; 120. a radiation source; 130. a detector; 200. a position adjustment assembly; 210. a screw rod transmission part; 211. a column; 212. a screw rod; 213. a slider; 214. a servo motor; 215. a transmission rod; 220. a mechanical arm; 230. a motion control member; 240. an angle adjusting member; 241. a circular ring base; 242. rotating the driving member; 300. a position control assembly; 310. a marker; 320. a position detecting member; 330. a position control member; 331. a coordinate generation module; 332. an imaging path storage module; 333. a motion instruction generation module; 334. a trajectory generation module; 335. a track prejudgment algorithm generation module; 336. a first track prejudging module; 337. a relational model generation module; 338. a second track prejudging module; 400. a system server; 410. a system control module; 420. an image processing module; 421. a three-dimensional image generation unit; 422. a moving image generation unit; 500. an angle acquisition unit; 510. an imaging quality determination module; 520. a preset angle output module; 530. and an imaging angle correction module.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.

In the field of orthopedic medical images, current joint soft tissue imaging is usually static, and in order to acquire a more accurate dynamic and three-dimensional bone joint image so as to facilitate a doctor to perform dynamic function analysis on a bone joint, the application firstly provides a method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a static image of the imaging object, and a three-dimensional dynamic image of the bone joint is generated based on position and posture data of the bone joint after accurate positioning of the bone joint is acquired based on the method.

As shown in fig. 1, a method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a still image of the imaging object mainly includes the following steps:

a1, setting a plurality of imaging paths based on an imaging object, storing the relative position relation of each imaging path, and acquiring actual image data corresponding to the imaging object captured by each imaging path;

a2, establishing a three-dimensional reference space coordinate system, generating a three-dimensional static model according to the imaging object, and placing the three-dimensional static model at a set imaging position in the three-dimensional reference space coordinate system;

a3, passing through the imaging sites, setting a plurality of virtual imaging paths according to the relative position relationship, and acquiring virtual image data corresponding to each virtual imaging path;

a4, calculating and comparing the similarity of the virtual image data and the actual image data:

if the similarity does not meet the expectation, the position of the imaging position point of the imaging object in the three-dimensional reference space coordinate system is adjusted by utilizing an optimization operator, new virtual image data are obtained and generated based on the new imaging position point, and the newly generated and acquired virtual image data are compared with the actual image data until the similarity of the two meets the expectation.

In step a1, the imaging path is determined by two points and one line based on the positions of the source 120 and the detector 130 arranged in pairs. The relative position relation of each imaging path comprises an angle relation and a position distance relation formed between each imaging path, and the position relation can be uniquely determined in a set three-dimensional reference space coordinate system.

In step A1, actual image data is acquired by alternating exposures of the radiation source 120 and the detector 130 located in multiple imaging paths. Due to the cross interference of the radiation sources 120 on each imaging path, the image data acquired by each imaging path can be clearer by adopting the alternate exposure.

In step a2, a three-dimensional reference space coordinate system is established, which is mainly used to define the position coordinates of the three-dimensional static model to be generated. The three-dimensional static model of the imaging object can be obtained through photoelectric scanning or other modes, and can also be obtained through fitting a plurality of two-dimensional images with definite imaging angle relations through a set algorithm.

In the step a4, the calculating and comparing the similarity between the virtual image data and the actual image data includes, as shown in fig. 2:

a41, setting a set number of image feature parameters in the actual image data;

a42, establishing an image characteristic parameter similarity comparison algorithm;

a43, searching the image characteristic parameters in the virtual image data, comparing, and outputting similarity based on the comparison result and the comparison algorithm.

The image characteristic parameters comprise the shape and size of the image, or the shape and size of a local image selected from the image, or the shape, size and relative position relationship of a plurality of points in the image.

In practice, the step a42 may use an algorithm such as a pixel gray scale comparison method to determine the similarity according to the comparison result.

In the step a4, the optimization operator is used to adjust not only the position of the imaging point of the imaging object in the three-dimensional reference space coordinate system, but also the pose of the imaging object.

The method acquires virtual image data acquired from a set angle based on a three-dimensional static model of an imaging object, compares the virtual image data with actual image data acquired from an actual imaging action, and if the virtual image data and the actual image data are the same, indicates that the position of the three-dimensional static model at the moment is consistent with the position of the actual imaging object, thereby realizing the accurate positioning of the imaging object.

After the accurate positioning of the imaging object is obtained, the present application further provides a three-dimensional dynamic image generation method, which mainly includes:

b1, acquiring a three-dimensional static model of the imaging object;

b2, acquiring actual image data of the imaging object captured on the set imaging path at the current moment;

b3, determining the position and posture of the imaging object in the three-dimensional reference space coordinate system at the current moment by using the method for generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the three-dimensional static image of the imaging object as described above;

and B4, according to the control time sequence when the imaging object is imaged, continuously generating and outputting the position and the posture of the imaging object, and obtaining a three-dimensional dynamic image of the imaging object.

Based on the technical scheme, the three-dimensional dynamic image can be obtained according to the two-dimensional actual image data obtained by continuous exposure sampling, and the dynamic analysis of the imaging object is facilitated.

Based on the method, in order to acquire the continuous dynamic three-dimensional image of the bone joint, the application also provides a joint dynamic image generation method.

In the first embodiment, as shown in fig. 3, the method mainly includes the following steps:

c1, setting an image acquisition site and setting at least two imaging paths passing through the image acquisition site;

c2, respectively acquiring image data corresponding to each imaging path;

c3, generating the three-dimensional moving image of the imaging object based on the three-dimensional moving image generating method according to the image data captured by each imaging path.

The joint dynamic image generation method is mainly based on a three-dimensional static model of the existing bone joint, the position and the posture of the bone joint are accurately positioned by comparing the difference between virtual image data and actual image data, and finally the three-dimensional dynamic image of the bone joint is obtained according to an exposure time sequence.

In the second embodiment, the method mainly comprises the following steps:

d1, setting an image acquisition site and setting at least two imaging paths through the image acquisition site;

d2, respectively acquiring image data corresponding to each imaging path;

d3, generating a three-dimensional image corresponding to the image acquisition site based on a three-dimensional imaging algorithm according to the angle formed between the imaging paths and the acquired image data;

and D4, continuously acquiring the generated three-dimensional images within a set time period, and generating three-dimensional dynamic images based on a dynamic imaging algorithm.

In the above steps C1 and D1, the image capturing position generally refers to a position where an image is to be captured, and the image capturing position may be a region or a position, such as a bone joint region of a human body, according to different imaging modes.

The imaging path is a linear image acquisition path formed between the radiation source 120 and the detector 130 during image acquisition, for example, the X-ray source 120 and the dynamic flat panel detector 130 are used to realize unidirectional image acquisition of a bone joint, and the acquired image is a two-dimensional plane image. In the embodiment of the present application, for convenience of description and illustration of the drawings, the number of the imaging paths is preferably two, and in practical applications, the number may be set to be multiple as needed.

In step D3, the image data for the same image acquisition site acquired from multiple directions by using multiple imaging paths can be converted into three-dimensional images by three-dimensional modeling software.

In the step D4, the three-dimensional images continuously acquired and generated within the set time period are played according to the set frame frequency, so that the three-dimensional dynamic images of the image acquisition sites can be obtained, and dynamic tracking of the image acquisition sites is further achieved.

Since the position of the image capturing site may change during the image capturing process, in order to enable the imaging path to always pass through the set image capturing site, the following description will be made only by taking the second embodiment as an example, and it should be noted that the following method steps may also be adopted in the first embodiment.

The joint dynamic image generation method further includes:

d11, setting at least one tracking point in the image collection point or its surrounding;

and D12, adjusting the space vector of each imaging path based on the tracking position to ensure that each imaging path passes through the image acquisition position.

Since the position of the image acquisition site is constantly changed during the image acquisition process, in order to ensure that the imaging path passes through the image acquisition site, the spatial vector of the imaging path, i.e., the direction, position and coordinates of the imaging path in the set imaging space, needs to be adjusted. Since the image collection site is a bone joint or other region, it is obviously not directly available as a site for positioning, and therefore, in the step D11, at least one tracking site is disposed at or around the image collection site, and the tracking site is required to have good identifiability in practice, so that the relevant detection device can quickly and accurately identify and position the tracking site, and specifically, a heat source element, an RFID positioning tag, or a positioning guide wire similar to that in a tumor resection operation may be used.

Through the technical scheme, the image data can be obtained from the set angle by each imaging path when the position of the image acquisition site is constantly changed, and the accuracy of later-stage three-dimensional imaging is ensured.

In the actual image acquisition process, because the object of image acquisition is bone joint tissue or other in a motion state, the degrees of motion intensity of different objects are different, namely, the position change rates of the set image acquisition sites in a three-dimensional space are greatly different. In order to ensure the imaging accuracy of the image when the position of the image acquisition site is greatly changed, in the embodiment of the present application, as shown in fig. 4, the joint dynamic image generation method further includes:

d120, collecting real-time position data of the tracking position;

d121, calculating and generating the position change rate of the tracking locus in a set time period;

d122, establishing an incidence relation between the position change rate of the tracking point and the image acquisition frequency of each imaging path;

and D123, adjusting the image acquisition frequency of each imaging path in real time based on the incidence relation and the position change rate of the tracking position.

In the above steps D120-D123, a three-dimensional coordinate system corresponding to the imaging space is first established in the processing system, and then the position data of the tracking point is converted into the marker coordinate data, and the change rate of the position of the tracking point can be obtained by analyzing the change of the marker coordinate data at two adjacent moments. And then, establishing an incidence relation between the position change rate and the image acquisition frequency, and further, when the position change rate of the set image acquisition site is accelerated, the image acquisition frequency of each imaging path can be correspondingly increased to the set frequency, so that the imaging precision is ensured.

In practice, since the position adjustment of the detector 130 and the radiation source 120 at the two ends of the imaging path requires response time, when the actual position of the image acquisition site changes, if the space vector change of the imaging path does not follow in time, the imaging quality of the image is obviously reduced. To this end, in the embodiment of the present application, as shown in fig. 5, the joint dynamic image generation method further includes:

d124, collecting and storing the motion trail data of the tracking points;

d125, generating a motion prediction algorithm for expressing the motion rule of the tracking position point and/or a motion relation model for reflecting the corresponding relation between the motion states of the tracking position point based on the motion trail data;

d126, acquiring motion trail data of the tracking point at the current moment, and predicting and outputting a pre-judging point based on a motion prediction algorithm and/or a motion relation model;

and D127, adjusting the space vector of each imaging path based on the pre-judging point, and ensuring that each imaging path passes through the image acquisition point.

According to the technical scheme, the position of the tracking point at the current moment and the motion track can be pre-judged and output in advance the position of the tracking point at the next moment, so that the control quantity can be output in advance to adjust the space vector of the imaging path, and the imaging is more timely and accurate.

In practical applications, since a plurality of imaging paths are installed around a set imaging space, the detection result of each detector 130 is easily interfered by the radiation source 120 in the adjacent imaging path, and in order to eliminate or reduce the above interference, in this embodiment of the present application, as shown in fig. 6, the joint dynamic image generation method further includes:

d310, calculating a time length value required by each imaging path to finish image acquisition and imaging;

d311, calculating and generating a time difference value of starting imaging action of each imaging path based on the time length value;

and D312, controlling the imaging action of each imaging path in a set time period based on the time difference.

Through the technical scheme, the imaging action time of each imaging path can be arranged more accurately, mutual interference of each imaging path in the imaging action is avoided, and the accuracy of the imaging result is ensured.

In the step D30, the imaging time required for each imaging path depends on the specific device, and the time values required for the imaging path acquisition and imaging can be known by calculating the response operation time of the radiation source 120 and the detector 130.

In order to reduce the interference, the imaging action time of each imaging path is set at intervals, for example, the imaging actions of two imaging paths are set in an alternate triggering mode.

It should be noted that, in general, the setting of the time difference in step D31 described above should further satisfy the requirement of image acquisition frequency, such as the requirement of image acquisition frequency in step D123, that is, there is an upper limit for the time difference between two acquisition and imaging actions of the same imaging path.

In practical applications, different imaging objects, such as knee joints and cervical joints of different patients, have different corresponding optimal imaging angles, and in order to obtain optimal image data and generate a more accurate three-dimensional image, as shown in fig. 7, the method in this application further includes:

d320, adjusting angles formed among all the imaging paths to generate corresponding three-dimensional images under all angle conditions;

d321, judging and generating image quality data of the three-dimensional image, and determining the optimal imaging angle among all the imaging paths according to the image quality data;

and D322, completing the three-dimensional image acquisition and generation actions required by the three-dimensional dynamic image based on the optimal imaging angle.

In the embodiment of the application, two imaging paths are adopted, the angle formed between the two imaging paths in the initial state is 90 degrees, and then the included angle between the two imaging paths is gradually adjusted according to the set angle. The image quality data in step D321 may be obtained by image recognition software, such as determining the image quality based on the sharpness of some key image sites. Based on the technical scheme, the optimal imaging path angle for different image acquisition sites can be quickly found, and the quality of subsequent static and dynamic three-dimensional images is further ensured.

In order to realize the acquisition of the dynamic images of the joints, the present application further provides a dynamic image acquisition device of the joints, as shown in fig. 8, which mainly includes: an image acquisition assembly 100, a position adjustment assembly 200, and a position control assembly 300.

Image acquisition assembly 100 includes an image acquisition controller 110 and a plurality of sets of paired radiation sources 120 and detectors 130. In this embodiment, the radiation source 120 is configured as an X-ray source 120, and the detector 130 is configured as a dynamic flat panel detector 130 matched with the X-ray source 120, so as to realize imaging of bone joint tissues. The image acquisition controller 110 is electrically connected to the control ends of the X-ray source 120 and the detector 130, respectively, and is configured to control imaging actions of the X-ray source 120 and the detector 130, such as triggering, stopping, and storing data. The image acquisition controller 110 may be implemented by a single chip or an FPGA control module.

Multiple imaging paths are correspondingly formed between each group of radiation sources 120 and the detector 130, and are used for acquiring and outputting multiple groups of image data.

The position control assembly 300 is mainly used to control the real-time positions of the radiation sources 120 and the detector 130, so as to adjust the space vector data between the imaging paths.

In detail, as shown in fig. 9, the position control assembly 300 includes a marker 310 disposed on an imaging object for marking an image capturing site, a position detecting member 320 for detecting and outputting position information of the marker 310, and a position control member 330 for generating a position adjusting signal based on a position detecting signal output from the position detecting member 320. Wherein the position detector 320 detects the position of the marker 310 and outputs the position detection signal, the position controller 330 receives and responds to the position detection signal to generate a position adjustment signal and outputs the position adjustment signal to the position adjustment assembly 200, and the position adjustment assembly 200 receives and responds to the position adjustment signal to control the position of each set of the radiation source 120 and the detector 130.

In the embodiment of the present application, the marker 310 includes a shield, an RFID tag, or a heat source located between the radiation source 120 and the detector 130. The above-mentioned blinder can be implemented by using a positioning guide wire similar to that in the tumor resection operation, and can also directly use the joint tissue of the imaging object itself as the marker 310. The heat source member may be implemented by a heat patch which generates heat within a predetermined time and has a specific shape, and in a specific embodiment, the marker 310 may be used in combination, such as the shielding member and the heat source member may be used in combination, and a patch which has a specific shape, can shield X-rays and can generate heat is used to facilitate the identification and tracking of the position detection member 320 in a later period.

Corresponding to the above-described arrangement of the marker 310, the position detecting member 320 includes the detector 130, the RFID identifier, or the thermal imager corresponding to the radiation source 120, for outputting a position detecting signal indicating the position of the marker 310.

In practical applications, the position control part 330 may be implemented by an FPGA control module or a single-chip microcomputer control module, and includes a coordinate generating module 331, an imaging path storing module 332, and a motion instruction generating module 333.

The coordinate generating module 331 is configured to be in signal connection with the position detecting member 320, receive the position detecting signal, and generate marker coordinate data of the marker 310 in a set imaging region. In practical applications, the coordinate generating module 331 is configured as a positioning program, and first establishes a three-dimensional coordinate system based on a set imaging space, then detects the position of the marker 310 in the three-dimensional space by using the position detecting element 320, such as a thermal imager, and finally outputs the marker coordinate data based on the three-dimensional coordinate system.

The imaging path storage module 332 is configured to store the space vector data of the imaging path corresponding to the coordinate data of each marker and the position coordinate data of the image capturing assembly 100 corresponding to the space vector data in association. The imaging path storage module 332 may be implemented by a storage module based on a RAM memory chip as a core.

The motion instruction generating module 333 is configured to be in signal connection with the coordinate generating module 331 and the imaging path storing module 332, receive the mark coordinate data, obtain the position coordinate data of the corresponding image capturing component 100, and generate a position adjusting signal after obtaining the position coordinate data.

The position adjustment assembly 200 includes a mounting bracket for mounting the radiation source 120 and the detector 130 and an adjustment member for adjusting the position of each group of radiation source 120 and the detector 130.

As shown in fig. 13 and 14, in one embodiment, the adjustment member includes a screw drive 210 and a movement control member 230 thereof. The screw drivers 210 are arranged in multiple sets, and each set of screw drivers 210 is disposed opposite to each other in pairs and surrounds a set image forming area. As shown in fig. 13, in the embodiment of the present application, the screw rod drivers 210 are arranged in two groups, and when image acquisition is performed, an imaging object is located in the set imaging area. Each group of the screw rod transmission members 210 includes a vertical column 211, a screw rod 212, a sliding block 213 disposed on the screw rod 212, and a servo motor 214 driving the screw rod 212 to rotate, and each group of the radiation source 120 and the detector 130 are detachably mounted on two sliding blocks 213 disposed opposite to each other via bolts. In practical applications, the upright 211 and the mounting bracket can be functionally reused.

The motion control member 230 is configured to be in control connection with the servo motor 214, receive and respond to the position adjusting signal output by the motion command generating module 333, and output a control signal to control the action of the servo motor 214.

In a specific embodiment, as shown in fig. 14, in order to realize the synchronous movement of the sliding blocks 213 in each set of screw rod transmission members 210, two pairs of screw rods 212 arranged in the same set of screw rod transmission members 210 are in transmission connection through a transmission rod 215 via a worm gear structure, an output shaft of the servo motor 214 is in transmission connection with the transmission rod 215 via a reduction gear set (simplified and omitted in the figure), and the transmission rod 215 transmits the rotation quantity output by the servo motor 214 to the two screw rods 212 in equal quantity, thereby realizing the synchronous up-and-down movement of the radiation source 120 and the detector 130.

In another embodiment, the adjusting member includes a plurality of sets of mechanical arms 220 and a motion control member 230 thereof, each set of mechanical arms 220 is disposed in pairs and surrounds a set imaging region, and the radiation source 120 and the detector 130 are disposed on the two opposing ends of the mechanical arms 220 respectively.

The motion control 230 is configured to be in control connection with the robotic arm 220, receive and output control signals to control the motion of the robotic arm 220 in response to the position adjustment signals.

The above technical solution can adjust the positions, especially the three-dimensional spatial positions, of the radiation source 120 and the detector 130 more flexibly to form different imaging paths for different image acquisition sites.

In the embodiment of the present application, the position adjustment assembly 200 further comprises an angle adjustment member 240 for adjusting an angle formed between the imaging paths, wherein the angle adjustment member 240 comprises a circular ring base 241 and a rotary driving member 242.

In practical applications, the ring base 241 may be configured to be a plurality of and coaxially rotate according to requirements. The number of the two is set in the embodiment of the application, as shown in fig. 14. The upright posts 211 of each set of mechanical arms 220 or the screw rod transmission member 210 are respectively and fixedly mounted on each circular ring base 241.

The rotary driving member 242 is configured as a plurality of rotary motors and rotary controllers thereof for driving the respective ring bases 241 to rotate around their axes. The above-described rotary motor employs the servo motor 214 to achieve precise adjustment of the rotation angle. In a specific embodiment, a rotating gear is coaxially arranged below each disk, an output shaft of each rotating motor is in transmission connection with the corresponding ring base 241 through the gear, and the rotating controller receives and outputs a control signal to control the rotating motor to act in response to the position adjusting signal. The number of teeth of the above-mentioned rotating gear can be set up according to the required accuracy of turned angle, for example, the minimum variable of turned angle sets up to 0.5 °, then can be provided with 720 with the number of teeth of rotating gear, or reach equivalent effect through a plurality of gear drive, just can be convenient change the angle that becomes between each imaging path based on above-mentioned scheme.

In order to ensure the imaging quality, as shown in fig. 12, a change rate calculating module 111, a frequency storing module 112, a frequency controlling module 113, and a triggering controller 114 are further configured in the image acquisition controller 110, because the movement speeds of the imaging objects in the actual application are different. The change rate calculating module 111 is configured to be in signal connection with the position detecting member 320, receive the position detecting signal output by the position detecting member 320, and calculate and output the position change rate data of the marker 310. The position change rate may be set to a sum of distances that the marker 310 moves in a unit time, and a larger sum of the distances indicates a higher speed at which the marker 310 moves; the position change rate may be set to the sum of the number of times the movement direction of the marker 310 is changed per unit time.

The frequency storage module 112 is configured to store each position change rate data and the corresponding image acquisition frequency data in an associated manner, and the image acquisition frequency data and the position change rate data are stored in the corresponding memories through a two-dimensional data table, so that the image acquisition frequency data and the position change rate data are convenient and quick to call. The frequency control module 113 is configured to be in data connection with the change rate calculation module 111 and the frequency storage module 112, receive the position change rate data of the marker 310, and search and output corresponding image acquisition frequency data in the frequency storage module 112.

The trigger controller 114 is configured to be in control connection with the radiation source 120 and the detector 130 and in signal connection with the frequency control module 113, receive the image acquisition frequency data and output a trigger signal with a set frequency, and trigger the radiation source 120 to operate. The trigger controller 114 may be implemented by a single chip microcomputer control module or a trigger circuit.

Based on the above technical solution, the image acquisition controller 110 may change the trigger frequency of the radiation source 120 according to the position change rate of the marker 310, and further, when the marker 310, i.e. the imaging object, is in a moving state, the image of the image acquisition site may also be effectively captured, and if the moving frequency of the imaging object is faster, the image acquisition frequency is higher, thereby ensuring the imaging quality.

In practical applications, after the position adjustment assembly 200 receives the position adjustment signal, it often takes a while before the radiation source 120 and the detector 130 can be adjusted to the set positions, i.e. the whole control adjustment process requires a response time. Due to the above response time, when the imaging object, such as a bone joint, moves rapidly in the set imaging space, the imaging path cannot move next to the marker 310, and the imaging quality is degraded.

For this purpose, in one embodiment, as shown in fig. 10, the position control member 330 is configured with a trajectory generation module 334, a trajectory anticipation algorithm generation module 335, and a first trajectory anticipation module 336.

The trajectory generation module 334 is configured as a program module loaded in the position control member 330, and is in signal connection with the position detection member 320, receives the position detection signal, generates the motion trajectory data of the marker 310, and sends the motion trajectory data to a memory connected with the position control member 330 for storage.

The trajectory prediction algorithm generating module 335 is also configured as a program module loaded in the position control device 330, and is in data connection with the trajectory generating module 334, receives the motion trajectory data, and generates and stores a motion prediction algorithm for expressing the motion law of the marker 310. In practical application, the motion trajectory data is actually a data array, and the fluctuation and change rule of the data array can be obtained by using a specific fitting algorithm.

The first trajectory pre-judging module 336 is configured as a data processing program, which is in data connection with the trajectory pre-judging algorithm generating module 335 and the trajectory generating module 334, receives the motion trajectory data of the marker 310 at the current time, and calculates and outputs a pre-judging point signal of the position of the marker 310 at the next time according to the motion prediction algorithm.

The position control 330 is in data connection with the first trajectory anticipation module 336, receives the anticipation position point signal, and generates a position adjustment signal. In this embodiment, the pre-determined point signal may be regarded as a position detection signal after data processing, and is output to the coordinate generating module 331 to finally obtain a position adjustment signal.

According to the technical scheme, the motion track of the marker 310 can be generated based on the acquired position detection signal of the marker 310, the motion prediction algorithm for the imaging object is calculated and generated based on the motion track, the motion track of the marker 310 in the future set time can be predicted based on the motion prediction algorithm and the motion track of the current moment, the position adjusting signal output by the position control part 330 has an advance, the response time of the position adjusting assembly 200 is offset, the imaging path can change the position following the motion of the marker 310, and the imaging quality of the image is improved.

In another embodiment, as shown in fig. 11, the position control member 330 is configured with a trajectory generation module 334, a relationship model generation module 337, and a second trajectory anticipation module 338.

The trace generating module 334 is configured to be in signal connection with the position detecting element 320, receive the position detecting signal, and generate and store the motion trace data of the marker 310. The relationship model generation module 337 is configured as an algorithm program, is in data connection with the trajectory generation module 334, receives and stores the motion relationship model for reflecting the association relationship between the motion states of the marker 310 based on the motion trajectory data, and the motion relationship model includes multiple data sets in related settings.

Since the motion relation model may be a single point, that is, an association relation between a position detection signal and a certain motion trajectory data, or an association relation between a certain motion trajectory data and a certain motion trajectory data, the first trajectory pre-judging module 336 and the second trajectory pre-judging module 338 are in signal connection with both the position detection device 320 and the trajectory generation module 334, or in signal connection with one of them, receive the position detection signal and/or the motion trajectory data, and output a pre-judged point signal of a position of the marker 310 at the next time according to the motion relation model. The position controller 330 is in data connection with the first and second trajectory anticipation modules 338, and receives the anticipation position signal to generate the position adjustment signal.

According to the technical scheme, the motion relation model of the motion rule of the marker 310 is obtained based on the analysis of the motion track data of the marker 310, and the motion state of the marker 310 at the next moment can be pre-judged based on the motion relation model and the motion state of the marker 310 at the current moment, so that the position adjusting signal output by the position control part 330 has an advance, the position of the imaging path can be changed following the motion of the marker 310, and the imaging quality of the image is improved.

Based on the above joint dynamic image acquisition device, the present application also provides a joint dynamic image acquisition and generation system, which includes the joint dynamic image acquisition device and the system server 400, wherein the system server 400 is configured with a system control module 410, an image processing module 420, and an image or instruction algorithm storage module.

The image acquisition controller 110 and the position control component 300 configured in the joint dynamic image acquisition device together form a system control module 410, which respectively performs exposure control and motion control. The image processing module 420 includes a three-dimensional image generation unit 421 and a moving image generation unit 422.

The three-dimensional image generating unit 421 is configured to receive a plurality of sets of image data output by the joint dynamic image capturing device, and generate three-dimensional image data based on a three-dimensional imaging algorithm, and in practical applications, the three-dimensional image generating unit 421 includes a program module loaded in the system server 400. The dynamic image generation unit 422 is configured to receive the three-dimensional image data, generate a three-dimensional dynamic image based on a dynamic imaging algorithm, and/or receive a plurality of sets of the image data, and generate a three-dimensional dynamic image based on the aforementioned three-dimensional dynamic image generation method.

In the image processing process, the imaging system in the embodiment of the application determines the imaging quality so as to ensure the accuracy of the three-dimensional dynamic image generated in the later period. For this purpose, as shown in fig. 15, the joint dynamic image acquisition and generation system further includes an angle acquisition unit 500 for acquiring an optimal imaging angle between the imaging paths, which specifically includes: an imaging quality determination module 510, a preset angle output module 520 and an imaging angle correction module 530.

The imaging quality determination module 510 is configured to be in data connection with the three-dimensional image generation unit 421, receive the three-dimensional image data, determine the image quality of the three-dimensional image based on a setting algorithm, and output image quality data. The image quality determination may be to determine the sharpness of some key points of the image.

The preset angle output module 520 is configured to be in control connection with the position control component 300 in the joint dynamic image acquisition device, and outputs preset imaging angle data to adjust the angle formed between the imaging paths.

The imaging angle correction module 530 is configured to be in data connection with the imaging quality determination module 510, acquire image quality data corresponding to each preset imaging angle, determine optimal imaging angle data, and output the optimal imaging angle data to the position control assembly 300.

The preset imaging angle includes an already stored imaging angle or an imaging angle temporarily generated according to image quality. If the number of the imaging paths is two, the imaging angle range between the two imaging paths is preferably 85-95 °, and then the optimal imaging angle is found in the interval according to the gradient of 0.5-1 °.

Finally, in order to apply the method for generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the static image of the imaging object to an image acquisition and generation system or device with related hardware conditions, the present application further provides a computer readable storage medium loaded with a computer program, and the computer program, when executed by a computer, implements the functions of the corresponding method embodiments as described above.

Also, a computer-readable storage medium loaded with a computer program for implementing the joint dynamic image generation method is also protected.

In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program. The computer program includes one or more computer programs. The procedures or functions according to the embodiments of the present disclosure are wholly or partially generated when the computer program is loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer program can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, optical fiber, DDL (digital subscriber line)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density DVD (digital video disc)), or a semiconductor medium (e.g., a DDD (solid state disk)), etc.

It should be noted that in the above-described embodiments, the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring that the method steps, processes, and operations be performed in the particular order discussed or illustrated, unless specifically identified as required by the set order of steps. It should also be understood that additional or alternative steps may be employed.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a static image of the imaging object is characterized in that:

2. The method of claim 1, wherein the imaging path is determined based on source and detector positions arranged in pairs;

3. The method of claim 1, wherein adjusting the imaging location of the imaging object in the three-dimensional reference space coordinate system using an optimization operator, further comprises adjusting the pose of the imaging object in the three-dimensional reference space coordinate system.

4. The method of claim 3, wherein computing the similarity of the virtual image data and the actual image data comprises:

establishing an image characteristic parameter similarity comparison algorithm;

5. A three-dimensional moving image generation method, comprising:

acquiring a three-dimensional static model of an imaging object;

determining the position and the posture of the imaging object in a three-dimensional reference space coordinate system at the current moment by utilizing the method for generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the three-dimensional static image of the imaging object as claimed in any one of claims 1 to 4;

6. A method for generating a dynamic image of a joint, comprising:

respectively acquiring image data corresponding to each imaging path;

A three-dimensional moving image is generated based on the three-dimensional moving image generating method according to claim 5 from the image data captured by each of the imaging paths.

7. The method of claim 6, further comprising:

8. The method of claim 6, further comprising:

9. The method of claim 6, further comprising:

10. The method of claim 7, further comprising:

collecting real-time position data of the tracking sites;

11. The method of claim 7, further comprising:

collecting and storing motion trail data of the tracking points;

12. A joint dynamic image acquisition device is characterized by comprising:

the image acquisition assembly (100) comprises an image acquisition controller (110), and a plurality of groups of ray sources (120) and detectors (130) which are arranged in pairs, respectively form a plurality of imaging paths, and acquire and output a plurality of groups of image data;

the position adjusting assembly (200) comprises a mounting bracket for mounting the ray sources (120) and the detectors (130) and an adjusting piece for adjusting the positions of the ray sources (120) and the detectors (130);

the position control assembly (300) comprises a marking piece (310) which is arranged on an imaging object and is used for marking an image acquisition site, a position detection piece (320) which is used for detecting and outputting position information of the marking piece (310), and a position control piece (330) which generates a position adjusting signal based on a position detection signal output by the position detection piece (320);

wherein the position detector (320) detects the position of the marker (310) and outputs the position detection signal, the position controller (330) receives and responds to the position detection signal to generate a position adjustment signal and outputs the position adjustment signal to the position adjustment assembly (200), and the position adjustment assembly (200) receives and responds to the position adjustment signal to control the position of each group of the radiation source (120) and the detector (130).

13. The apparatus of claim 12, wherein the adjustment member comprises:

the device comprises screw rod transmission pieces (210) which are configured into a plurality of groups, wherein each group of screw rod transmission pieces are arranged in pairs oppositely and surround a set imaging area, each group of screw rod transmission pieces (210) comprises an upright post (211), a screw rod (212), a sliding block (213) arranged on the screw rod (212) and a servo motor (214) driving the screw rod (212) to rotate, and each group of the ray source (120) and the detector (130) are respectively arranged on the two sliding blocks (213) which are arranged oppositely; or

The mechanical arms (220) are arranged into a plurality of groups, each group is arranged in a pairwise opposite mode and surrounds a set imaging area, and the radiation source (120) and the detector (130) are respectively arranged on the clamping ends of the two oppositely arranged mechanical arms (220);

and the motion control part (230) is configured to be in control connection with the servo motor (214) or the mechanical arm (220), receive and respond to the position adjusting signal to output a control signal to control the action of the servo motor (214) or the mechanical arm (220).

14. The apparatus of claim 13, wherein the position adjustment assembly (200) further comprises an angle adjuster (240) for adjusting an angle formed between the respective imaging paths, the angle adjuster (240) comprising:

the circular ring bases (241) are arranged in a plurality of concentric rotating modes, and the vertical columns (211) of each group of mechanical arms (220) or the screw rod transmission piece (210) are fixedly arranged on the circular ring bases (241) respectively;

the rotating driving part (242) is configured into a plurality of rotating motors for driving each circular ring base (241) to rotate around the axis of the circular ring base and a rotating controller thereof, each rotating motor is in transmission connection with the corresponding circular ring base (241), and the rotating controller receives and responds to the position adjusting signal to output a control signal to control the action of the rotating motor.

15. The apparatus of claim 12, wherein the source of radiation (120) is configured as an X-ray source (120) and the detector (130) is configured as a dynamic flat panel detector (130) that is complementary to the X-ray source (120);

the image acquisition controller (110) is respectively connected with the X-ray source (120) and the detector (130) in a control mode and controls imaging actions of the X-ray source and the detector.

16. The apparatus of claim 12, wherein the marker (310) comprises a shield, an RFID location tag, a heat source, or a combination thereof, between the source of radiation (120) and the detector (130);

the position detector (320) comprises the detector (130), an RFID identifier or a thermal imager, and outputs a position detection signal;

the position control (330) comprises:

a coordinate generating module (331) configured to be in signal connection with the position detecting member (320), receive the position detecting signal and generate marker coordinate data of the marker (310) in a set imaging region;

an imaging path storage module (332) configured to store space vector data of an imaging path corresponding to each marker coordinate data and position coordinate data of the image acquisition assembly (100) corresponding to the space vector data in association;

and the motion instruction generation module (333) is configured to be in signal connection with the coordinate generation module (331) and the imaging path storage module (332), receive the marking coordinate data, acquire position coordinate data of the corresponding image acquisition assembly (100), and generate the position adjusting signal.

17. The apparatus according to claim 12, wherein the image acquisition controller (110) is configured with:

a change rate calculation module (111) which is configured to be in signal connection with the position detection part (320), receive the position detection signal and calculate and output position change rate data of the marker (310);

a frequency storage module (112) configured to store the position change rate data and the corresponding image acquisition frequency data in association;

the frequency control module (113) is electrically connected with the change rate calculation module (111) and the frequency storage module (112), receives the position change rate data of the marker (310), searches and outputs corresponding image acquisition frequency data;

and the trigger controller (114) is connected with the radiation source (120) and the detector (130) in a control way and is in signal connection with the frequency control module (113), receives the image acquisition frequency data and outputs a trigger signal with set frequency to trigger the radiation source (120) to act.

18. The device according to claim 12, characterized in that the position control (330) has arranged therein:

the track generation module (334) is connected with the position detection part (320) in a signal mode, receives the position detection signal, and generates and stores motion track data of the marker (310);

the track pre-judging algorithm generating module (335) is configured to be in data connection with the track generating module (334), receive the motion track data, and generate and store a motion prediction algorithm for expressing the motion rule of the marker (310);

the first track pre-judging module (336) is configured to be in data connection with the track pre-judging algorithm generating module (335) and the track generating module (334), receive the motion track data of the marker (310) at the current moment, and calculate and output a pre-judging point signal of the position of the marker (310) at the next moment according to the motion prediction algorithm;

wherein the position control (330) is in data connection with the first trajectory anticipation module (336), receives the anticipation position point signal, and generates the position adjustment signal.

19. The device according to claim 12, characterized in that the position control (330) has arranged therein:

the relation model generation module (337) is in data connection with the track generation module (334), receives the motion track data and generates and stores a motion relation model for reflecting the association relation among the motion states of the marker (310) based on the motion track data;

the second track pre-judging module (338) is in signal connection with the position detecting part (320) and/or the track generating module (334), receives the position detecting signal and/or the motion track data, and outputs a pre-judging point signal of the position of the marker (310) at the next moment according to the motion relation model;

wherein the position control member (330) is in data connection with the second trajectory anticipation module (338), receives the anticipation position point signal, and generates the position adjustment signal.

20. A joint dynamic image acquisition generating system, characterized by comprising a joint dynamic image acquisition device according to any one of claims 12 to 19; and

a three-dimensional image generation unit (421) configured to receive the plurality of sets of image data output by the joint dynamic image acquisition device and generate three-dimensional image data based on a three-dimensional imaging algorithm;

a dynamic image generation unit (422) configured to receive the three-dimensional image data, generate a three-dimensional dynamic image based on a dynamic imaging algorithm, and/or receive a plurality of sets of the image data, generate a three-dimensional dynamic image based on the aforementioned three-dimensional dynamic image generation method.

21. The system according to claim 20, further comprising an angle acquisition unit (500) for acquiring an optimal imaging angle between the imaging paths, comprising:

an imaging quality determination module (510) which is configured to be in data connection with the three-dimensional image generation unit (421), receive the three-dimensional image data, determine the image quality of the three-dimensional image based on a set algorithm, and output image quality data;

the preset angle output module (520) is configured to be in control connection with a position control component (300) in the joint dynamic image acquisition device and output preset imaging angle data to adjust angles formed among all imaging paths;

and the imaging angle correction module (530) is configured to be in data connection with the imaging quality judgment module (510), acquire image quality data corresponding to each preset imaging angle, judge optimal imaging angle data and output the optimal imaging angle data to the position control assembly (300).

22. A computer-readable storage medium having loaded thereon a computer program for implementing the method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a still image of the imaging object according to any one of claims 1 to 4.

23. A computer-readable storage medium having loaded thereon a computer program for implementing the joint moving image generation method according to any one of claims 6 to 11.