CN115517692B

CN115517692B - Imaging system, control method and control device thereof

Info

Publication number: CN115517692B
Application number: CN202211490802.6A
Authority: CN
Inventors: 张全红
Original assignee: Suzhou Yimu Wanxiang Technology Co ltd
Current assignee: Suzhou Yimu Wanxiang Technology Co ltd
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2023-03-14
Anticipated expiration: 2042-11-25
Also published as: CN115517692A

Abstract

The invention relates to the technical field of system control, and provides an imaging system, a control method and a control device thereof. The imaging system includes: a body; the rotatable arm support is rotatably arranged on the machine body; the radiation source is arranged on the rotatable arm support and can generate rays; the motion component is arranged on the rotatable arm support; the image acquisition device is arranged on the moving assembly and can acquire image data formed by rays; the control device is connected with the rotatable arm support, the motion assembly and the image acquisition device and is used for controlling the rotatable arm support and/or the motion assembly to drive the image acquisition device to move according to a preset path, the preset path comprises a plurality of image acquisition positions and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions; and the control device is also used for processing the plurality of image data into the target image according to the type of the target image.

Description

Imaging system, control method and control device thereof

Technical Field

The invention relates to the technical field of system control, in particular to an imaging system, a control method and a control device thereof.

Background

In surgical applications such as orthopedics, a doctor acquires a larger visual field through a visual field imaging system, but the visual field imaging system is limited by the size of a flat panel detector in the visual field imaging system, so that the imaging visual field of the imaging system is smaller, the large-size flat panel detector is adopted, the cost is high, and the visual field imaging system is inconvenient to operate.

Disclosure of Invention

The present invention is directed to at least solving the problems of a small imaging field of view of an imaging system and inconvenient operation of the imaging system.

To this end, a first aspect of the invention is directed to an imaging system.

A second aspect of the present invention is to provide a control method of an imaging system.

A third aspect of the present invention is to provide a control apparatus of an imaging system.

A fourth aspect of the present invention is to provide a control apparatus of an imaging system.

A fifth aspect of the invention is directed to a readable storage medium.

In view of this, according to a first aspect of the present invention, there is provided an imaging system comprising: a body; the rotatable arm support can be rotatably arranged on the machine body and provided with a detection area for accommodating a target body, and the rotatable arm support can rotate around the target body; the radiation source is arranged on the rotatable arm support and can generate rays; the moving assembly is arranged on the rotatable arm support and is respectively positioned at two sides of the detection area together with the ray source, and the moving assembly can move on the rotatable arm support relatively; the image acquisition device is arranged on the motion assembly and can acquire image data formed by rays; the control device is connected with the rotatable arm support, the motion assembly and the image acquisition device and is used for controlling the rotatable arm support and/or the motion assembly to drive the image acquisition device to move according to a preset path, the preset path comprises a plurality of image acquisition positions and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions; and the control device is also used for processing the plurality of image data into the target image according to the type of the target image.

In the technical scheme, the imaging system comprises a machine body, a rotatable arm support, a ray source, a movement assembly, an image acquisition device and a control device, wherein the rotatable arm support is arranged on the machine body and is provided with a detection area for accommodating an object, the movement assembly and the ray source are arranged on the rotatable arm support and are respectively positioned on two sides of the detection area, the image acquisition device is arranged on the movement assembly, and the object is an acquisition object of the image acquisition device.

It should be noted that the control device can control the motion assembly to perform the translational motion on the rotatable arm support, and then can drive the image acquisition device to perform the translational motion on the rotatable arm support. The rotatable arm support is provided with a detection area used for containing the target body, and the control device can control the rotatable arm support to rotate around the target body, so that the moving assembly, the image acquisition device and the ray source can be driven to rotate around the target body.

Furthermore, the ray source continuously emits rays to the image acquisition device, the image acquisition device acquires image data by receiving the rays, the control device is connected with the image acquisition device, the position and the running state of the image acquisition device are controlled, and image processing can be performed on the image data acquired by the image acquisition device to obtain a target image.

Furthermore, the control device can control the motion assembly to drive the image acquisition device to translate on the rotatable arm support, and can also control the rotatable arm support to drive the image acquisition device to rotate.

Further, the control device plans a preset path of the image acquisition device, and a plurality of image acquisition positions are set on the preset path. In the operation process of the imaging system, the control device controls the rotatable arm support and/or the motion assembly to drive the image acquisition device to move according to a preset path, so that the image acquisition device sequentially passes through the image acquisition position, and when the image acquisition device reaches the image acquisition position, the control device controls the image acquisition device to acquire and store image data. After the control device controls the image acquisition device to finish moving, the image acquisition device can acquire a plurality of image data.

Further, the control device acquires a plurality of image data acquired by the image acquisition device, and performs image processing on the plurality of image data according to the type of a target image to generate the target image, wherein the target image is a large-size view image, and the type of the target image comprises a three-dimensional image and a two-dimensional image.

Further, when the type of the target image is a two-dimensional image, the control device controls the motion assembly to drive the image acquisition device to translate on the rotatable arm support, and acquires a plurality of image data through the image acquisition device, and fuses the plurality of image data into the target image.

Further, when the type of the target image is a three-dimensional image, the control device controls the moving assembly to drive the image acquisition device to move to a target position, then controls the rotatable arm support to drive the image acquisition device to rotate, acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into the target image, wherein the target position is an edge position on the moving assembly. Or the control device directly controls the rotatable arm support to drive the image acquisition device to rotate, acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into a target image.

According to the technical scheme, the imaging system acquires a plurality of image data by controlling the movement of the image acquisition device, and processes the plurality of image data into the target image based on the type of the target image, so that the large-size target image is generated by the small-size image acquisition device, the imaging view field of the imaging system is enlarged, the structural cost of the imaging system is reduced, and the operation convenience of the imaging system is improved by the automatic movement of the image acquisition device.

The imaging system according to the invention described above may also have the following additional technical features:

in the above technical solution, the preset path is a first preset path, and the first preset path is a path formed by rotating the rotatable boom around the rotation center point after the moving assembly moves to the target position.

According to the technical scheme, the imaging system enlarges the image acquisition range of the image acquisition device by limiting the first preset path of the image acquisition device, realizes acquisition of more image data through the image acquisition device, and further realizes generation of a large-size target image through the image acquisition device.

In the above technical solution, the control device is further configured to: and performing three-dimensional image processing on the plurality of image data to obtain a target image based on the type of the target image being a three-dimensional image.

According to the technical scheme, the imaging system reconstructs the image data into the three-dimensional target image through the control device, the display range of the target image is enlarged, the visual field range of the imaging system is enlarged, more image information is displayed through the three-dimensional target image, and the visual field display effect of the imaging system is improved through the three-dimensional target image.

In the above technical solution, the control device is further configured to: determining first projection data of the plurality of image data according to the plurality of image acquisition positions; performing data conversion processing on the first projection data to obtain second projection data; carrying out data mirror image processing on the second projection data to obtain third projection data; and determining a target image through a three-dimensional image reconstruction algorithm according to the third projection data.

According to the technical scheme, the imaging system converts the plurality of image data into the third projection data through the control device, and then reconstructs the third projection data into the three-dimensional target image, so that the image data in three-dimensional image processing is completed, the plurality of image data can be successfully reconstructed into the three-dimensional target image, and the visual field display effect of the imaging system is improved.

In the above technical solution, the first projection data includes a first projection angle and a first number of projection points, and the control device is further configured to: converting the first projection angle into a second projection angle, and converting the number of the first projection points into the number of the second projection points; and determining second projection data according to the number of the second projection points and the second projection angle.

According to the technical scheme, the imaging system converts the first projection data into the second projection data through the control device, so that the plurality of image data can be successfully reconstructed into the three-dimensional target image, the success rate of reconstructing the three-dimensional target image is improved, and the data information of the target image is enriched.

In the above technical solution, the calculation formula of the second projection angle θ is as follows:

；

wherein β is a first projection angle, s is a first number of projection points, D is an image acquisition distance, and γ is a projection angle parameter of the first projection data.

According to the technical scheme, the imaging system calculates the second projection angle according to the first projection angle and the number of the first projection points, the first projection data can be successfully converted into the second projection data, the accuracy of the second projection data is guaranteed, and the display effect of the three-dimensional target image is guaranteed.

In the above technical solution, the calculation formula of the second quantity t of projection points is as follows:

；

wherein s is the number of the first projection points, D is the image acquisition distance, and gamma is the projection included angle parameter of the first projection data.

According to the technical scheme, the imaging system calculates the number of the second projection points according to the first projection angle and the number of the first projection points, the first projection data can be successfully converted into the second projection data, the accuracy of the second projection data is guaranteed, and then the display effect of the three-dimensional target image is guaranteed.

In the above technical solution, the calculation formula of the third projection data p is as follows:

p(t,θ)=p(-t,θ+π)；

wherein t is the number of the second projection points, and θ is the second projection angle.

According to the technical scheme, the imaging system determines the third projection data by performing the symmetric interpolation operation on the number of the second projection points, so that the second projection data can be successfully converted into the third projection data, the integrity of the third projection data is ensured, and the reconstruction efficiency of the three-dimensional target image is improved.

In the above technical solution, the calculation formula of the target image f (x, y, z) is as follows:

；

wherein the content of the first and second substances,

and the projection data is the projection data after the filtering processing of the third projection data, U is a projection distance parameter of the third projection data, x, Y and Z are image pixel point coordinates, Y and Z are projection point coordinates of the third projection data, and beta is a projection angle of the third projection data.

According to the technical scheme, the imaging system reconstructs the third projection data into the target image, the third projection data can be successfully synthesized into the three-dimensional target image, the reconstruction efficiency of the three-dimensional target image is improved, the success rate of reconstructing the three-dimensional target image is improved, and the display effect and the display range of the target image are further improved.

In the above technical solution, the preset path is a second preset path, the second preset path is a circular path that uses the center of the initial position of the image acquisition device as a circle center and uses a preset length as a radius, and an image acquisition range in which the image acquisition device moves according to the second preset path is larger than an area of the image acquisition device.

According to the technical scheme, the imaging system limits the second preset path of the image acquisition device, the image acquisition range of the image acquisition device is expanded, more image data are acquired through the image acquisition device, and then a large-size target image is generated through the image acquisition device.

In the above technical solution, the control device is further configured to: and performing two-dimensional image processing on the plurality of image data to obtain the target image based on the type of the target image being a two-dimensional image.

According to the technical scheme, the imaging system fuses the image data into the two-dimensional target image, the display range of the target image is enlarged, the visual field range of the imaging system is enlarged, the speed of generating the target image is increased, the visual field range of the imaging system is enlarged, and the visual field imaging efficiency of the imaging system is improved.

In the above technical solution, the plurality of image data includes a first frame image and a second frame image, the first frame image is an image obtained by the image acquisition device at a first acquisition position, the second frame image is an image obtained by the image acquisition device at a second acquisition position, the first acquisition position precedes the second acquisition position on the preset path, and the control device is further configured to: determining image translation amounts of the first frame image and the second frame image; determining the image overlapping range of the first frame image and the second frame image according to the image translation amount; and performing image fusion processing on the first frame image and the second frame image according to the image overlapping range to determine a target image.

According to the technical scheme, the imaging system determines the image translation amount and the image overlapping range between the first frame image and the second frame image through the control device, the first frame image and the second frame image are fused into the two-dimensional target image, the display range of the target image is expanded, the visual field range of the imaging system is further expanded, meanwhile, the efficiency of synthesizing a plurality of image data into the target image is improved through image fusion processing, and the visual field imaging efficiency of the imaging system is further improved.

In the above technical solution, the control device is further configured to: and determining the image translation amount of the first frame image and the second frame image through an image matching algorithm.

According to the technical scheme, the imaging system finds out the image translation amount between the first frame image and the second frame image through an image matching algorithm, so that the accuracy of the image translation amount between the first frame image and the second frame image is ensured, and the accuracy of synthesizing a plurality of image data into the target image is further ensured.

In the above technical solution, a calculation formula of the image translation amount (Δ x, Δ y) is:

；

wherein f is _n-1 For the first frame image, f _n And taking a second frame image, wherein x and y are image pixel point coordinates, delta x is a first axis translation amount of the image translation amount, and delta y is a second axis translation amount of the image translation amount.

The imaging system in the technical scheme limits the calculation method of the image translation amount between the first frame image and the second frame image, ensures the accuracy of the image translation amount between the first frame image and the second frame image, and further ensures the accuracy of synthesizing a plurality of image data into a target image.

In the above technical solution, the calculation formula of the target image f (x, y) is:

f(x,y)=α×f _n (x,y)-(1-α)×f _n-1 (x,y)；

wherein, alpha is the synthesis ratio, f _n-1 For the first frame image, f _n And x and y are image pixel point coordinates of the second frame image.

According to the imaging system in the technical scheme, the first frame image and the second frame image are fused into the two-dimensional target image, so that the image quality of the target image is guaranteed, the display range of the target image is expanded, and the fusion efficiency of fusing a plurality of image data into the target image is improved.

In the above technical solution, the motion assembly includes: the mounting plate is connected with the rotatable arm support; the first moving component is movably arranged on the mounting plate and can reciprocate relative to the mounting plate along a first axis; the second moving part is movably arranged on the first moving part, the image acquisition device is arranged on the second moving part, and the second moving part can drive the image acquisition device to reciprocate along a second axis perpendicular to the first axis.

The imaging system in the technical scheme drives the image acquisition device to move through the movement assembly, acquires a plurality of image data, processes the plurality of image data into the target image based on the type of the target image, reduces the structural cost of the imaging system, and improves the operation convenience of the imaging system through the automatic movement of the image acquisition device.

According to a second aspect of the present invention, there is provided a control method of an imaging system, the control method of the imaging system including: controlling the rotatable arm support and the motion assembly to drive the image acquisition device to move according to a preset path, wherein the preset path comprises a plurality of image acquisition positions, and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions; the plurality of image data are processed into the target image according to the type of the target image.

It should be noted that the control device can control the movement assembly to perform the translational movement on the rotatable arm support, and then can drive the image acquisition device to perform the translational movement on the rotatable arm support. The rotatable arm support is provided with a detection area used for containing the target body, and the control device can control the rotatable arm support to rotate around the target body, so that the moving assembly, the image acquisition device and the ray source can be driven to rotate around the target body.

Further, when the type of the target image is a three-dimensional image, the control device controls the moving assembly to drive the image acquisition device to move to a target position, then controls the rotatable arm support to drive the image acquisition device to rotate, acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into the target image, wherein the target position is an edge position on the moving assembly. Or the control device directly controls the rotatable arm support to drive the image acquisition device to rotate, and acquires a plurality of image data through the image acquisition device to reconstruct the plurality of image data into a target image.

According to the control method of the imaging system in the technical scheme, the image acquisition device is controlled to move to acquire the plurality of image data, and then the plurality of image data are processed into the target image based on the type of the target image, so that the large-size target image is generated by the small-size image acquisition device, the imaging view field of the imaging system is expanded, the structural cost of the imaging system is reduced, and the operation convenience of the imaging system is improved by the automatic movement of the image acquisition device.

According to a third aspect of the present invention, there is provided a control device of an imaging system, the control device of the imaging system including: the control module is used for controlling the rotatable arm support and the motion assembly to drive the image acquisition device to move according to a preset path, the preset path comprises a plurality of image acquisition positions, and the image acquisition device is controlled to acquire a plurality of image data at the plurality of image acquisition positions; and the control module is also used for processing the plurality of image data into the target image according to the type of the target image.

It should be noted that the control module can control the motion assembly to perform translational motion on the rotatable arm support, and then can drive the image acquisition device to perform translational motion on the rotatable arm support. The rotatable arm support is provided with a detection area used for containing an object body, and the control module can control the rotatable arm support to rotate around the object body, so that the moving assembly, the image acquisition device and the ray source can be driven to rotate around the object body.

Furthermore, the ray source continuously emits rays to the image acquisition device, the image acquisition device acquires image data by receiving the rays, the control module is connected with the image acquisition device, the position and the running state of the image acquisition device are controlled, and image processing can be performed on the image data acquired by the image acquisition device to obtain a target image.

Furthermore, the control module can control the motion assembly to drive the image acquisition device to translate on the rotatable arm support, and can also control the rotatable arm support to drive the image acquisition device to rotate.

Further, the control module plans a preset path of the image acquisition device, and sets a plurality of image acquisition positions on the preset path. In the operation process of the imaging system, the control module controls the rotatable arm support and/or the motion assembly to drive the image acquisition device to move according to a preset path, so that the image acquisition device sequentially passes through the image acquisition position, and when the image acquisition device reaches the image acquisition position, the control module controls the image acquisition device to acquire and store image data. After the control module controls the image acquisition device to finish moving, the image acquisition device can acquire a plurality of image data.

Further, the control module acquires a plurality of image data acquired by the image acquisition device, and performs image processing on the plurality of image data according to the type of a target image to generate the target image, wherein the target image is a large-size view image, and the type of the target image comprises a three-dimensional image and a two-dimensional image.

Furthermore, when the type of the target image is a two-dimensional image, the control module controls the motion assembly to drive the image acquisition device to translate on the rotatable arm support, acquire a plurality of image data through the image acquisition device, and fuse the plurality of image data into the target image.

Further, when the type of the target image is a three-dimensional image, the control module controls the moving assembly to drive the image acquisition device to move to a target position, then controls the rotatable arm support to drive the image acquisition device to rotate, acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into the target image, wherein the target position is an edge position on the moving assembly. Or the control module directly controls the rotatable arm support to drive the image acquisition device to rotate, acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into a target image. According to the technical scheme, the control device of the imaging system controls the image acquisition device to move through the control module, acquires a plurality of image data, processes the plurality of image data into the target image based on the type of the target image, realizes generation of the large-size target image through the small-size image acquisition device, enlarges the imaging visual field of the imaging system, reduces the structural cost of the imaging system, and improves the operation convenience of the imaging system through automatic movement of the image acquisition device.

According to a fourth aspect of the present invention, there is provided a control device of an imaging system, comprising a processor and a memory, wherein the memory stores a program or instructions, and the program or instructions, when executed by the processor, implement the steps of the control method of the imaging system according to any one of the above-mentioned technical solutions. Therefore, the control device has all the beneficial effects of the control method of the imaging system in any of the above technical solutions, and details are not repeated here.

According to a fifth aspect of the present invention, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the control method of the imaging system according to any one of the above-mentioned aspects. Therefore, the readable storage medium has all the beneficial effects of the control method of the imaging system in any of the above technical solutions, and is not described herein again.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of the structural schematic diagrams of an imaging system in a first embodiment of the invention;

FIG. 2 shows a second schematic structural view of an imaging system in a first embodiment of the invention;

fig. 3 shows a third schematic configuration of an imaging system in a first embodiment of the invention;

fig. 4 shows a fourth construction view of an imaging system in the first embodiment of the present invention;

fig. 5 shows a schematic control of the imaging system in a first embodiment of the invention;

fig. 6 shows an imaging range diagram of an imaging system in a first embodiment of the invention;

FIG. 7 shows a data map schematic of an imaging system in a first embodiment of the invention;

FIG. 8 shows one of the algorithmic diagrams of the imaging system in a first embodiment of the invention;

FIG. 9 shows a second algorithmic representation of the imaging system in the first embodiment of the invention;

fig. 10 shows a fifth configuration diagram of an imaging system in the first embodiment of the present invention;

FIG. 11 shows a schematic trajectory diagram of an imaging system in a first embodiment of the invention;

fig. 12 shows one of the flow charts of the control method of the imaging system in the second embodiment of the present invention;

fig. 13 shows a second flowchart of a control method of the image forming system in the second embodiment of the present invention;

fig. 14 shows a block diagram of the control device of the imaging system in the third embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 10 is:

102, 104 a rotatable arm support, 106 a ray source, 108 a moving assembly, 110 an image acquisition device, 112 a control device, 114 a mounting plate, 116 a first moving part, 118 a second moving part and 202 an origin.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention, taken in conjunction with the accompanying drawings and detailed description, is set forth below. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.

The imaging system, the control method thereof, the control device thereof, and the readable storage medium provided in the embodiments of the present application are described in detail below with reference to fig. 1 to 14 through specific embodiments and application scenarios thereof.

The first embodiment is as follows:

as shown in fig. 1, 2, 3, and 4, a first embodiment of the present invention provides an imaging system including:

a body 102; a rotatable arm support 104 rotatably disposed on the body 102, wherein the rotatable arm support 104 has a detection area for accommodating a target, and the rotatable arm support 104 can rotate around the target;

the radiation source 106 is arranged on the rotatable arm support 104, and the radiation source 106 can generate rays;

the moving assembly 108 is arranged on the rotatable arm support 104 and is respectively positioned at two sides of the detection area together with the radiation source 106, and the moving assembly 108 can translate on the rotatable arm support 104;

the image acquisition device 110 is arranged on the moving component 108, and the image acquisition device 110 can acquire image data formed by rays;

the control device 112 is connected with the image acquisition device 110, and is used for controlling the rotatable arm support 104 and the motion assembly 108 to drive the image acquisition device 110 to move according to a preset path, wherein the preset path comprises a plurality of image acquisition positions, and controlling the image acquisition device 110 to acquire a plurality of image data at the plurality of image acquisition positions;

the control device 112 is further configured to process the plurality of image data into the target image according to the type of the target image.

In the technical scheme, the imaging system comprises a machine body 102, a rotatable arm support 104, a radiation source 106, a moving assembly 108, an image acquisition device 110 and a control device 112, wherein the rotatable arm support 104 is arranged on the machine body 102 and is provided with a detection area for accommodating a target body, the moving assembly 108 and the radiation source 106 are arranged on the rotatable arm support 104 and are respectively located at two sides of the detection area, the image acquisition device 110 is arranged on the moving assembly 108, and the target body is an acquisition object of the image acquisition device 110.

It should be noted that the control device 112 can control the motion assembly 108 to perform a translational motion on the rotatable boom 104, and further can drive the image capturing device 110 to perform a translational motion on the rotatable boom 104. The rotatable boom 104 is provided with a detection area for accommodating a target, and the control device 112 can control the rotatable boom 104 to rotate around the target, so as to drive the motion assembly 108, the image acquisition device 110 and the radiation source 106 to rotate around the target.

Further, the radiation source 106 continuously emits radiation to the image acquisition device 110, the image acquisition device 110 acquires image data by receiving the radiation, the control device 112 is connected to the image acquisition device 110, controls the position and the operation state of the image acquisition device 110, and can perform image processing on the image data acquired by the image acquisition device 110 to obtain a target image.

Further, the control device 112 may control the motion assembly 108 to drive the image capturing device 110 to translate on the rotatable boom 104, and may also control the rotatable boom 104 to drive the image capturing device 110 to rotate.

Further, the control device 112 plans a preset path of the image capturing device 110, and sets a plurality of image capturing positions on the preset path. In the operation process of the imaging system, the control device 112 controls the rotatable boom 104 and/or the moving assembly 108 to drive the image capturing device 110 to move according to a preset path, so that the image capturing device 110 sequentially passes through the image capturing position, and when the image capturing device 110 reaches the image capturing position, the control device 112 controls the image capturing device 110 to capture and store image data. After the control device 112 controls the image capturing device 110 to complete the movement, the image capturing device 110 captures a plurality of image data.

Further, the control device 112 acquires a plurality of image data acquired by the image acquisition device 110, performs image processing on the plurality of image data according to the type of the target image, and generates the target image, wherein the target image is a large-size view image, and the type of the target image includes a three-dimensional image and a two-dimensional image.

Further, when the type of the target image is a two-dimensional image, the control device 112 controls the moving assembly 108 to drive the image acquisition device 110 to translate on the rotatable boom 104, and acquires a plurality of image data through the image acquisition device 110, and fuses the plurality of image data into the target image.

Further, when the type of the target image is a three-dimensional image, the control device 112 controls the moving component 108 to drive the image collecting device 110 to move to the target position, then controls the rotatable arm support 104 to drive the image collecting device 110 to rotate, obtains a plurality of image data through the image collecting device 110, and reconstructs the plurality of image data into the target image, wherein the target position is an edge position on the moving component 108. Or the control device 112 controls the image acquisition device 110 to directly rotate along with the rotatable boom 104, and acquires a plurality of image data through the image acquisition device 110, and reconstructs the plurality of image data into the target image.

In some embodiments, the imaging system comprises an image acquisition device 110, a radiation source 106, and a rotatable boom 104, wherein the image acquisition device 110 is a flat panel detector, the radiation source 106 is an X-ray source, and the rotatable boom 104 is a C-type rotatable boom.

In other embodiments, the imaging system includes a motion assembly 108, an image capturing device 110 and the rotatable boom 104, the motion assembly 108 is a motion control mechanism, the image capturing device 110 is disposed on the rotatable boom 104 through the motion assembly 108, and the control device 112 controls the image capturing device 110 to move on the rotatable boom 104 through the motion assembly 108.

In other embodiments, as shown in fig. 5, the image capturing device 110 and the radiation source 106 are disposed at two sides of an origin 202 of the (X, Y, Z) coordinate system, the control device 112 controls the rotatable arm 104 to enable the image capturing device 110 and the radiation source 106 to rotate around the origin 202, and the control device 112 controls the moving assembly 108 to drive the image capturing device 110 to translate along the U direction or the V direction.

The imaging system in this embodiment acquires a plurality of image data by controlling the movement of the image acquisition device 110, and processes the plurality of image data into the target image based on the type of the target image, thereby realizing the generation of a large-sized target image by the small-sized image acquisition device 110, expanding the imaging field of view of the imaging system, reducing the structural cost of the imaging system, and improving the operational convenience of the imaging system by the automatic movement of the image acquisition device 110.

In any of the above embodiments, the predetermined path is a first predetermined path, and the first predetermined path is a circular path formed by the rotatable arm 104 rotating around the rotation center point after the moving assembly 108 moves to the target position.

In this embodiment, when the type of the target image is a three-dimensional image, the control device 112 controls the rotatable boom 104 to drive the image acquisition device 110 to move according to a first preset path, where the first preset path is a path formed by rotating the rotatable boom 104 around a rotation center point after the motion assembly 108 moves to the target position, and it should be noted that the target position is an edge position on the motion assembly, and the rotation center point is a rotation reference point of the rotatable boom.

In some embodiments, as shown in fig. 6, when the image capturing device 110 is fixed at the point P, the image capturing device 110 is located between A1 and B1, the image capturing range of the image capturing device 110 is a circle O1 with a radius of r1, the control device 112 controls the moving component 108 to drive the image capturing device 110 to move between A2 and P, and controls the rotatable arm 104 to drive the image capturing device 110 to rotate, the image capturing range of the image capturing device 110 is a circle O2 with a radius of r2, and the area of the circle O2 is greater than the area of the circle O1, in addition, the control device 112 can control the moving component 108 to drive the image capturing device 110 to move between B2 and P.

The imaging system in this embodiment enlarges the image acquisition range of the image acquisition device 110 by limiting the first preset path of the image acquisition device 110, and realizes that more image data are acquired through the image acquisition device 110, thereby realizing that a large-size target image is generated through the image acquisition device 110.

In any of the above embodiments, the control device 112 is further configured to:

and performing three-dimensional image processing on the plurality of image data to obtain a target image based on the type of the target image being a three-dimensional image.

In this embodiment, when the type of the target image is a three-dimensional image, the control device 112 performs three-dimensional image processing on the plurality of image data to reconstruct the plurality of image data into a three-dimensional target image.

The imaging system in this embodiment reconstructs the plurality of image data into the three-dimensional target image through the control device 112, thereby expanding the display range of the target image, expanding the field of view of the imaging system, and simultaneously achieving displaying more image information through the three-dimensional target image, thereby achieving improving the field of view display effect of the imaging system through the three-dimensional target image.

determining first projection data of the plurality of image data according to the plurality of image acquisition positions;

performing data conversion processing on the first projection data to obtain second projection data;

carrying out data mirror image processing on the second projection data to obtain third projection data;

and determining a target image through a three-dimensional image reconstruction algorithm according to the third projection data.

In this embodiment, when the type of the target image is a three-dimensional image, the control device 112 obtains a plurality of image data acquired by the image acquisition device 110, and superimposes the plurality of image data into first projection data according to a plurality of image acquisition positions corresponding to the plurality of image data, where the first projection data is fan-shaped beam projection data, and it should be noted that the fan-shaped beam projection data is projection data formed under irradiation of fan-shaped light.

Further, the first projection data and the second projection data have a mapping relationship, and the control device 112 performs data conversion processing on the first projection data according to the mapping relationship to convert the first projection data into the second projection data, where the second projection data is parallel beam projection data, and it should be noted that the parallel beam projection data is projection data formed by irradiation of parallel light rays.

Further, since the second projection data only has data of 0 degree to 180 degrees, the control device 112 needs to perform data mirroring on the second projection data to complement the data of 180 degrees to 360 degrees, so as to obtain third projection data, where the third projection data is the imaging projection data.

Further, the control device 112 performs filtering processing on the third projection data to remove noise data in the third projection data, and reconstructs the third projection data into a three-dimensional target image by a three-dimensional image reconstruction algorithm.

In some embodiments, as shown in fig. 7, fig. 7 illustrates a mapping relationship coordinate system of the first projection data and the second projection data, a horizontal axis of the coordinate system represents position information of a projection channel of the first projection data, a vertical axis of the coordinate system represents a mapping angle of a projection point of the first projection data, and a circle in the coordinate system represents position information of a pixel point of the second projection data, where the projection channel of the first projection data is a projection path formed by the projection point in the first projection data during the projection process.

The imaging system in this embodiment converts the multiple image data into the third projection data through the control device 112, and then reconstructs the third projection data into the three-dimensional target image, which completes the image data in the three-dimensional image processing, ensures that the multiple image data can be successfully reconstructed into the three-dimensional target image, and further improves the view display effect of the imaging system.

converting the first projection angle into a second projection angle, and converting the number of the first projection points into the number of the second projection points;

and determining second projection data according to the number of the second projection points and the second projection angle.

In this embodiment, the first projection data includes a first projection angle and a first number of projection points, the second projection data includes a second projection angle and a second number of projection points, the first projection angle and the second projection angle have an angle corresponding relationship, and the first number of projection points and the second number of projection points have a number corresponding relationship.

Further, the control device 112 converts the first projection angle into a second projection angle according to the angle corresponding relationship, converts the first projection point number into a second projection point number according to the number corresponding relationship, and after determining the second projection point number and the second projection angle, the control device 112 synthesizes the second projection point number and the second projection angle into second projection data.

The imaging system in this embodiment converts the first projection data into the second projection data through the control device 112, so as to ensure that the plurality of image data can be successfully reconstructed into the three-dimensional target image, improve the success rate of reconstructing the three-dimensional target image, and further enrich the data information of the target image.

In any of the above embodiments, the second projection angle θ is calculated as follows:

；

In this embodiment, the control device 112 calculates the second projection angle of the second projection data according to the first projection angle and the first number of projection points, specifically, the calculation formula of the second projection angle θ is as follows:

；

It should be noted that the image acquisition distance is a distance between a focal point of the image acquisition device 110 and a rotation center of the imaging system, and the projection included angle parameter of the first projection data is an included angle between a projection channel in the first projection data and a central projection channel, where the projection channel is a projection path formed in the projection process of the first projection point in the first projection data.

The imaging system in this embodiment calculates the second projection angle according to the first projection angle and the number of the first projection points, thereby ensuring that the first projection data can be successfully converted into the second projection data, ensuring the accuracy of the second projection data, and further ensuring the display effect of the three-dimensional target image.

In any of the above embodiments, the second number of projection points t is calculated as follows:

；

In this embodiment, the control device 112 calculates the second number of projection points of the second projection data according to the first projection angle and the first number of projection points, specifically, the calculation formula of the second number of projection points t is as follows:

；

The imaging system in this embodiment calculates the number of the second projection points according to the first projection angle and the number of the first projection points, thereby ensuring that the first projection data can be successfully converted into the second projection data, ensuring the accuracy of the second projection data, and further ensuring the display effect of the three-dimensional target image.

In any of the above embodiments, the calculation formula of the third projection data p is as follows:

p(t,θ)=p(-t,θ+π)；

In this embodiment, the control device 112 performs a symmetric interpolation operation on the second projection data to calculate the third projection data, specifically, the calculation formula of the third projection data p is as follows:

p(t,θ)=p(-t,θ+π)；

The imaging system in this embodiment determines the third projection data by performing symmetric interpolation operation on the number of the second projection points, thereby ensuring that the second projection data can be successfully converted into the third projection data, ensuring the integrity of the third projection data, and further improving the reconstruction efficiency of the three-dimensional target image.

In any of the above embodiments, the calculation formula of the target image f (x, y, z) is as follows:

；

wherein the content of the first and second substances,

In this embodiment, the control device 112 reconstructs the third projection data into the target image, specifically, the calculation formula of the target image f (x, y, z) is as follows:

；

wherein the content of the first and second substances,

It should be noted that the projection distance parameter of the third projection data is a distance between a reconstruction center point and a focal point of the image acquisition device 110 in the three-dimensional reconstruction process.

Further, the projection data after the third projection data filtering processing

The calculation formula of (a) is as follows:

where h (Y) is the filter kernel, p _β (Y, Z) is projection data weighted by the third projection data, and Y and Z are projection point coordinates of the third projection data.

Further, the calculation formula of the projection point coordinates (Y, Z) of the third projection data is as follows:

Y=xcosβ+ysinβ；

Z=(D×z)/(D+xcosβ+ysinβ)；

wherein, D is the image collecting distance, (x, y, z) are the image pixel point coordinates, and beta is the projection angle of the third projection data.

Note that the image capturing distance is a distance between the focal point of the image capturing device 110 and the rotation center of the imaging system.

The imaging system in this embodiment reconstructs the third projection data into the target image, which ensures that the third projection data can be successfully synthesized into a three-dimensional target image, improves the reconstruction efficiency of the three-dimensional target image, and improves the success rate of reconstructing the three-dimensional target image, thereby improving the display effect and the display range of the target image.

In any of the above embodiments, the preset path is a second preset path, the second preset path is a circular path that takes the center of the initial position of the image capturing device 110 as the center and takes the preset length as the radius, and the image capturing range of the image capturing device 110 moving according to the second preset path is greater than the area of the image capturing device 110.

In this embodiment, when the type of the target image is a two-dimensional image, the control device controls the motion assembly 108 to drive the image capturing device 110 to move according to a second preset path, the second preset path of the image capturing device 110 is a circular path, a circle center of the second preset path is a center of an initial position of the image capturing device 110, and a radius is a preset length.

Further, the control device 112 controls the moving assembly 108 to drive the image capturing device 110 to move according to a second preset path and controls the image capturing device 110 to capture image data, so that the image capturing device 110 forms a larger image capturing range, wherein the area of the image capturing range is larger than that of the image capturing device 110.

Further, the control device 112 defines the area of the image capturing range of the image capturing device 110 by setting a preset length.

The imaging system in this embodiment enlarges the image acquisition range of the image acquisition device 110 by limiting the second preset path of the image acquisition device 110, and realizes that more image data are acquired through the image acquisition device 110, thereby realizing that a large-size target image is generated through the image acquisition device 110.

In any of the above embodiments, the control device is further configured to: and performing two-dimensional image processing on the plurality of image data to obtain a target image based on the type of the target image being a two-dimensional image.

In this embodiment, when the type of the target image is a two-dimensional image, the control device 112 performs two-dimensional image processing on a plurality of image data to fuse the plurality of image data into a two-dimensional target image.

The imaging system in the embodiment fuses the plurality of image data into the two-dimensional target image, so that the display range of the target image is enlarged, the visual field range of the imaging system is enlarged, the speed of generating the target image is increased, the visual field range of the imaging system is enlarged, and the visual field imaging efficiency of the imaging system is improved.

In any of the above embodiments, the plurality of image data includes a first frame image and a second frame image, the first frame image is an image acquired by the image acquisition device 110 at a first acquisition position, the second frame image is an image acquired by the image acquisition device 110 at a second acquisition position, the first acquisition position precedes the second acquisition position on the preset path, and the control device 112 is further configured to:

determining the image translation amount of the first frame image and the second frame image;

determining the image overlapping range of the first frame image and the second frame image according to the image translation amount;

and performing image fusion processing on the first frame image and the second frame image according to the image overlapping range to determine a target image.

In this embodiment, the plurality of image data includes a first frame image and a second frame image, it should be noted that a first collecting position and a second collecting position are arranged on a preset path of the image collecting device 110, the control device 112 controls the image collecting device 110 to move along the preset path, the image collecting device 110 will pass through the first collecting position first and then pass through the second collecting position, when the image collecting device 110 reaches the first collecting position, the control device 112 controls the image collecting device 110 to collect the first frame image, and when the image collecting device 110 reaches the second collecting position, the control device 112 controls the image collecting device 110 to collect the second frame image.

Further, the control device 112 determines an image translation amount between the first frame image and the second frame image according to the coordinates of the pixel points in the first frame image and the second frame image, wherein the image translation amount is an optimal translation amount between the two images.

Further, the control device 112 counts coordinates of pixels overlapped between the first frame image and the second frame image according to the image translation amount between the first frame image and the second frame image, and determines an image overlapping range, where the image overlapping range is a coordinate range of an overlapping area between two images.

Further, the control device 112 fuses the first frame image and the second frame image into a two-dimensional target image based on the coordinates of the pixel points in the image overlapping range between the first frame image and the second frame image.

The imaging system in this embodiment determines the image translation amount and the image overlapping range between the first frame image and the second frame image through the control device 112, fuses the first frame image and the second frame image into a two-dimensional target image, enlarges the display range of the target image, and further enlarges the field of view of the imaging system, and simultaneously improves the efficiency of synthesizing a plurality of image data into the target image through image fusion processing, and further improves the field of view imaging efficiency of the imaging system.

and determining the image translation amount of the first frame image and the second frame image through an image matching algorithm.

In this embodiment, the control device 112 extracts the coordinates of the pixel points in the first frame image and the second frame image, matches the coordinates of the pixel points in the first frame image and the second frame image, and finds the image translation amount between the first frame image and the second frame image.

In some embodiments, as shown in fig. 8 (a), fig. 8 (b), and fig. 8 (c), the pixels in the horizontal line region in the first frame image (see fig. 8 (a)) and the pixels in the vertical line region in the second frame image (see fig. 8 (b)) are coordinate-matched, the set of pixels with higher matching degree in the first frame image and the second frame image, that is, the grid line region in the graph (see fig. 8 (c)), and the image translation amount (Δ x, Δ y) between the first frame image and the second frame image is determined according to the coordinate value of the set of pixels with higher matching degree. For illustrative purposes, FIG. 8 is illustrated using a line drawing. In practical applications, the present embodiment is capable of processing color images. For example, the line in fig. 8 (a) represents a first color, the line in fig. 8 (b) represents a second color, and fig. 8 (c) represents a third color after the blending of fig. 8 (a) and fig. 8 (b).

The control method of the imaging system in this embodiment finds the image translation amount between the first frame image and the second frame image through an image matching algorithm, and ensures the accuracy of the image translation amount between the first frame image and the second frame image, thereby ensuring the accuracy of synthesizing a plurality of image data into a target image.

In any of the above embodiments, the calculation formula of the image shift amount (Δ x, Δ y) is:

；

In this embodiment, the control device 112 calculates an image translation amount between the first frame image and the second frame image according to the coordinates of the pixel points in the first frame image and the second frame image, specifically, a calculation formula of the image translation amount (Δ x, Δ y) is:

；

Note that the first axis translation distance and the second axis translation distance of the image translation amount are distance data perpendicular to each other.

The imaging system in this embodiment defines a method for calculating the image translation amount between the first frame image and the second frame image, and ensures the accuracy of the image translation amount between the first frame image and the second frame image, thereby ensuring the accuracy of synthesizing a plurality of image data into a target image.

In any of the above embodiments, the calculation formula of the target image f (x, y) is:

f(x,y)=α×f _n (x,y)-(1-α)×f _n-1 (x,y)；

wherein, alpha is the synthesis ratio, f _n-1 For the first frame image, f _n And x and y are coordinates of pixel points of the image.

In this embodiment, the control device 112 fuses the first frame image and the second frame image into the target image according to the coordinates of the pixel points in the first frame image and the second frame image, and specifically, the calculation formula of the target image f (x, y) is:

f(x,y)=α×f _n (x,y)-(1-α)×f _n-1 (x,y)；

It should be noted that the synthesis ratio is a ratio of each image to a pixel of the target image in the process of image fusion.

Further, the calculation formula of the composite ratio α is as follows:

α=(x-x2)/(x1+x2), x∈(x1,x2),y∈(y1,y2)；

wherein, (x 1, y 1) is the pixel coordinates of the first frame image, and (x 2, y 2) is the pixel coordinates of the first frame image.

In some embodiments, as shown in fig. 9, image registration ranges (x 1, y 1) to (x 2, y 2) between the first frame image and the second frame image are determined according to the image translation amount (Δ x, Δ y) between the first frame image and the second frame image, and the first frame image and the second frame image are fused into the target image according to the image registration ranges.

In some embodiments, the plurality of image data includes a plurality of images such as a first frame image, a second frame image, a third frame image, and a fourth frame image, the control device 112 determines an image translation amount between the plurality of images such as the first frame image, the second frame image, the third frame image, and the fourth frame image according to pixel coordinates of the plurality of images such as the first frame image, the second frame image, the third frame image, and the fourth frame image, determines an image overlapping range between the plurality of images such as the first frame image, the second frame image, the third frame image, and the fourth frame image according to the image translation amount, and fuses the plurality of images such as the first frame image, the second frame image, the third frame image, and the fourth frame image into the target image by using the image overlapping range as a reference.

The imaging system in this embodiment fuses the first frame image and the second frame image into the two-dimensional target image, so as to ensure the image quality of the target image, expand the display range of the target image, and improve the fusion efficiency of fusing a plurality of image data into the target image.

As shown in fig. 10, in any of the above embodiments, the motion assembly 108 comprises:

a mounting plate 114 coupled to the rotatable boom 104;

a first moving member 116 movably disposed on the mounting plate 114, the moving member being capable of reciprocating relative to the mounting plate 114 along a first axis;

the second moving component 118 is movably disposed on the first moving component 116, the image capturing device 110 is disposed on the second moving component 118, and the second moving component 118 can drive the image capturing device 110 to reciprocate along a second axis perpendicular to the first axis.

In this embodiment, the motion assembly 108 is composed of a mounting plate 114, a first motion component 116 and a second motion component 118, wherein the mounting plate 114 is connected to the rotatable boom 104, the first motion component 116 is disposed on the mounting plate 114, the first motion component 116 is disposed on the second motion component 118, and the image capturing device 110 is disposed on the second motion component 118.

It should be noted that the first moving component 116 can reciprocate along a first axis relative to the mounting plate 114, and the second moving component 118 can drive the image capturing device 110 to reciprocate along a second axis perpendicular to the first axis.

In some embodiments, as shown in fig. 11, the imaging system is set in a coordinate system of (X, Y, Z), the control device 112 may control the moving component 108 to drive the image capturing device 110 to move along the Y-axis direction according to the arrow A1 direction, or may control the moving component 108 to drive the image capturing device 110 to translate along the X-axis direction according to the arrow A2 direction, so as to perform half-coverage large-field reconstruction, where it is to be noted that a maximum distance of translation of the image capturing device 110 in the X-axis direction is half of a side length of an effective area of the image capturing device 110. The control device 112 may further control the rotatable arm support 104 to drive the image capturing device 110 to rotate along the Y-axis direction according to the arrow A3 direction, so as to perform three-dimensional large-field reconstruction.

The imaging system in this embodiment drives the image acquisition device 110 to move through the motion component 108, acquires a plurality of image data, and processes the plurality of image data into the target image based on the type of the target image, so that the structural cost of the imaging system is reduced, and the operation convenience of the imaging system is improved through the automatic movement of the image acquisition device 110.

Example two:

as shown in fig. 12, a second embodiment of the present invention provides a control method of an imaging system, the control method of the imaging system including:

step 1202, controlling the rotatable arm support and the motion assembly to drive the image acquisition device to move according to a preset path, wherein the preset path comprises a plurality of image acquisition positions, and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions;

and step 1204, processing the plurality of image data into the target image according to the type of the target image.

In this embodiment, the imaging system includes a body, a rotatable arm support, a radiation source, a motion assembly, an image acquisition device, and a control device, wherein the rotatable arm support is disposed on the body and is provided with a detection area for accommodating a target, the motion assembly and the radiation source are disposed on the rotatable arm support and are respectively located on two sides of the detection area, the image acquisition device is disposed on the motion assembly, and the target is an acquisition object of the image acquisition device.

Further, the control device plans a preset path of the image acquisition device, and a plurality of image acquisition positions are set on the preset path. In the operation process of the imaging system, the control device controls the rotatable arm support and/or the movement assembly to drive the image acquisition device to move according to a preset path, so that the image acquisition device sequentially passes through the image acquisition position, and when the image acquisition device reaches the image acquisition position, the control device controls the image acquisition device to acquire and store image data. After the control device controls the image acquisition device to finish moving, the image acquisition device can acquire a plurality of image data.

The control method of the imaging system in the embodiment acquires the plurality of image data by controlling the movement of the image acquisition device, and processes the plurality of image data into the target image based on the type of the target image, so that the large-size target image is generated by the small-size image acquisition device, the imaging view field of the imaging system is enlarged, the structural cost of the imaging system is reduced, and the operation convenience of the imaging system is improved by the automatic movement of the image acquisition device.

As shown in fig. 13, in any of the above embodiments, the control method of the imaging system includes:

step 1302, acquiring 360-degree data to obtain a fan-shaped beam projection;

step 1304, rearranging the fan-beam interpolation into parallel beams;

step 1306, parallel beam mirroring;

step 1308, complete data;

step 1310, FDK rebuild.

In the technical scheme, the control device controls the image acquisition device to acquire 360-degree data to obtain first projection data, wherein the first projection data are fan-beam projections.

Further, the control device performs data conversion processing on the first projection data and converts the first projection data into second projection data, wherein the second projection data is a parallel beam.

Further, the control device performs data mirroring on the second projection data to obtain third projection data, wherein the third projection data is a parallel beam mirror image.

Further, based on the third projection data, the control device obtains complete data, and performs FDK reconstruction on the complete data to obtain a target image.

The control method of the imaging system in the embodiment ensures that the plurality of image data can be successfully reconstructed into the three-dimensional target image, improves the success rate of reconstructing the three-dimensional target image, and enriches the data information of the target image.

Example three:

as shown in fig. 14, a control device of an imaging system is provided in a third embodiment of the present invention, and a control device 1400 of the imaging system includes:

the control module 1402 is configured to control the rotatable boom and the motion assembly to drive the image acquisition device to move according to a preset path, where the preset path includes a plurality of image acquisition positions, and control the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions;

the control module 1402 is further configured to process the plurality of image data into the target image according to a type of the target image.

It should be noted that the control module 1402 can control the motion assembly to perform a translational motion on the rotatable arm support, and further can drive the image capturing device to perform a translational motion on the rotatable arm support. The rotatable arm support is provided with a detection area for accommodating a target body, and the control module 1402 can control the rotatable arm support to rotate around the target body, so that the motion assembly, the image acquisition device and the ray source can be driven to rotate around the target body.

Further, the ray source continuously emits rays to the image acquisition device, the image acquisition device acquires image data by receiving the rays, the control module 1402 is connected with the image acquisition device, controls the position and the running state of the image acquisition device, and can perform image processing on the image data acquired by the image acquisition device to obtain a target image.

Further, the control module 1402 may control the motion component to drive the image capturing device to translate on the rotatable arm support, or may control the rotatable arm support to drive the image capturing device to rotate.

Further, the control module 1402 plans a preset path of the image capturing device, and sets a plurality of image capturing positions on the preset path. In the operation process of the imaging system, the control module 1402 controls the rotatable arm support and/or the moving assembly to drive the image acquisition device to move according to a preset path, so that the image acquisition device sequentially passes through the image acquisition position, and when the image acquisition device reaches the image acquisition position, the control module 1402 controls the image acquisition device to acquire and store image data. After the control module 1402 controls the image capturing device to complete the movement, the image capturing device may capture a plurality of image data.

Further, the control module 1402 acquires a plurality of image data acquired by the image acquisition device, performs image processing on the plurality of image data according to the type of the target image, and generates the target image, wherein the target image is a large-size view image, and the type of the target image includes a three-dimensional image and a two-dimensional image.

Further, when the type of the target image is a two-dimensional image, the control module 1402 controls the moving component to drive the image acquisition device to translate on the rotatable arm support, and acquires a plurality of image data through the image acquisition device, and fuses the plurality of image data into the target image.

Further, when the type of the target image is a three-dimensional image, the control module 1402 controls the moving assembly to drive the image collecting device to move to the target position, controls the rotatable boom to drive the image collecting device to rotate, obtains a plurality of image data through the image collecting device, and reconstructs the plurality of image data into the target image, wherein the target position is an edge position on the moving assembly. Or the control module 1402 directly controls the rotatable boom to drive the image acquisition device to rotate, and acquires a plurality of image data through the image acquisition device, and reconstructs the plurality of image data into the target image. In some embodiments, the imaging system includes an image acquisition device, a radiation source, and a rotatable arm support, wherein the image acquisition device is a flat panel detector, the radiation source is an X-ray source, and the rotatable arm support is a C-shaped rotatable arm support.

In some other embodiments, the imaging system includes an image capturing device and a rotatable arm, the image capturing device is disposed on the rotatable arm through a motion control mechanism, and the control device controls the image capturing device to move on the rotatable arm through the motion control mechanism.

The control device 1400 of the imaging system in this embodiment controls the image capturing device to move through the control module 1402, captures a plurality of image data, and processes the plurality of image data into the target image based on the type of the target image, so that a large-sized target image is generated through a small-sized image capturing device, the imaging field of view of the imaging system is expanded, the structural cost of the imaging system is reduced, and the operational convenience of the imaging system is improved through the automatic movement of the image capturing device.

Example four:

a fourth embodiment of the present invention provides a control device of an imaging system, which includes a processor and a memory, wherein the memory stores a program or instructions, and the program or instructions are executed by the processor to implement the steps of the control method of the imaging system according to any one of the above technical solutions. Therefore, the imaging system has all the beneficial effects of the control method of the imaging system in any technical scheme, and details are not repeated here.

Example five:

a fifth embodiment of the present invention provides a readable storage medium having stored thereon a program which, when executed by a processor, implements the control method of the imaging system as in any of the embodiments described above, thereby having all the advantageous technical effects of the control method of the imaging system as in any of the embodiments described above.

The readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

It is to be understood that, unless explicitly defined otherwise, in the claims, specification and drawings of the specification, the terms "plurality" or "a plurality" mean two or more, and the terms "upper", "lower", and the like are used herein to indicate an orientation or positional relationship based on that shown in the drawings, and are used only for the purpose of describing the invention more conveniently and making the description simpler, but not for the purpose of indicating or implying that the device or element referred to must have the particular orientation described, be constructed and operated in a particular orientation, and therefore such description should not be construed as limiting the invention; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the connection between a plurality of objects may be direct or indirect via an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.

In the claims, specification, and drawings that follow the present disclosure, the description of the terms "one embodiment," "some embodiments," "specific embodiments," and so forth, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In the claims, specification and drawings of the present invention, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An imaging system, characterized in that the imaging system comprises:

a body;

the rotatable arm support can be rotatably arranged on the machine body and provided with a detection area for accommodating a target body, and the rotatable arm support can rotate around the target body;

the radiation source is arranged on the rotatable arm support and can generate rays;

the moving assembly is arranged on the rotatable arm support and is respectively positioned at two sides of the detection area together with the ray source, and the moving assembly can move relative to the rotatable arm support;

the image acquisition device is arranged on the moving assembly and can acquire image data formed by the rays;

the control device is connected with the rotatable arm support, the motion assembly and the image acquisition device and is used for controlling the rotatable arm support and/or the motion assembly to drive the image acquisition device to move according to a preset path, the preset path comprises a plurality of image acquisition positions and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions;

the control device is further configured to perform data processing on the plurality of image data according to a type of a target image to obtain the target image;

the preset path is a first preset path, and the first preset path is a path formed by the rotation of the rotatable arm support around the rotation central point after the movement assembly moves to the target position;

the control device is further configured to:

determining first projection data of a plurality of image data according to the plurality of image acquisition positions;

performing data conversion processing on the first projection data to acquire second projection data;

determining the target image through a three-dimensional image reconstruction algorithm according to the third projection data;

the first projection data comprises a first projection angle and a first projection point number;

the control device is further configured to:

converting the first projection angle into a second projection angle, and converting the number of the first projection points into the number of second projection points;

determining the second projection data according to the second projection point quantity and the second projection angle;

the calculation formula of the second projection data θ is as follows:

；

wherein β is the first projection angle, s is the number of the first projection points, D is an image acquisition distance, and γ is a projection included angle parameter in the first projection data.

2. The imaging system of claim 1, wherein the control device is further configured to:

and performing three-dimensional image processing on the image data based on the type of the target image as a three-dimensional image to obtain the target image.

3. The imaging system of claim 1 or 2, wherein the motion assembly comprises:

the mounting plate is connected with the rotatable arm support;

the first moving component is movably arranged on the mounting plate and can reciprocate relative to the mounting plate along a first axis;

the second moving part is movably arranged on the first moving part, the image acquisition device is arranged on the second moving part, and the second moving part can drive the image acquisition device to reciprocate along a second axis perpendicular to the first axis.

4. A control method of an imaging system for controlling the imaging system according to any one of claims 1 to 3, the control method of the imaging system comprising:

controlling the rotatable arm support and the motion assembly to drive the image acquisition device to move according to a preset path, wherein the preset path comprises a plurality of image acquisition positions, and controlling the image acquisition device to acquire a plurality of image data at the plurality of image acquisition positions;

the control device is further configured to perform data processing on the plurality of image data according to a type of a target image to obtain the target image.

5. A control device of an imaging system for controlling the imaging system according to any one of claims 1 to 3, comprising:

the control module is used for controlling the rotatable arm support and the motion assembly to drive the image acquisition device to move according to a preset path, the preset path comprises a plurality of image acquisition positions, and the image acquisition device is controlled to acquire a plurality of image data at the plurality of image acquisition positions;

and the control module is also used for carrying out data processing on the plurality of image data according to the type of the target image so as to obtain the target image.