CN115588011B - X-ray machine projection model parameter calibration method - Google Patents

X-ray machine projection model parameter calibration method Download PDF

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CN115588011B
CN115588011B CN202211587624.9A CN202211587624A CN115588011B CN 115588011 B CN115588011 B CN 115588011B CN 202211587624 A CN202211587624 A CN 202211587624A CN 115588011 B CN115588011 B CN 115588011B
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殷国勇
程敏
凡进
王�锋
张龙
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Tuodao Medical Technology Co Ltd
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Abstract

The invention discloses a method for calibrating parameters of a projection model of an X-ray machine, which comprises the following steps: placing a calibration phantom in an X-ray machine for perspective, wherein at least 3 asymmetric marking points are arranged on the calibration phantom; calculating to obtain a homography between the calibration phantom and the image plane according to the coordinates of the imaging points of the marking points on the obtained perspective image and the space coordinates of the marking points, and determining corresponding rays by combining a perspective imaging principle to further obtain the position of the X-ray source; and calculating to obtain the homography between the imaging plane and the image plane according to the homography between the calibration phantom and the image plane and the projection model of the X-ray machine, and accordingly obtaining the pose of the imaging plane, so as to calculate the position deviation of the X-ray source between the vertical point of the imaging plane and the central point of the perspective image, and further obtain the deviation between the imaging plane and the image plane. The invention can calibrate the projection model parameters of the current X-ray machine in real time.

Description

X-ray machine projection model parameter calibration method
Technical Field
The invention relates to the technical field of X-ray machines, in particular to a method for calibrating parameters of a projection model of an X-ray machine.
Background
At present, with the wide application of medical surgical robots, a C-arm X-ray machine is widely used in image imaging in interventional radiology department orthopedic surgery, the C-arm X-ray machine is used as a medium for imaging and an actual patient, the imaging model is used for establishing mapping between the actual patient and the formed image, based on the mapping relation, a surgical robot system can process and analyze the patient image, so that the processing and analysis of the actual patient information can be completed, and the C-arm X-ray machine is a very key ring in a medical surgical robot, particularly an auxiliary surgical robot system.
With the long-term use of the X-ray machine, the rigidity of the structural part and the position of the internal key components are loosened, so that the parameters of the projection model are changed, and the deviation exists between the imaging plane and the image plane, therefore, the accurate calibration of the parameters of the projection model of the X-ray machine to obtain the deviation between the imaging plane and the image plane is a very critical work.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides an efficient X-ray machine projection model parameter calibration method, which can calibrate the projection model parameters of the current X-ray machine in real time to obtain the deviation between an imaging plane and an image plane.
The technical scheme is as follows:
an X-ray machine projection model parameter calibration method comprises the following steps:
placing a calibration phantom in an X-ray machine for perspective, wherein at least 3 asymmetric marking points are arranged on the calibration phantom;
calculating to obtain a homography between the calibration phantom and the image plane according to the coordinates of the imaging points of the marking points on the obtained perspective image and the space coordinates of the marking points, and determining corresponding rays by combining a perspective imaging principle to further obtain the position of the X-ray source;
and calculating to obtain the homography between the imaging plane and the image plane according to the homography between the calibration phantom and the image plane and the projection model of the X-ray machine, and accordingly obtaining the pose of the imaging plane, so as to calculate the position deviation of the X-ray source between the vertical point of the imaging plane and the central point of the perspective image, and further obtain the deviation between the imaging plane and the image plane.
The homography between the imaging plane and the image plane obtained by calculation is specifically as follows:
and calculating the coordinates of the imaging points in the actual space according to the direction vectors of the rays between the marking points on the calibration phantom and the X-ray source and the coordinates of the imaging points of the marking points on the obtained perspective image in the image coordinate system, and further calculating according to the projection model of the X-ray machine to obtain the homography between the imaging plane and the image plane.
The obtained imaging plane pose specifically comprises the following steps:
and obtaining coordinates of four corner points on the perspective image in an image coordinate system according to the resolution of the perspective image, calculating the coordinates of the four corner points on the perspective image in the imaging plane coordinate system according to the homography between the imaging plane and the image plane, and calculating the pose of the imaging plane according to the coordinates.
And calculating the direction vectors of the x axis and the y axis of the coordinate system corresponding to the imaging plane according to the coordinates of the four corner points on the perspective image in the coordinate system of the imaging plane.
At least 3 coplanar mark points are embedded on two end faces of the calibration die body, which are used for penetrating through X rays, and the mark points on the two end faces are asymmetric.
The marking points are steel balls.
The method comprises the steps of respectively obtaining homography matrixes between two end surfaces and an image plane by identifying coordinates of imaging points of marking points on the two end surfaces on a perspective image in an image coordinate system and space coordinates of each marking point according to a perspective imaging principle, further calculating rays penetrating through each marking point, and obtaining an intersection point of each ray as an X-ray source.
Has the advantages that: the invention can calibrate the parameters of the X-ray machine projection model, accurately calibrate the X-ray machine projection model, prevent the equipment precision from being reduced after long-term use by calculating the deviation between the imaging plane and the image plane, and has important application scenes in the surgical robot system based on image analysis.
Drawings
FIG. 1 is a diagram of a projection model of an X-ray machine;
FIG. 2 is a schematic view of a calibration phantom with embedded markers;
FIG. 3 is a schematic view of the use of a calibration phantom;
FIG. 4 is a schematic view of a projection model with a calibration phantom positioned for fluoroscopy within the range of the X-ray machine;
FIG. 5 is a schematic diagram of a coordinate system of a fluoroscopic image obtained by fluoroscopy of an X-ray machine and a mark point therein;
FIG. 6 is a schematic view of projection model imaging;
FIG. 7 is a schematic diagram of a homography;
FIG. 8 is a schematic view of the projection imaging of the steel ball on the end Plane 1.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
A projection model of an X-ray machine by which projection is made is shown in FIG. 1The phantom samples an object placed in a cone-shaped region formed by an X-ray source and a flat-bed receptor as a perspective image on the flat-bed receptor, wherein,P x-ray the X-ray source is a projection model and corresponds to the center of an X-ray emission tube of an actual X-ray machine;
Figure 925717DEST_PATH_IMAGE002
and
Figure 810234DEST_PATH_IMAGE004
respectively setting direction vectors of an x axis and a y axis of an imaging plane coordinate system established on an imaging plane under a reference coordinate system, wherein the reference coordinate system is a robot system coordinate system;P imgCenter is the projection point of the X-ray source on the imaging plane, namely the central point of the obtained perspective image in an ideal state, wherein the pointP imgCenter And
Figure 58812DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE005
the positions of the imaging plane of the X-ray projection model under the reference coordinate system are represented together, but with the long-term use of the X-ray machine, the rigidity of a structural part and the positions of internal key components are loosened, so that the parameters of the projection model are changed, namely, the deviation exists between the imaging plane and the image plane obtained through final projection, and the calibration of the parameters of the X-ray machine projection model is to calibrate the deviation.
The invention relates to a method for calibrating parameters of a projection model of an X-ray machine, which comprises the following steps:
(1) Placing the calibration phantom in the range of fluoroscopy of the X-ray machine for fluoroscopy, as shown in FIG. 3;
the structure of the calibration phantom is shown in fig. 2, the calibration phantom is in a cube shape and is prepared by adopting an X-ray transmitting material, at least 3 coplanar mark points are embedded on a Plane1 and a Plane2 which are used for transmitting X-rays, and the mark points on the two end surfaces are asymmetric; then each mark is known according to design parametersRelative position relation between points, and establishing a reference coordinate system C according to the relative position relation 0 Then, the transformation relation between the reference coordinate system and the reference coordinate system can be obtained through measuring or calibrating the installation position of the mold body, so that the projection model is associated with the robot system, and therefore the position and attitude information of the parameters in the projection model in the reference coordinate system is obtained through parameter calibration of the projection model;
in the invention, the number of the marking points on the two end surfaces Plane1 and Plane2 is 4, specifically steel balls, correspondingly, the serial numbers of the steel balls on the end surface Plane1 close to the ray source are sequentiallyp1~p4, the steel balls on the end surface Plane2 far away from the ray source are numbered sequentiallyp5~p8。
In the invention, at least 3 asymmetrical marking points can be arranged on the calibration phantom, but for increasing the accuracy, the invention preferably embeds 4 coplanar marking points on both end faces Plane1 and Plane2 of the calibration phantom for transmitting X-rays.
(2) Respectively calculating coordinates of each marking point on a perspective image obtained by perspective and coordinates of each marking point under a reference coordinate system to obtain homography matrixes between two end faces of a calibration mold body and an image plane, and further determining corresponding rays by a perspective imaging principle to obtain the position of an X-ray source;
the calibration phantom is placed in a projection model for fluoroscopy in the fluoroscopy range of the X-ray machine as shown in fig. 4, and a perspective image obtained through fluoroscopy is shown in fig. 5, wherein C 1 The image coordinate system of the output perspective image is a coordinate system established by taking the upper left corner point of the perspective image as an origin,p1′~p8' are imaging points of the marking points on the calibration phantom on the output perspective image respectively;
FIG. 6 is a schematic view of a projection model, as shown in FIG. 6, in which a single imaging point on a fluoroscopic image is imaged with a pointp1' imaging procedure as an example: x-ray sourceP x-ray With alignment of the upper face Plane1 of the phantomp1 the intersection of the component rays L1, L1 with the end Plane2 isp1', the intersection point with the image plane is the imaging pointp1', other marker imaging procedures can be obtained in the same way, i.e. coplanar markers on the end-face Plane1p1~p4 imaging onto image planep1′~p4', coplanar markers on the end Plane2p5~p8 imaging on the image planep5′~p8', a homography matrix between the two end faces and the image plane can be obtainedhm1 andhm2, wherein,hm1 andhm2 are all 3 x 3 matrices;
by identifying imaging points on the fluoroscopic imagep1′~p8' in the coordinate of image coordinate system and the coordinate of each mark point in reference coordinate system, the homography matrix between two end faces and image plane can be obtained respectively by perspective imaging principlehm1 andhm2：
Figure DEST_PATH_IMAGE007
Figure DEST_PATH_IMAGE009
further, the passing through mark point can be obtainedp1~p8, the intersection point of each ray is the X-ray source, and the X-ray source can be obtained only through the intersection point of any two rays;
in the invention, at least 3 asymmetric marking points can be arranged on the calibration phantom, so that a single mapping matrix between the calibration phantom and an image plane can be obtained by a perspective imaging principle according to the coordinates of the corresponding marking points on a perspective image and the coordinates of each marking point under a reference coordinate system, rays passing through each marking point can be further obtained, and the intersection point of each ray is an X-ray source.
(3) Solving the deviation between the imaging plane and the image plane;
(31) The coordinates of the imaging points under the reference coordinate system can be solved based on the projection model of the end surface Plane1 or Plane2, and the homography relation between the imaging Plane and the image Plane is obtained through calculation according to the coordinates;
the invention takes the projection model of the end Plane1 as an example, the marking points on the end Plane1p1~p4 coordinate is alreadyKnown as an X-ray sourceP x-ray And each mark point on the end surface Plane1p1~p4 form rays L1-L4, respectively, and the rays L1-L4 intersect the image plane atp1′~p4', then the direction vectors of the rays L1~ L4 can be obtained as follows:
Figure DEST_PATH_IMAGE011
imaging pointp1′~pThe coordinates of 4' in the reference coordinate system can be expressed as:
Figure DEST_PATH_IMAGE013
imaging pointp1′~p4' are known in the image coordinate system, and are respectively set asp1′(x1,y1)、p2′(x2,y2)、p3′(x3,y3)、p4′(x4,y4) Size of picture element on imaging planekIs an inherent property of an X-ray machine and is known; the imaging point is formed in the real spacep1′~pThe physical size coordinates of 4' in the image coordinate system can be expressed as follows:
Figure DEST_PATH_IMAGE015
from which the coefficients can be solveda、b、cAnddthereby obtaining an imaging pointp1′~p4' in a reference coordinate system;
then according to the imaging pointp1′~p4' in the image coordinate system, the transformation relation between the reference coordinate system and the image coordinate system can be obtained by calculation, so that the homography relation between the imaging plane and the image plane can be obtained according to the X-ray machine projection model, and the homography matrix is adoptedhm3 represents;
similarly, the homography between the imaging plane and the image plane can also be obtained by only adopting at least 3 asymmetric marking points arranged on the calibration phantom and the corresponding imaging points;
(32) Solving to obtain the pose of an imaging plane, and calculating to obtain the position transformation relation between the projection point of the X-ray source on the imaging plane and the image center point;
the resolution of the fluoroscopic image obtained by the X-ray machine is (u,v) Then the coordinates of four corner points on the perspective image under the image coordinate system are D1 (0, 0) respectively D2 (a)u,0)、D3(u,-v)、D4(0,-v) Then, the coordinates D1' = of the four corner points on the fluoroscopic image in the imaging plane coordinate system can be calculated according to the obtained homography between the imaging plane and the image planehm3*D1、D2′=hm3*D2、D3′=hm3*D3、D4′=hm3 x D4, then the coordinate system of the imaging plane can be obtainedx、yAxial direction vector:
Figure DEST_PATH_IMAGE017
Figure DEST_PATH_IMAGE019
wherein norm () represents a normalized vector function;
the position and the attitude of the imaging plane can be calculated through the coordinates of the four corner points in the imaging plane coordinate system, and then the X-ray source can be obtainedP x-ray Drop foot point on imaging planeP x According to the pointsP x Obtaining the position transformation relation between the imaging plane and the image plane by the position deviation between the imaging plane and the central point of the image;
(33) And (4) calculating the deviation between the imaging plane and the image plane according to the homography relation between the imaging plane and the image plane obtained in the step (31) and the position conversion relation between the imaging plane and the image plane obtained in the step (32).
In the invention, the perspective image is collected by the X-ray machine, and the perspective image is processed and analyzed by different robot systems according to the perspective image, so as to realize different purposes.
The invention calculates the homography between the imaging plane and the image plane by the coordinate of the marking point in the calibration die body on the perspective image and the actual space coordinate, and calculates the pose of the imaging plane on the basis of the homography so as to obtain the X-ray sourceP x-ray Drop foot point on imaging planeP x According to the pointsP x And the position deviation between the X-ray machine projection model parameter calibration device and the image center point obtains the position conversion relation between the imaging plane and the image plane, and finally the deviation between the imaging plane and the image plane is obtained through calculation so as to calibrate the X-ray machine projection model parameter and complete accurate calibration of the X-ray machine projection model parameter.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.

Claims (6)

1. A method for calibrating parameters of a projection model of an X-ray machine is characterized by comprising the following steps: the method comprises the following steps:
placing a calibration phantom in an X-ray machine for fluoroscopy, wherein at least 3 asymmetric marking points are arranged on the calibration phantom;
calculating to obtain a homography between a calibration phantom and an image plane according to the coordinates of imaging points of the marking points on the obtained perspective image and the space coordinates of the marking points, and determining corresponding rays by combining a perspective imaging principle to further obtain the position of an X-ray source;
calculating to obtain the homography between the imaging plane and the image plane according to the homography between the calibration phantom and the image plane and the projection model of the X-ray machine, and accordingly obtaining the pose of the imaging plane, so as to calculate to obtain the position deviation of the X-ray source between the vertical point of the imaging plane and the central point of the perspective image, and further obtain the deviation between the imaging plane and the image plane;
the homography between the imaging plane and the image plane obtained by calculation is specifically as follows:
and calculating the coordinates of the imaging points in the actual space according to the direction vectors of the rays between the marking points on the calibration phantom and the X-ray source and the coordinates of the imaging points of the marking points on the obtained perspective image in the image coordinate system, and further calculating according to the projection model of the X-ray machine to obtain the homography between the imaging plane and the image plane.
2. The method for calibrating the parameters of the projection model of the X-ray machine according to claim 1, wherein: the method for obtaining the pose of the imaging plane specifically comprises the following steps:
and obtaining coordinates of four corner points on the perspective image in an image coordinate system according to the resolution of the perspective image, calculating the coordinates of the four corner points on the perspective image in the imaging plane coordinate system according to the homography between the imaging plane and the image plane, and calculating the pose of the imaging plane according to the coordinates.
3. The method for calibrating the parameters of the projection model of the X-ray machine according to claim 2, characterized in that: and calculating the direction vectors of the x axis and the y axis of the coordinate system corresponding to the imaging plane according to the coordinates of the four corner points on the perspective image in the coordinate system of the imaging plane.
4. The method for calibrating the parameters of the projection model of the X-ray machine according to any one of claims 1 to 3, wherein the method comprises the following steps: at least 3 coplanar mark points are embedded on two end faces of the calibration die body, which are used for penetrating through X rays, and the mark points on the two end faces are asymmetric.
5. The method for calibrating the parameters of the projection model of the X-ray machine according to claim 4, wherein: the marking points are steel balls.
6. The method for calibrating the parameters of the projection model of the X-ray machine according to claim 4, wherein: the method comprises the steps of identifying coordinates of imaging points of marking points on two end surfaces in an image coordinate system of a perspective image and space coordinates of the marking points, respectively obtaining homography matrixes between the two end surfaces and an image plane according to a perspective imaging principle, further calculating rays passing through the marking points, and obtaining intersection points of the rays as an X-ray source.
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