CN116548993B - Three-dimensional imaging data acquisition system and method based on slide bar and imaging method - Google Patents
Three-dimensional imaging data acquisition system and method based on slide bar and imaging method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/022—Stereoscopic imaging
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- A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
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- A61B6/5258—Devices using data or image processing specially adapted for radiation diagnosis involving detection or reduction of artifacts or noise
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Abstract
The invention belongs to the technical field of X-ray imaging, and particularly relates to a three-dimensional imaging data acquisition system and method based on a slide bar and a three-dimensional imaging method. A three-dimensional imaging data acquisition system comprising: the device comprises a limiting mechanism for limiting the movement of an exposure imaging mechanism along a limiting slide rod and enabling the exposure imaging mechanism to sequentially reach different relative positions between the exposure imaging mechanism and an object to be detected, an exposure imaging mechanism for respectively collecting projection data of the object to be detected by X rays at a plurality of relative positions, and a position parameter extraction mechanism for extracting relative position data corresponding to each projection data; the method has the advantages that the acquisition distance, the path for controlling the X-rays to pass through an object and the like are partially limited through the preset relative position, the limiting slide bar and the like, the projection data and the relative position data are high in matching degree, the contribution to three-dimensional reconstruction is high, the accuracy requirements of the acquisition distance, the angle and the like are reduced, imaging is not influenced, and the cost is reduced.
Description
Technical Field
The invention belongs to the technical field of X-ray imaging, and particularly relates to a three-dimensional imaging data acquisition system, method and imaging method based on a sliding rod.
Background
Because of the differences of various tissues and organs of the human body in the aspects of density, thickness and the like, the absorption amount of X-rays projected on the human body is different, so that the intensity distribution of the X-rays transmitted through the human body is changed and carries the human body information, and finally, an X-ray information image is formed. Based on this, two-dimensional film X-ray imaging techniques, computer X-ray photography (english Computed Radiography, abbreviated CR) and digital X-ray imaging techniques (english Digital Radiography, abbreviated DR), and three-dimensional computer tomography techniques (english Computed Tomography, abbreviated CT) have been developed. With the development of technology and the increase of application demands, detection technologies based on X-rays, such as CR, DR, CT, etc., are also applied to the fields of nondestructive inspection, industrial inspection, security inspection, etc.
CR and DR digital X-ray imaging technologies are widely used with the advantages of small radiation, quick imaging and the like, but the application scene has a plurality of limitations, and obviously, the imaging technology can only perform two-dimensional projection imaging, the formed image is easily interfered by tissue structures at different thicknesses inside an object to be imaged or by external substances, and the imaging available information is small. When the method is used for abnormality judgment, the reliability is low. Although CT can form a three-dimensional structural image of the interior of an object to be imaged, it requires multiple exposures around the circumference of the object to be imaged, and there are problems of large radiation amount, slow imaging speed, heavy equipment, high cost, and the like, which also limits the popularization of CT.
Therefore, how to form 3D images by two-dimensional X-ray imaging with a small number of times becomes the future of X-ray technology, and with the development of computer technology such as image processing, it has become possible to build 3D images by three-dimensional image reconstruction technology using two-dimensional imaging data.
Disclosure of Invention
The applicant has found that while some algorithms have supported three-dimensional reconstruction using multiple two-dimensional images, they require not only two-dimensional images, but also accurate distances between each two-dimensional image and the object to be imaged, in which orientation of the object to be imaged the incident X-rays are located, etc. This requires a distance calculation device with high accuracy in the three-dimensional imaging data acquisition system, a manipulation device that tightly controls the angle, distance between the X-ray source, detector, and object to be imaged, etc. This has led to three-dimensional imaging techniques, which have greatly limited their development.
In order to solve the technical problems, the present application aims to provide a three-dimensional imaging data acquisition system, method and imaging method based on a sliding rod, wherein the system provided by the present application realizes acquisition of projection data at a plurality of different relative positions by limiting the movement of an exposure imaging mechanism, extracts the relative position data by a simple position parameter extraction mechanism, partially limits the acquisition distance and the path for controlling the X-ray to pass through an object by a preset relative position and limiting mechanism, has high matching degree of the projection data and the relative position data, contributes to three-dimensional reconstruction, reduces the accuracy requirements on the acquisition distance and angle, and ensures that data required by high-quality three-dimensional reconstruction can be acquired-!
The technical scheme of the invention is as follows:
in one aspect of the present invention, there is provided a slide bar-based three-dimensional imaging data acquisition system comprising: the device comprises an exposure imaging mechanism, a position parameter extraction mechanism and a limiting mechanism with a limiting slide rod;
the limiting mechanism is used for limiting the exposure imaging mechanism to move along the limiting slide rod, so that the exposure imaging mechanism reaches different relative positions with the object to be detected successively;
the exposure imaging mechanism is used for respectively acquiring projection data of X rays on the object to be detected at a plurality of relative positions;
the position parameter extraction mechanism is used for extracting relative positions between the object to be detected and the exposure imaging mechanism and/or relative position data between an X-ray source and a detector in the exposure imaging mechanism, which correspond to each projection data.
Further, the limiting mechanism further comprises a sliding block moving on the limiting sliding rod and a stretching module for controlling the sliding block to move on the limiting sliding rod; the exposure imaging mechanism is correspondingly connected with the sliding block.
Further, the two limiting slide bars in an arc shape are arranged side by side at intervals, and the circle center of the circle where the arc shape is positioned on the detector; a plurality of sliding blocks are arranged on the two limiting sliding rods, and the sliding blocks on the limiting sliding rods are connected into a whole through a mounting frame; and an X-ray source in the exposure imaging mechanism is correspondingly connected with the sliding block.
Further, the limiting mechanism further comprises an electric telescopic rod arranged below the side of the limiting slide rod, one end of the electric telescopic rod is arranged at intervals with the limiting slide rod, and the other end of the electric telescopic rod is connected with the mounting frame through a bearing.
Further, when the exposure imaging mechanism is installed on the C-shaped arm, one end of the limiting slide bar is correspondingly connected with the upper arm of the C-shaped arm, and the other end of the limiting slide bar is correspondingly connected with the C-shaped arm through the fixed support bar; one end of the electric telescopic rod is correspondingly linked with the mounting frame through the bearing, and the other end of the electric telescopic rod is fixed on the C-shaped arm through the rotating shaft; the detector of the exposure imaging mechanism is connected to the lower wall of the C-shaped arm.
Further, the position parameter extraction mechanism comprises an electric telescopic rod telescopic degree acquisition mechanism, and the positions of the third mounting frame and the exposure imaging mechanism are determined through the telescopic length of the electric telescopic rod; or the position parameter extraction mechanism comprises a plurality of infrared switches uniformly distributed on two sides of the limiting slide rod along the length direction of the limiting slide rod, and the infrared switches are used for extracting the current position of the exposure imaging mechanism according to the position of the blocked infrared switch; or, the position parameter extraction mechanism comprises a scale extraction camera, a position scale arranged on the outer wall of the limiting slide rod along the length direction of the limiting slide rod and a pointer arranged on the exposure imaging mechanism and pointing to the position scale.
In another aspect of the present invention, a method for acquiring three-dimensional imaging data is provided, which includes acquiring three-dimensional imaging data by using the slide bar-based three-dimensional imaging data acquisition system as described in any one of the above.
Further, the method comprises the following steps:
the limiting mechanism is used for controlling the exposure imaging mechanism to move along the limiting slide rod, so that the exposure imaging mechanism sequentially reaches different relative positions with the object to be detected;
respectively acquiring projection data of X-rays to the object to be detected at a plurality of relative positions by using an exposure imaging mechanism;
and extracting relative positions between the object to be detected and the exposure imaging mechanism and/or relative position data between an X-ray source and a detector in the exposure imaging mechanism corresponding to each projection data by using a position parameter extraction mechanism.
In yet another aspect of the present invention, a three-dimensional imaging method is provided, including the steps of acquiring three-dimensional imaging data using the slide bar-based three-dimensional imaging data acquisition system as described in any one of the above, and performing three-dimensional reconstruction, specifically including the steps of:
the limiting mechanism is used for controlling the exposure imaging mechanism to reach each relative position successively;
at each relative position, acquiring projection data of X rays on the object to be detected by using an exposure imaging mechanism;
And carrying out three-dimensional reconstruction by using a three-dimensional reconstruction system according to the projection data at each relative position and the pre-stored relative position data between the X-ray source at each relative position and the detector and/or the object to be detected.
Further, in one three-dimensional image data acquisition, the set of projection data at each relative position is a two-dimensional image data set; the method further comprises the steps of:
establishing a mapping relation between each voxel value in the three-dimensional image and an image pixel value in the two-dimensional image data set by using a three-dimensional reconstruction system to obtain a mapping relation set;
and establishing a three-dimensional reconstruction image based on the mapping relation group and the input two-dimensional image data group.
Further, a plurality of corresponding relative positions are acquired by three-dimensional image data at a time to form a relative position group; the method further comprises the steps of:
establishing mapping relations between each voxel value of the three-dimensional image and the image pixel value in the two-dimensional image group corresponding to different relative position groups to obtain a plurality of preset mapping relation groups which are respectively matched with each relative position group;
selecting a preset mapping relation group matched with projection data according to the projection data input into the three-dimensional reconstruction system;
And establishing a three-dimensional image based on the matched preset mapping relation group and the input projection data.
Further, in one three-dimensional imaging data acquisition, the set of projection data at each relative position is a two-dimensional image data set; the method further comprises the steps of:
establishing a mapping relation between each voxel value in the three-dimensional image and an image pixel value in the two-dimensional image data set by using a three-dimensional reconstruction system to obtain a mapping relation set;
and establishing a three-dimensional reconstruction image based on the mapping relation group and the input two-dimensional image data group.
The invention has the beneficial effects that:
1. the three-dimensional imaging data acquisition system, the method and the imaging method based on the sliding rod, provided by the invention, are used for solving the problems that the existing three-dimensional imaging technology requires strict geometric information such as accurate distance between each DR image and an object to be imaged, precisely positioned orientation of an incident X-ray of the object to be imaged and the like, so that the three-dimensional imaging data acquisition system is required to have very high-precision distance calculation equipment, control equipment for strictly controlling angles among an X-ray source, a detector and the object to be imaged and the like. This makes three-dimensional imaging techniques unsuitable for widespread use, which greatly limits the problems of development of three-dimensional imaging techniques. The invention adopts the design of a limiting mechanism comprising the limiting slide rod, the exposure imaging mechanism and the position parameter acquisition mechanism. The method comprises the steps of obtaining some position parameters at a plurality of different relative positions by limiting the movement of an exposure imaging mechanism, extracting relative position data by a simple position parameter extracting mechanism, partially limiting the acquisition distance, controlling the path of X-rays passing through an object and the like by a preset relative position and limiting mechanism, and has the advantages of high matching degree of projection data and the relative position data, high contribution to three-dimensional reconstruction, no influence on imaging while reducing the precision requirements of the acquisition distance, the angle and the like, and low cost-! The system has the advantages of less exposure times, small radiation, more imaging containing information, high imaging speed, low price, high popularization and the like.
2. The invention adopts the design that the limiting mechanism comprises the limiting slide rod, a slide block and a stretching module, and the exposure imaging mechanism is correspondingly connected with the slide block; the sliding block is arranged on the limiting sliding rod, and the sliding block can only move along the extending direction of the limiting sliding rod due to the restriction of the limiting sliding rod during movement, so that the upper and lower jumping cannot occur, the up and down displacement of the exposure imaging mechanism is effectively prevented, the stability is poor, the imaging position precision is low, and even the motion artifact and the like can be caused.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and together with the description serve to explain the invention.
FIG. 1 illustrates a schematic structural view (front view) of the spacing mechanism in one example of a slide bar-based three-dimensional imaging data acquisition system of the present invention;
FIG. 2 illustrates a schematic structural view of the spacing mechanism (top view with the upper X-ray source removed) in one example of a slide bar-based three-dimensional imaging data acquisition system of the present invention;
FIG. 3 shows a schematic structural view of one example of a slide bar-based three-dimensional imaging data acquisition system of the present invention (the spacing mechanism and exposure imaging mechanism are mounted on a C-arm);
FIG. 4 shows a flow diagram of one example of a three-dimensional imaging data acquisition method of the present invention;
fig. 5 shows a flow diagram of one example of the imaging method of the present invention.
Description of the embodiments
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. The exemplary embodiments of the present invention and the descriptions thereof are used herein to explain the present invention, but are not intended to limit the invention.
It should be noted here that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details not greatly related to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
Here, it should also be noted that the embodiments and features in the embodiments in the present application may be combined with each other without conflict.
As used herein, the phrase "reconstructing an image" is not intended to exclude embodiments of the present disclosure in which data representing an image is generated instead of a visual image. Thus, as used herein, the term "image" broadly refers to both a visual image and data representing a visual image.
Referring to fig. 1 to 3, a schematic structural diagram of an X-ray three-dimensional imaging data acquisition system based on a slide bar according to the present invention is shown.
The X-ray three-dimensional imaging data acquisition system based on the slide bar provided by the embodiment comprises an exposure imaging mechanism, a position parameter extraction mechanism and a limiting mechanism with a limiting slide bar 241;
the limiting mechanism is used for limiting the movement of the exposure imaging mechanism along the limiting slide rod 241, so that the exposure imaging mechanism reaches different relative positions with the object to be detected successively;
the exposure imaging mechanism is used for respectively acquiring projection data of X rays on the object to be detected at a plurality of relative positions;
the position parameter extraction mechanism is used for extracting relative position between the object to be detected and the exposure imaging mechanism and/or relative position data between the X-ray source 101 and the detector 102 in the exposure imaging mechanism, which correspond to each projection data.
The invention uses the limiting mechanism to limit the relative position between the exposure imaging mechanism and the object to be detected, limits the movement path of the exposure imaging mechanism, enables the exposure imaging mechanism to gradually move to each preset relative position along the preset track, then exposes at each relative position to acquire projection data, and acquires the relative position data corresponding to each projection data, so that the three-dimensional image can be obtained by reconstruction according to the projection data and the relative position data. Before the system is used for acquiring the two-dimensional data and determining the relative positions, the required two-dimensional image quantity and the corresponding relative positions can be optimized according to the imaging quantity and the angle position data required by reconstructing the three-dimensional image, and then the relative positions required by the exposure imaging mechanism are determined according to the optimized two-dimensional image and the optimized relative positions. And reconstructing three-dimensional imaging data by combining the two-dimensional image data acquired by the limited exposure and the corresponding relative position data.
Referring to fig. 1 to 3, in the present embodiment, the limit mechanism includes a limit slide bar 241, a slider 242 moving on the limit slide bar 241, and a stretching module 243 controlling the slider 242 to move on the limit slide bar 241; the exposure imaging mechanism is correspondingly connected with the sliding block.
In the embodiment, in order to enable the exposure imaging mechanism to stably move on the limiting slide rod, and also in order to facilitate installation, the sliding block is sleeved on the limiting slide rod, a penetrating through hole is formed in the sliding block, the through hole is arc-shaped, and the aperture is slightly larger than the outer diameter of the limiting slide rod; the limiting slide bar is correspondingly penetrated with the perforation, and the exposure imaging mechanism is fixed on the slide block; the inner diameter of the perforation of the sliding block is matched with the diameter of the limit sliding rod, so that the sliding block can only move along the limit sliding rod, and the distance between the outer wall of the sliding block and the outer wall of the limit sliding rod is unchanged when the sliding block moves, so that the distance between the exposure mechanism and the limit sliding rod is unchanged, the stability of the exposure imaging mechanism is effectively ensured in the moving process along the limit sliding rod-!
Referring to fig. 1 to 3, in this embodiment, two arc-shaped limit sliding rods are arranged side by side at intervals, and the center of a circle where the arc is located on the detector; a plurality of sliding blocks 242 are arranged on the two limiting sliding rods 241, and the sliding blocks 242 on the limiting sliding rods 241 are connected into a whole through a third mounting frame 244; each sliding block is correspondingly connected with an X-ray source in the exposure imaging mechanism.
In order to make the exposure imaging mechanism move at each relative position, the distance between the exposure imaging mechanism and the object to be detected is unchanged. In this embodiment, the X-ray source of the exposure imaging mechanism is correspondingly connected with the motion block; the limiting slide bar is arc-shaped, and the circle center of the circle where the arc-shaped is located on the detector. In this embodiment, the X-ray source is welded to the sliding blocks, and each sliding block is correspondingly connected to four corners of the bottom of the X-ray source, so as to prevent blocking of the projection angle of the X-ray beam. Of course, the connection can also be performed by using mechanical structures such as glue or bolts, and a person skilled in the art can select a connection mode according to actual needs, which is not repeated here.
In this embodiment, the arc-shaped design of the limiting slide bar is also helpful to limit the imaging area of the exposure imaging mechanism, the irradiation center point of the X-ray source on the detector, and the like, so as to prevent the X-ray emitted by the X-ray source due to movement from being inaccurately projected onto the detector, or from being unable to effectively pass through the object to be detected, or only part of the imaging area affects the three-dimensional reconstruction on the detector.
Referring to fig. 1 to 3, in this embodiment, the limiting mechanism further includes an electric telescopic rod 243 disposed below the side of the limiting slide rod, where one end of the electric telescopic rod is spaced from the limiting slide rod, and the other end of the electric telescopic rod is connected to the third mounting frame 244 through a bearing 245. When the exposure imaging mechanism is arranged on the C-shaped arm 111, one end of the limiting slide rod is correspondingly connected with the upper arm of the C-shaped arm, and the other end of the limiting slide rod is correspondingly connected with the C-shaped arm through a fixed support rod; one end of the electric telescopic rod is correspondingly linked with the mounting frame through the bearing, and the other end of the electric telescopic rod is fixed on the C-shaped arm through the rotating shaft; the detector of the exposure imaging mechanism is connected to the lower wall of the C-shaped arm.
In order to control the number of parts of the three-dimensional imaging data acquisition system, assembly convenience is improved, two sliding blocks are respectively arranged on the limiting sliding rods in a penetrating mode, the four sliding blocks support the X-ray source from multiple angles, stable supporting of the telescopic X-ray source is guaranteed, and stable sliding on the limiting sliding rods is kept. The number of the sliding blocks penetrating through the limiting sliding rods or the length of a single sliding block can be increased as required by the person skilled in the art, the more the number of the sliding blocks and the greater the length of the sliding blocks are, the more stable the sliding blocks move on the limiting sliding rods, of course, the difficulty of moving on the limiting sliding rods can be increased due to the fact that the number of the sliding blocks is too large or the length of the sliding blocks is too large, the movement of an X-ray source is even hindered, and the difficulty of assembly is also increased due to the fact that the number of the sliding blocks is increased. The number of the sliding blocks arranged on the limiting sliding rods can be selected according to actual needs by a person skilled in the art, and the number of the tracks can be selected according to actual needs, so that redundant description is omitted.
Referring to fig. 1 to 3, in this embodiment, the limiting slide bar 241 is arc-shaped, the center of the arc is located on the surface of the detector 101, and the slide block drives the exposure imaging mechanism to move, so that the distance between the exposure imaging mechanism and the detector remains unchanged, and the focus of the exposure imaging mechanism remains on the detector all the time; preferably, the focal spot of the X-ray source is on the geometrical center of the detector; the angles of the exposure imaging mechanism at the relative positions are collected or converted according to the distance, and all geometric parameters needing to be reconstructed in three dimensions are obtained by combining the radius of the circle.
In this embodiment, the position parameter extraction mechanism includes the flexible degree collection mechanism of electric telescopic handle, through the flexible length determination third mounting bracket of electric telescopic handle with the position that exposure imaging mechanism is located.
The telescopic degree acquisition mechanism of the electric telescopic rod in the embodiment comprises scales arranged along the length of the telescopic rod and a camera for shooting the telescopic length of the telescopic rod; the relative position parameter is determined by the content of the scale display in the image captured by the camera. When the scales are arranged, the distance or angle of the X-ray source when the X-ray source is at each relative position can be calculated through other measuring or calculating tools, and then the distance or angle is marked at the corresponding position on the electric telescopic rod. Of course, the telescopic length of the telescopic rod can be acquired through a structure capable of calculating the telescopic length of the telescopic rod, or the energizing time of the telescopic motor of the electric telescopic rod or the rotation number of the motor shaft, and the like, and the telescopic length of the telescopic rod can be selected by a person skilled in the art according to the needs, so that redundant description is omitted.
Referring to fig. 1 to 2, to further ensure the stability of the movement of the slider controlled by the electric telescopic rod 243, the free end of the electric telescopic rod is fixedly connected with the bearing 245, the bearing is sleeved on the U-shaped stabilizer 247, the bearing 245 is sleeved in the middle of the U-shaped stabilizer, and two ends of the bearing are correspondingly installed on the installation frame through the bearing respectively. Preferably, the distance from the two ends of the U-shaped stabilizing frame to the sliding block nearest to the U-shaped stabilizing frame is equal.
In this embodiment, the U-shaped stabilizer transmits the force of the electric telescopic rod to the mounting frame uniformly, which is helpful for stably driving the sliding blocks on two sides of the mounting frame to move on the two limiting sliding rods.
In this embodiment, the exposure imaging mechanism is driven to move by the limiting slide rod, the sliding block and the electric telescopic rod, and the sliding block is driven to move on the limiting slide rod by the electric telescopic rod, so that the exposure imaging mechanism reaches each preset relative position in any sequence. The combination of the limiting slide bar and the slide block has the characteristic of high control degree of the exposure imaging mechanism, and can effectively prevent the exposure imaging mechanism from jumping up and down.
The arc-shaped limit sliding rod realizes that the focus of X-rays emitted by the X-ray source is always kept at a fixed point of the detector at each relative position, and the focus is not shifted due to the movement of the X-ray source. Meanwhile, the circle center of the circle where the arc is located is on the surface of the detector, and the distance between the detector and the X-ray source is kept unchanged at each relative position of the detector or the X-ray source, so that the three-dimensional reconstruction is facilitated to be carried out rapidly.
The method provided in the embodiment can obtain the equivalent position between the exposure imaging mechanism and the detector through calculation, and of course, a plurality of infrared switches can be uniformly distributed on two sides of the limit sliding rod along the length direction of the limit sliding rod and used for extracting the current position of the exposure imaging mechanism according to the position of the blocked infrared switch; an infrared switch is used as a position parameter extraction mechanism. The position parameter extraction mechanism comprises a scale extraction camera, a position scale arranged on the outer wall of the limiting slide rod along the length direction of the limiting slide rod and a pointer arranged on the exposure imaging mechanism and pointing to the position scale. The number and the interval of the infrared switch, the type of the graduation when the position graduation is arranged on the limit sliding rod, the unit length and other technical personnel can be selected according to the needs, and redundant description is omitted here.
In this embodiment, the X-ray source and the detector of the exposure imaging mechanism may be both connected to the limiting mechanism, or one of the X-ray source and the detector may be connected to the limiting mechanism. When the X-ray source and the detector are both connected to the limiting mechanism, the X-ray source and the detector can be connected into a whole through the connecting structure, and then one of the X-ray source or the detector is connected to the first mounting frame, so that an object to be detected is placed between the detector and the X-ray source. In this case, in order to save resources, the X-ray source and the detector of the existing two-dimensional X-ray imaging apparatus may be connected as a whole, so that the exposure imaging mechanism moves around the object to be detected.
Compared with the structure that the X-ray source and the detector are connected into a whole and then connected to the limiting mechanism, the structure that one of the X-ray source and the detector is connected to the limiting mechanism is simpler, for example, after the detector is connected with a detection bed for accommodating an object to be detected into a whole, the detector is connected with the limiting device, so that the detector and the object to be detected can move along a set route together, and the angles of the X-rays of the detector taken by the X-ray source at different relative positions are different. When exposing at each relative position, the X-ray source passes through the tissue of the object to be detected at different relative positions, the incident X-rays received by any pixel point on the detector at different relative positions pass through the tissue of the object to be detected, and based on the different relative positions, the three-dimensional reconstruction can be performed by combining geometric information such as angles and the like. The simpler scheme is to connect the X-ray source to the limiting mechanism, so that the X-ray source passes through each relative position along a preset route. In this embodiment, the X-ray source is fixed on the first mounting frame of the limiting mechanism. The X-ray source is arranged on each sliding block.
The limiting mechanism in this embodiment is fixed on the C-arm, and of course, each mechanism may be alternatively arranged on a suspended X-ray imaging device, or may be used on a vertical X-ray imaging device, or may be used on a C-arm type X-ray imaging device. When the detector is arranged on the suspension mechanism, two ends of the limit slide rod can be fixedly connected with the suspension arm, and the detector is arranged on the bed below. When the detector is arranged on vertical equipment, the limit sliding rod can be fixed on a stand column of the X-ray source after being erected, and the detector is fixed on the stand column opposite to the X-ray source after being vertically arranged.
The embodiment also provides a three-dimensional imaging data acquisition method, which comprises the step of acquiring three-dimensional imaging data by using the three-dimensional imaging data acquisition system based on the slide bar according to any embodiment.
Referring to fig. 4, in this embodiment, the three-dimensional imaging data acquisition method includes the following steps:
s301, controlling an exposure imaging mechanism to move along a limit sliding rod by using a limit mechanism, so that the exposure imaging mechanism sequentially reaches different relative positions with an object to be detected;
s302, respectively acquiring projection data of X-rays to the object to be detected at a plurality of relative positions by using an exposure imaging mechanism;
S303, extracting relative positions between the object to be detected and the exposure imaging mechanism and/or relative position data between an X-ray source and a detector in the exposure imaging mechanism, which correspond to each projection data, by using a position parameter extraction mechanism.
In the above step, when the limiting mechanism controls the exposure imaging mechanism to reach any relative position, the exposure imaging mechanism performs exposure to obtain projection data, and at the same time, the position parameter extraction mechanism extracts the relative position data at the current position.
When the X-ray source and the detector of the exposure imaging mechanism are connected to the limiting mechanism together, and the limiting mechanism is controlled to reach different relative positions with the object to be detected successively, the position parameter extraction mechanism extracts the relative positions between the object to be detected and the whole exposure imaging mechanism, such as the relative positions of the X-ray center emitted by the X-ray source, the straight line of the detector, the angle between the sagittal plane of the object to be detected and the like.
When the detector of the exposure imaging mechanism is connected to the limiting mechanism, the detector and the object to be detected together reach different relative positions with the X-ray source along with the control of the limiting mechanism, the position parameter extraction mechanism extracts relative position data between the X-ray source and the detector, such as an angle formed between the central line of the X-ray and the detector and a distance between the X-ray and the detector.
When the X-ray source of the exposure imaging mechanism is connected to the limiting mechanism, and the X-ray source reaches different relative positions with the detector and the object to be detected successively along with the limitation of the limiting mechanism, the position parameter extraction mechanism extracts relative position data between the X-ray source and the detector, such as an angle formed between the central line of the X-ray and the detector and a distance between the X-ray and the detector.
In this embodiment, the controlling the relative position between the exposure imaging mechanism and the object to be detected by using the limiting mechanism includes: the limiting mechanism is used for controlling the sliding block to slide left and right on the limiting sliding rod so as to drive an X-ray source of the exposure imaging mechanism to move along the limiting sliding rod; the focal spot of the X-ray source is located on the detector of the exposure imaging mechanism during movement.
The three-dimensional data acquisition method provided by the application utilizes the preset relative position between the X-ray source or the detector and the object to be detected to adjust the angle or the position of the X-ray source or the detector and the object to be detected, combines an arc-shaped limiting slide bar, a slide block and a position parameter extraction mechanism, and limits each relative position by the limiting slide bar and the slide block, which is equivalent to partially limiting the distance between each relative position and the detector or the object to be detected; and then according to the fact that the X-ray source faces to a fixed position on the detector in the process of moving along the limiting slide bar, the acquired position of the exposure imaging mechanism on the limiting slide bar is combined to be used for carrying out three-dimensional reconstruction subsequently. The accuracy of the position data matched with the projection data is effectively ensured, and the problem of inaccurate reconstructed three-dimensional images caused by errors or mistakes of the relative position data is avoided. Has the advantages of simple operation, strong controllability, high adaptability, suitability for popularization and the like.
The embodiment also provides a three-dimensional imaging method based on X-rays, which comprises the step of acquiring three-dimensional imaging data by applying the three-dimensional imaging data acquisition system according to any embodiment.
Referring to fig. 5, the three-dimensional imaging method based on X-ray provided in this embodiment includes the steps of acquiring three-dimensional imaging data by using the three-dimensional imaging data acquisition system based on slide bars according to any one of the embodiments, and performing three-dimensional reconstruction, and specifically includes the following steps:
s401, controlling the exposure imaging mechanism to reach each relative position successively by using a limiting mechanism;
s402, acquiring projection data of X-rays on the object to be detected at each relative position by using an exposure imaging mechanism;
s403, performing three-dimensional reconstruction by using a three-dimensional reconstruction system according to the projection data at each relative position and the pre-stored relative position data between the X-ray source at each relative position and the detector and/or the object to be detected.
The three-dimensional imaging data acquisition system and the three-dimensional imaging data acquisition method have the advantage that projection data can accurately reach all relative positions, and based on the advantages, the relative position data of all the relative positions can be not acquired any more when three-dimensional reconstruction is carried out, and the three-dimensional reconstruction can be carried out only by matching projection with preset relative position data. Under the condition that the relative positions are accurately reached, only projection data are adopted to perform three-dimensional reconstruction, so that on one hand, the time and steps for acquiring the relative position data are reduced, the speed of three-dimensional reconstruction is improved to a certain extent, the cost is reduced, and on the other hand, the problem that the reconstructed image is inaccurate due to inaccurate acquired relative position data is avoided.
In this embodiment, in one three-dimensional imaging data acquisition, the set of projection data at each relative position is a two-dimensional image data set; the method further comprises the steps of:
establishing a mapping relation between each voxel value in the three-dimensional image and an image pixel value in the two-dimensional image data set by using a three-dimensional reconstruction system to obtain a mapping relation set;
and establishing a three-dimensional reconstruction image based on the mapping relation group and the input two-dimensional image data group.
According to the volume, complexity, imaging fineness and the like of a substance to be detected, 10-50 pieces of two-dimensional image data are needed for establishing a three-dimensional image, and 10-50 preset relative positions are needed correspondingly. That is, 10 to 50 projection data are required for one three-dimensional imaging data acquisition. The data of each two-dimensional image required for creating a three-dimensional image is recorded as a two-dimensional image data set, and each projection data in the two-dimensional image data set is formed by exposure of an X-ray source at a corresponding relative position.
In order to further increase the imaging speed and reduce the calculation amount during imaging when reconstructing the three-dimensional image, the design is adopted to pre-establish the corresponding relation between the voxel value of each voxel of the three-dimensional image and the pixel value of the pixel point of each image in the acquired two-dimensional data set. When imaging is carried out, the input two-dimensional data set, namely, the input projection data are directly substituted into the corresponding mapping relation, so that the voxel value of each voxel of the three-dimensional image can be obtained, and the three-dimensional image reconstruction is rapidly completed. The method has the characteristics of small image reconstruction calculation amount, greatly improves the imaging speed of the three-dimensional image, has small demand on the calculation force of reconstruction equipment, is beneficial to reducing the cost of the reconstruction equipment, reduces the acquisition threshold of the three-dimensional image reconstruction equipment, and is beneficial to popularization of the three-dimensional imaging method or equipment based on X rays.
In use, only a set of mappings matching a two-dimensional image dataset may be present in a memory storing the three-dimensional imaging method described above, although this memory is only capable of three-dimensional image reconstruction of that one type of two-dimensional image dataset. In order to improve the capability of reconstructing three-dimensional images of two-dimensional image data sets matched with various relative position parameters or different numbers, reduce the number of required memories, etc., a mapping relation set matched with various two-dimensional image data sets can be prestored in one memory. Specifically, a plurality of corresponding relative positions obtained by primary three-dimensional imaging data are used as a relative position group; the method further comprises the steps of:
establishing mapping relations between each voxel value of the three-dimensional image and the image pixel value in the two-dimensional image group corresponding to different relative position groups to obtain a plurality of preset mapping relation groups which are respectively matched with each relative position group;
selecting a preset mapping relation group matched with projection data according to the projection data input into the three-dimensional reconstruction system;
and establishing a three-dimensional image based on the matched preset mapping relation group and the input projection data.
The preset mapping relation group matched with the relative position group is selected, and the selection can be performed manually according to the number of the relative positions, the angles of the relative positions and the like; the memory may store a number of preset mapping relation groups at different relative positions, that is, the number of corresponding two-dimensional image data of each preset mapping relation group is different, and when the two-dimensional image data is used, the preset mapping relation group corresponding to the two-dimensional image data having the same number as the input projection data is selected. The list here is merely illustrative of how to select a matched preset mapping relation set for different projection data when a plurality of preset mapping relation sets are set, and those skilled in the art can design other matching modes according to needs, which will not be repeated here.
The present invention also relates to a computer storage medium having stored thereon computer program code which when executed may implement various embodiments of the method of the present invention, the storage medium may be a tangible storage medium such as an optical disk, a USB flash disk, a floppy disk, a hard disk, etc.
Those skilled in the art will appreciate that the various illustrative components, systems, and methods described in connection with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. The particular implementation is hardware or software dependent on the specific application of the solution and the design constraints. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, a plug-in, a function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
In this disclosure, features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations can be made to the embodiments of the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A slide bar-based three-dimensional imaging data acquisition system, comprising: the device comprises an exposure imaging mechanism, a position parameter extraction mechanism and a limiting mechanism with a limiting slide rod;
The limiting mechanism is used for limiting the exposure imaging mechanism to move along the limiting slide rod, so that the exposure imaging mechanism reaches different relative positions with the object to be detected successively; the limiting slide bar is arc-shaped, and the center of a circle where the arc is positioned on the detector; the limiting mechanism further comprises a sliding block moving on the limiting sliding rod; the sliding block is provided with a penetrating hole which is arc-shaped, and the limiting sliding rod is correspondingly penetrated with the penetrating hole; the inner diameter of the through hole is matched with the diameter of the limit sliding rod, so that the sliding block can only move along the limit sliding rod, and the distance between the outer wall of the sliding block and the outer wall of the limit sliding rod is unchanged when the sliding block moves;
the two arc-shaped limit sliding rods are arranged side by side at intervals; a plurality of sliding blocks which are arranged at intervals are arranged on the two limiting sliding rods, and the sliding blocks on the limiting sliding rods are connected into a whole through a mounting frame;
the limiting mechanism further comprises an electric telescopic rod arranged below the side of the limiting slide rod, one end of the electric telescopic rod is arranged at intervals with the limiting slide rod, and the other end of the electric telescopic rod is connected with the mounting frame through a bearing;
the exposure imaging mechanism is used for respectively acquiring projection data of X rays on the object to be detected at a plurality of relative positions; the X-ray source is correspondingly connected with each sliding block, so that the X-ray source passes through each relative position along a preset route, and the angles of the X-rays emitted by the X-ray source into the detector at different relative positions are different; the exposure imaging mechanism can only move to each preset relative position gradually along a preset track, then exposure is carried out at each relative position to obtain projection data, and the relative position data corresponding to each projection data is obtained;
The position parameter extraction mechanism is used for extracting relative position data between an X-ray source and a detector in the exposure imaging mechanism corresponding to each projection data after the exposure imaging mechanism reaches the relative position; wherein the relative position that the exposure imaging mechanism needs to reach is determined before projection data is acquired;
the position parameter extraction mechanism comprises scales arranged along the length of the telescopic rod and a camera for shooting the telescopic length of the telescopic rod; or, the position parameter extraction mechanism comprises a scale extraction camera, a position scale arranged on the outer wall of the limiting slide rod along the length direction of the limiting slide rod and a pointer arranged on the exposure imaging mechanism and pointing to the position scale.
2. The system according to claim 1, wherein the free end of the electric telescopic rod is fixedly connected with the bearing, the bearing is sleeved on the U-shaped stabilizer, the bearing is sleeved in the middle of the U-shaped stabilizer, and two ends of the U-shaped stabilizer are respectively correspondingly installed with the installation frame through the bearing.
3. The system of claim 2, wherein the distance from the ends of the U-shaped stabilizer to the nearest slider is equal.
4. A system according to claim 3, wherein each of said sliders is connected to a respective one of four corners of the bottom of said X-ray source.
5. The system of claim 4, wherein when the exposure imaging mechanism is mounted on the C-arm, one end of the limit slide bar is correspondingly connected with the upper arm of the C-arm, and the other end is correspondingly connected with the C-arm through a fixed support bar; one end of the electric telescopic rod is correspondingly linked with the mounting frame through the bearing, and the other end of the electric telescopic rod is fixed on the C-shaped arm through the rotating shaft; the detector of the exposure imaging mechanism is connected to the lower wall of the C-shaped arm.
6. A three-dimensional image data acquisition method comprising acquiring three-dimensional image data using the slide bar-based three-dimensional imaging data acquisition system according to any one of claims 1 to 5.
7. The method according to claim 6, comprising the steps of:
the limiting mechanism is used for controlling the exposure imaging mechanism to move along the limiting slide rod, so that the exposure imaging mechanism sequentially reaches different relative positions with the object to be detected;
respectively acquiring projection data of X-rays to the object to be detected at a plurality of relative positions by using an exposure imaging mechanism;
Extracting relative position data between an X-ray source and a detector in the exposure imaging mechanism corresponding to each projection data by using a position parameter extraction mechanism;
the X-ray source of the exposure imaging mechanism is connected to the limiting mechanism, and the X-ray source reaches different relative positions with the detector and the object to be detected successively along with the limitation of the limiting mechanism; the exposure imaging mechanism is used for carrying out exposure to obtain projection data, and meanwhile, the position parameter extraction mechanism is used for extracting relative position data at the current position; the limiting mechanism further comprises a sliding block moving on the limiting sliding rod; the sliding block is provided with a penetrating through hole, the through hole is arc-shaped, and the aperture of the through hole is slightly larger than the outer diameter of the limiting sliding rod; the limiting slide bar is correspondingly penetrated with the perforation;
the two arc-shaped limit sliding rods are arranged side by side at intervals; a plurality of sliding blocks are arranged on the two limiting sliding rods, and the sliding blocks on the limiting sliding rods are connected into a whole through a mounting frame;
the limiting mechanism further comprises an electric telescopic rod arranged below the side of the limiting slide rod, one end of the electric telescopic rod is arranged at intervals with the limiting slide rod, and the other end of the electric telescopic rod is connected with the mounting frame through a bearing.
8. An X-ray based three-dimensional imaging method, comprising the steps of acquiring three-dimensional image data using the slide bar based three-dimensional imaging data acquisition system according to any one of claims 1 to 5, and performing three-dimensional reconstruction, comprising the steps of:
the X-ray source of the exposure imaging mechanism is controlled by the limiting mechanism to reach each relative position successively;
at each relative position, acquiring projection data of X rays on the object to be detected by using an exposure imaging mechanism;
and carrying out three-dimensional reconstruction by using a three-dimensional reconstruction system according to the projection data at each relative position and the pre-stored relative position data between the X-ray source and the detector at each relative position.
9. The method of claim 8, wherein in one three-dimensional image data acquisition, the set of projection data at each relative position is a two-dimensional image data set; the method further comprises the steps of:
establishing a mapping relation between each voxel value in the three-dimensional image and an image pixel value in the two-dimensional image data set by using a three-dimensional reconstruction system to obtain a mapping relation set;
based on the mapping relation group and the input two-dimensional image data group, a three-dimensional reconstruction image is established;
And/or the number of the groups of groups,
acquiring a plurality of corresponding relative positions as a relative position group according to the three-dimensional image data at a time; the method further comprises the steps of:
establishing mapping relations between each voxel value of the three-dimensional image and the image pixel value in the two-dimensional image group corresponding to different relative position groups to obtain a plurality of preset mapping relation groups which are respectively matched with each relative position group;
selecting a preset mapping relation group matched with projection data according to the projection data input into the three-dimensional reconstruction system; only a mapping relation group matched with a two-dimensional image data group exists in a memory; or, storing a plurality of preset mapping relation groups in the memory, namely, when the number of the corresponding two-dimensional image data of each preset mapping relation group is different, selecting the preset mapping relation group corresponding to the two-dimensional image data with the same number as the input projection data;
the relative position data of each relative position are not acquired during three-dimensional reconstruction; and establishing a three-dimensional image based on the matched preset mapping relation group and the input projection data.
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