CN116570305A

CN116570305A - Three-dimensional imaging data acquisition system, three-dimensional imaging data acquisition method and three-dimensional imaging method

Info

Publication number: CN116570305A
Application number: CN202310840747.7A
Authority: CN
Inventors: 邹鲁民
Original assignee: Beijing Youtong Shanghao Technology Co ltd
Current assignee: Beijing Youtong Shanghao Technology Co ltd
Priority date: 2023-07-11
Filing date: 2023-07-11
Publication date: 2023-08-11
Anticipated expiration: 2043-07-11
Also published as: CN116570305B

Abstract

The invention belongs to the technical field of X-ray imaging, and particularly relates to a three-dimensional imaging data acquisition system, a three-dimensional imaging data acquisition method and a three-dimensional imaging method. The three-dimensional imaging data acquisition system comprises a limiting mechanism for controlling the relative positions between the exposure imaging mechanism and the object to be detected, enabling the exposure imaging mechanism to sequentially reach different relative positions between the exposure imaging mechanism and the object to be detected, an exposure imaging mechanism for respectively acquiring 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 and the limiting mechanism, 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

Three-dimensional imaging data acquisition system, three-dimensional imaging data acquisition method and three-dimensional imaging method

Technical Field

The invention belongs to the technical field of X-ray imaging, and particularly relates to a three-dimensional imaging data acquisition system, a three-dimensional imaging data acquisition method and a three-dimensional imaging method.

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 application aims to provide a three-dimensional imaging data acquisition system, a three-dimensional imaging method and a three-dimensional imaging method, wherein the system is used for acquiring projection data at a plurality of different relative positions by limiting the movement of an exposure imaging mechanism, extracting the relative position data by a simple position parameter extraction mechanism, partially limiting the acquisition distance, the path for controlling X-rays to pass through an object and the like 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, the angle and the like, and ensures that the 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 three-dimensional imaging data acquisition system comprising: the device comprises an exposure imaging mechanism, a limiting mechanism and a position parameter extraction mechanism;

the limiting mechanism is used for controlling the relative position between the exposure imaging mechanism and the object to be detected, so that the exposure imaging mechanism reaches different relative positions between the exposure imaging mechanism and 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 comprises a track, a moving block moving along the track, and a motion control module controlling the moving block to move along the track; the exposure imaging mechanism is correspondingly connected with the motion block.

Further, the track is arc-shaped, and the circle center of the circle where the arc is positioned on the detector; the X-ray source of the exposure imaging mechanism is correspondingly connected with the motion block.

Further, two rails are arranged side by side at intervals, and racks are paved in the rails along the length direction of each rail; the motion block comprises a first mounting frame, a connecting shaft penetrating through the first mounting frame, and a plurality of motion gears arranged on the connecting shaft, wherein each motion gear is meshed with a corresponding rack on the track; the exposure imaging mechanism is correspondingly connected with the first mounting frame.

Further, the rails are sliding rails, and the two rails are arranged side by side at intervals; the moving block comprises a second mounting frame, a connecting shaft penetrating through the second mounting frame and a plurality of rollers arranged on the connecting shaft, and the rollers are respectively arranged in the corresponding sliding rails; the exposure imaging mechanism is correspondingly connected with the second mounting frame.

Further, when the racks are paved in the track, two connecting shafts which are arranged at intervals are arranged on the first installation frame in a penetrating mode, and a plurality of motion gears are arranged on each connecting shaft; each gear on the connecting shaft is meshed with the rack on the corresponding track respectively; the motion control module is connected with at least one connecting shaft.

Further, when the track is a sliding rail, two connecting shafts are arranged on the second mounting frame in a penetrating way at intervals, and a plurality of rollers are arranged on each connecting shaft; each roller on the connecting shaft is respectively arranged in the corresponding sliding rail; the motion control module is connected with at least one connecting shaft.

Further, the motion control module comprises a motor, a driving gear sleeved on an output shaft of the motor, and a driven gear fixed on the connecting shaft, wherein the driving gear is correspondingly meshed with the driven gear.

Further, the motion control module comprises a driving sprocket, a driven sprocket sleeved on the connecting shaft, a transmission chain connecting the driving sprocket and the driven sprocket, and a rotating handle driving the driving sprocket to rotate; the driving sprocket is positioned at the center of the circle where the track is positioned.

Further, the motion control module comprises a main synchronizing wheel, a slave synchronizing wheel sleeved on the connecting shaft, a synchronous belt connecting the slave synchronizing wheel and the main synchronizing wheel, and a rotating handle driving the main synchronizing wheel to rotate; the main synchronizing wheel is positioned at the center of the circle where the track is positioned.

Further, the position parameter extraction mechanism comprises a revolution counter arranged on the connecting shaft and is used for extracting the current position of the exposure imaging mechanism according to the number of turns of the connecting shaft; or the position parameter extraction mechanism comprises a plurality of photoelectric couplers which are uniformly distributed along the length direction of the track and is used for extracting the current position of the exposure imaging mechanism according to the position of the blocked photoelectric coupler; or, the position parameter extraction mechanism comprises a scale extraction camera, a position scale arranged on the outer wall of the track along the length direction of the track and a first pointer arranged on the exposure imaging mechanism and pointing to the position scale.

Further, the position parameter extraction mechanism comprises a scale extraction camera, an angle scale arranged on the driving sprocket and a second pointer pointing to the angle scale.

In another aspect of the present invention, there is provided a three-dimensional imaging data acquisition method comprising acquiring three-dimensional imaging data using the three-dimensional imaging data acquisition system as set forth in any one of the above.

Further, the method comprises the following steps:

the relative position between the exposure imaging mechanism and the object to be detected is controlled by the limiting mechanism, so that the exposure imaging mechanism sequentially reaches different relative positions between the exposure imaging mechanism and 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.

Further, the limiting mechanism comprises an arc-shaped track, a motion block and a motion control module; the relative position between the exposure imaging mechanism and the object to be detected is controlled by the limiting mechanism, and the method comprises the following steps:

controlling the motion block to move in the track by using the motion control module so as to drive an X-ray source of an exposure imaging mechanism to move along the track; the focal spot of the X-ray source is located on the detector of the exposure imaging mechanism during movement.

Further, extracting, by using a position parameter extracting mechanism, 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, where the relative positions correspond to each projection data, including:

when the position parameter extraction mechanism comprises a revolution number dosimeter arranged on a connecting shaft, acquiring relative positions corresponding to each projection data by using the revolution number dosimeter, wherein the number of turns of the connecting shaft;

When the position parameter extraction mechanism comprises a plurality of photoelectric couplers which are uniformly distributed along the length direction of the track, extracting the positions of the blocked photoelectric couplers corresponding to each projection data;

when the position parameter extraction mechanism comprises a first pointer, a position scale and a scale extraction camera, extracting the position scale indicated by the first pointer at the moment corresponding to each projection data in the video shot by the scale extraction camera;

when the position parameter extraction mechanism comprises a second pointer, an angle scale and a scale extraction camera, extracting the angles indicated by the second pointer at the moments corresponding to the projection data in the video shot by the scale extraction camera.

In yet another aspect of the present invention, there is provided a three-dimensional imaging method, including acquiring three-dimensional imaging data using the three-dimensional imaging data acquisition system as described in any one of the above, and performing three-dimensional reconstruction, 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 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.

Further, acquiring a plurality of corresponding relative positions from the three-dimensional imaging 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.

The invention has the beneficial effects that:

1. the three-dimensional imaging data acquisition system, the three-dimensional imaging data acquisition method and the three-dimensional imaging method solve the problems that the existing three-dimensional imaging technology needs 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, and the like, so that the three-dimensional imaging data acquisition system is required to have very high-precision distance calculation equipment, control equipment and angle calculation equipment for strictly controlling and calculating angles among an X-ray source, a detector and the object to be imaged, and the like. The three-dimensional imaging technology is not suitable for wide use, and the development of the three-dimensional imaging technology is greatly limited. The invention adopts the design comprising the limiting mechanism, the exposure imaging mechanism and the position parameter acquisition mechanism. The projection data of a plurality of different relative positions are obtained by limiting the movement of the exposure imaging mechanism, then the relative position data is extracted by the simple position parameter extraction mechanism, the path for controlling the X-ray to pass through the object is matched with the related parameters of the acquisition path, the acquired projection data has high matching degree with the relative position data and high contribution to three-dimensional reconstruction, the requirements on the control accuracy degree of the relative positions among the X-ray source, the detector and the object to be imaged are reduced while the imaging is not influenced, the accuracy requirements on the acquisition distance, the acquisition angle and the like are also reduced, the cost is reduced, the efficiency is improved! 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 application adopts the design that the limiting mechanism comprises the track, a motion block and a motion control module, and the exposure imaging mechanism is correspondingly connected with the motion block; the motion block drives the exposure imaging mechanism to move when moving in the track, and the motion block is used for the exposure imaging mechanism with the characteristic of stable motion on the track, so that the stability of the exposure imaging mechanism is ensured, the control accuracy of the exposure imaging mechanism is effectively ensured, and meanwhile, the motion artifact is reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application.

FIG. 1 shows a schematic structural view of a first embodiment of a three-dimensional imaging data acquisition system of the present application (a schematic structural view of the exposure imaging mechanism mounted on a C-arm);

FIG. 2 is a schematic view (front view) showing the structure of the limiting mechanism in the first embodiment of the three-dimensional imaging data acquisition system of the present application;

FIG. 3 is a schematic view showing the configuration of the rack and pinion of the spacing mechanism in accordance with the first embodiment of the three-dimensional imaging data acquisition system of the present application (a cross-sectional view of a rail is partially cut away along the dashed line);

FIG. 4 is a schematic diagram of the structure of the motion control module of the limit mechanism coupled to the gear wheel in the first embodiment of the three-dimensional imaging data acquisition system of the present invention (top view, cross-sectional view with the upper portion of the rail partially broken away along the dashed line in the figure);

FIG. 5 is an enlarged view of a portion of FIG. 4A;

FIG. 6 is a schematic diagram showing the structure of the motion block in the first embodiment of the three-dimensional imaging data acquisition system of the present invention;

FIG. 7 is a schematic diagram of the structure of the motion control module coupled to the gear wheel in accordance with one embodiment of the three-dimensional imaging data acquisition system of the present invention (a cross-sectional view of the first mount taken in phantom);

FIG. 8 is a schematic view of a three-dimensional imaging data acquisition system according to a second embodiment of the present invention, wherein the sliding rail cooperates with the rollers (front view, partial cross-sectional view of a rail is taken along a broken line in the figure);

fig. 9 is a schematic structural view of the sliding rail with roller matching in the second embodiment of the three-dimensional imaging data acquisition system of the present invention (a top view, a partial schematic view of the sliding rail after being cut away from the upper side along a dotted line in the drawing);

FIG. 10 is a schematic diagram showing the structure of the motion block in the second embodiment of the three-dimensional imaging data acquisition system of the present invention;

FIG. 11 is a schematic view (front view) showing the structure of a motion control module in a third embodiment of a three-dimensional imaging data acquisition system of the present invention;

FIG. 12 is a schematic diagram of the motion control module in a third embodiment of the three-dimensional imaging data acquisition system of the present invention (top view, partial schematic diagram with the rail cut away above along the dashed line in the figure);

FIG. 13 is a schematic view showing the structure of a position parameter volume mechanism in a fourth embodiment of the three-dimensional imaging data acquisition system of the present invention;

FIG. 14 is a schematic view showing the structure of a position parameter volume mechanism in a fifth embodiment of the three-dimensional imaging data acquisition system of the present invention;

FIG. 15 is an enlarged view of a portion of B in FIG. 14;

FIG. 16 is a flow chart of a seventh embodiment of a three-dimensional imaging data acquisition method of the present invention;

fig. 17 shows a schematic flow chart of an embodiment eight of the three-dimensional 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 application due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present application are shown in the drawings, while other details not greatly related to the present application 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. The upper, lower, horizontal, vertical, etc. descriptors in the present application are merely descriptions of the states matching with the drawings in the embodiments or the positions that people can use in a habit, and are not limited to the states, positions, etc. of use.

Here, it should also be noted that the embodiments of the present application and the features in the embodiments may be combined with each other without collision.

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.

According to the three-dimensional imaging data acquisition system based on the two-dimensional X-ray imaging, the limiting mechanism and the position parameter acquisition mechanism are combined with the exposure imaging mechanism in the traditional two-dimensional X-ray imaging, and the three-dimensional imaging data are acquired by adding a group of simple chain wheels and limiting mechanical structures on the existing DR system, so that the existing DR equipment can be simply changed during manufacturing, and the mechanisms can be independently produced and assembled according to the application. The limiting mechanism, the exposure imaging mechanism and the position parameter extraction mechanism can be arranged on a suspension type X-ray imaging device, can be used on a vertical X-ray imaging device, and can also be used on a C-arm type X-ray imaging device. When the detector is arranged on the suspension mechanism, the rail and the like can be fixed on the suspension arm, and the detector is arranged on the bed below. When the detector is arranged on vertical equipment, the rail and the like can be erected and then fixed on the upright post of the X-ray source, and the detector is vertically arranged and then fixed on the upright post opposite to the X-ray source. When the track is arranged on the C-shaped arm, as shown in a schematic diagram figure 1, the track is fixed on the upper arm of the C-shaped arm 111 through a connecting piece and the like, the detector is fixed on the lower arm of the C-shaped arm 111, and the arc of the track faces downwards and the circle center of the arc is on the surface of the detector. The system is further described below taking as an example the application of the system to a C-arm.

Example 1

Referring to fig. 1, a schematic structural diagram of an X-ray-based three-dimensional imaging data acquisition system according to the present invention is shown.

The three-dimensional imaging data acquisition system provided by the embodiment comprises an exposure imaging mechanism, a limiting mechanism and a position parameter extraction mechanism;

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 uses the position parameter extraction mechanism to combine the information of each preset relative position and the acquired information to jointly acquire the relative position data corresponding to each projection data, so as to reconstruct according to the projection data and the relative position data to obtain a three-dimensional image. The system can be used for detecting the tissue structure of the human body and detecting objects, and a person skilled in the art can determine exposure parameters, the number and the angle of two-dimensional images required by reconstructing three-dimensional images and the like according to the type, the size and the like of the actually acquired objects. 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 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 5, the limiting mechanism in this embodiment includes a rail 21, a moving block moving along the rail, and a movement control module controlling the moving block to move along the rail; the exposure imaging mechanism is correspondingly connected with the motion block.

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 track is arc-shaped, and the center of the circle where the arc is located on the detector; the X-ray source of the exposure imaging mechanism is correspondingly connected with the motion block.

The arc-shaped track in this embodiment is also helpful to limit the imaging area of the exposure imaging mechanism, the center point of the X-ray source irradiated on the detector, and the like, so as to prevent the X-rays emitted by the X-ray source due to movement from being inaccurately projected onto the detector, or from being able to effectively pass through the object to be detected, or only a part of the imaging area being on the detector to affect three-dimensional reconstruction.

Referring to fig. 3 to 7, in this embodiment, two rails 21 are arranged side by side at intervals, and racks 2101 are laid in the rails 21 along the length direction thereof; the motion block comprises a first mounting frame 2201, a connecting shaft 2202 penetrating through the first mounting frame 2201, and a plurality of motion gears 2203 arranged on the connecting shaft 2202, wherein each motion gear 2203 is respectively meshed with a rack 2101 on the corresponding track; the exposure imaging mechanism is correspondingly connected with the first mounting frame. In this embodiment, the X-ray source is welded to the first mounting frame, the front wall and the rear wall of the first mounting frame are correspondingly connected to the edges of the bottom of the X-ray source, and the X-ray beam emission opening is opposite to the gap between the front arm and the rear arm of the first mounting frame, so as to prevent the limiting mechanism from blocking the projection angle of the X-ray beam.

In this embodiment, the rack is meshed with the motion gear to limit the movement of the motion block in the track, which not only limits the motion direction of the motion block, but also is beneficial to limiting the position of the exposure imaging mechanism in the track, so that the X-ray source or the flat panel detector in the exposure imaging mechanism can accurately reach each relative position, and is firmly positioned in the relative position during exposure imaging, thereby preventing the exposure imaging mechanism from generating relative shaking in the exposure imaging process to generate motion artifacts.

In order to ensure the stability of the motion gear and the stability of the exposure imaging mechanism on the first mounting frame, in the three-dimensional imaging data acquisition system provided in this embodiment as shown in fig. 3 to 6, two connecting shafts 2202 are arranged on the first mounting frame 2201 in a penetrating and spacing manner, and a plurality of motion gears 2203 are arranged on each connecting shaft 2202; each motion gear 2203 on the connecting shaft is respectively meshed with a rack 2101 on the corresponding track; the motion control module is connected with at least one connecting shaft.

In order to control the number of parts of the three-dimensional imaging data acquisition system and increase assembly convenience, in the embodiment, two ends of each connecting shaft are respectively penetrated by one moving gear, and the moving gears at the two ends of each connecting shaft are respectively correspondingly meshed with racks in the two tracks. The number of the motion gears penetrating through the connecting shaft can be increased as required by a person skilled in the art, so that one rack is meshed with a plurality of motion gears at the same time, the number of the motion gears is increased at the moment, the width of the motion gears meshed with the racks is widened, the stability of the motion gears moving on the racks is maintained, and the difficulty of assembly is increased due to the increase of the number of the motion gears. In this embodiment, two rails are provided, and each rail is provided with a rack. The two designs are used for ensuring the stability of the movement of the first mounting frame. Of course, in order to further improve the stability of movement, the number of the rails and the racks can also be increased, the larger the number of the rails and the racks is, the more favorable for keeping the stability of movement of the first mounting frame and the movement gear, but the larger the number is, the more difficult the assembly is and the higher the cost is. The number of the motion gears arranged on the connecting shaft 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.

In the application, the motion control module can be a mechanism for connecting a rotating handle on one connecting shaft or transmitting other manual rotation, and the connecting shaft is operated by manpower to rotate positively and reversely so as to drive the first mounting frame to move between two ends of the track. Of course, an electric or pneumatic device may be used to rotate the connecting shaft, and an electric motion control module used in the present embodiment is provided below.

Referring to fig. 3 to 5, and fig. 7, in the present embodiment, the motion control module includes a motor 2301, a driving gear 2302 sleeved on an output shaft of the motor 2301, and a driven gear 2303 fixed on the connecting shaft, and the driving gear 2302 is correspondingly meshed with the driven gear 2303 through a transmission gear 2304. In this embodiment, the motor is connected to the reversing switch to control the motor to perform forward rotation or reverse rotation, so as to drive the connecting shaft to move forward or backward in the track.

Referring to fig. 2 to 5, in the present embodiment, the position parameter extraction mechanism includes a revolution counter (not shown) provided on the connecting shaft 2202 for extracting the current position of the exposure imaging mechanism according to the number of rotations of the connecting shaft. The motor 2301 drives the connecting shaft 2202 to rotate through the traditional gear mechanism, and then the connecting shaft 2202 drives the motion gear 2203 to rotate, so that the first mounting frame 2201 and the X-ray source 101 of the exposure imaging mechanism on the first mounting frame 2201 move in the track 21, the rotation is converted into the front-back movement, and the conversion relationship between the rotation and the front-back movement is strictly limited. Therefore, the translational movement distance of the first mounting frame can be determined by counting the number of turns, the transmission ratio and the like of the rotation of the connecting shaft, and the position of the exposure imaging mechanism during exposure can be directly determined according to the translational movement distance of the first mounting frame. In this embodiment revolution meter has that component quantity is few, simple structure, easy dismounting, and the structure is hidden in first mounting bracket be difficult for being destroyed, and the output is disturbed little characteristics.

Referring to fig. 1 to 3, in this embodiment, the track 21 is arc-shaped, the center of the arc is located on the surface of the detector, and the first mounting frame 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 angle of the X-ray incident on the detector can be judged by counting the rotation number of the connecting shaft, so that the subsequent back projection transformation or other calculation is convenient to reconstruct a three-dimensional image.

The method provided in this embodiment can obtain the equivalent position between the exposure imaging mechanism and the detector through calculation, and of course, a plurality of photoelectric couplers distributed uniformly along the length direction of the track can also be used for extracting the current position of the exposure imaging mechanism according to the position of the blocked photoelectric coupler; the photoelectric coupler is used as a position parameter extraction mechanism.

To further ensure smooth movement of the first mount and the exposure imaging mechanism. As shown in fig. 1 to 3, in this embodiment, a connecting shaft penetrating hole 2102 is provided on each of the rails, and two ends of the connecting shaft 2201 are respectively disposed in the two connecting shaft penetrating holes 2102. The connecting shaft penetrating from the connecting shaft penetrating hole 2102 can be used for connecting more moving gears and meshing with more racks, can also be used for installing other types of movement driving mechanisms, can also be used for determining the position of the exposure imaging mechanism according to the position of the extending connecting shaft on the track, and the like, and a person skilled in the art can match corresponding auxiliary structures or algorithms according to the actually required functions and the like, and will not be repeated 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, paths of the X-ray source penetrating through the object to be detected are different at different relative positions, paths of the incident X-rays received by any pixel point on the detector at different relative positions penetrating through the object to be detected are different, and based on the paths, 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 the motion block.

Example two

The present embodiment is an improvement based on the first embodiment, and the repeated parts will not be repeated here. The specific structure of the rail and the moving block in the limiting mechanism in this embodiment is different from that in the first embodiment. The structure of the rail and the moving block in the limit mechanism in this embodiment will be described below.

Referring to fig. 8 to 10, in this embodiment, the rails are sliding rails 2111, and two of the rails are arranged side by side at intervals; the motion block comprises a second mounting frame 2211, a connecting shaft 2212 penetrating through the second mounting frame 2211, and a plurality of rollers 2213 arranged on the connecting shaft 2212, wherein each roller 2213 is respectively arranged in the corresponding sliding rail; the exposure imaging mechanism is correspondingly connected with the second mounting frame.

Referring to fig. 8 to 10, in this embodiment, two connecting shafts 2212 are arranged on the second mounting frame at intervals, and a plurality of rollers 2213 are arranged on each connecting shaft; each roller 2213 on the connecting shaft 2212 is respectively arranged in the corresponding sliding rail; the motion control module is connected with at least one connecting shaft. In this embodiment, two rollers 2213 are respectively disposed on each of the connecting shafts; the two ends of the connecting shaft penetrate out of the second mounting frame and are respectively connected with one roller.

In order to improve the stability of rolling motion between the roller and the sliding rail and prevent the roller from sliding on the sliding rail, an elastic pad is paved in the sliding rail, so that the friction force between the roller and the rail is increased. In this embodiment, the elastic pad is made of silica gel, or may be made of nano-adhesive with slight viscosity, or rubber, which can be selected by those skilled in the art according to actual needs. It is of course also possible to use a sanding layer on both the roller surface and the rail surface to increase the friction between them to prevent slipping.

The embodiment adopts the characteristics that the roller moves in the track and can stop at any position in the track at any time when the roller moves, is beneficial to setting the relative position at any position, is convenient for randomly adjusting the position and the number of the collected projection data, the interval between two adjacent relative positions and the like, improves the flexibility of the system!

Example III

The present embodiment is a modification of the first or second embodiment, and the repetition is not repeated here. The motion control module in this embodiment is different from the motion control modules of the above embodiments. The structure of the motion control module described in this embodiment will be briefly described below.

Referring to fig. 11 and 12, in this embodiment, the motion control module includes a driving sprocket 2321, a driven sprocket 2322 sleeved on a connecting shaft 2320, a driving chain 2323 connecting the driving sprocket 2321 and the driven sprocket 2322, and a rotation handle 2324 driving the driving sprocket to rotate; the driving sprocket is located at the center of the circle where the track 21 is located. The drive sprocket is fixed on a stable bracket, base or detector mounting bracket through a fixing device. The connecting shaft in the motion block penetrates out of the side wall of the track and is connected with the driven sprocket, the rotation handle drives the driving sprocket to rotate under the action of mechanical or manual force, the driving sprocket drives the driven sprocket to rotate through the transmission chain, and as the connecting shaft where the driven sprocket is located is movable and the driving sprocket is located at the center of the track, the idler wheel or the motion gear on the connecting shaft can roll in the track and can adjust the motion direction of the motion block in the track according to the rotation direction of the driving sprocket, so that the exposure imaging mechanism is driven to sequentially move to each relative position.

The motion control module provided by the embodiment has the advantages of high control precision, small influence of inertia, high reaction speed and simple direction control.

In this embodiment, the motion control module is a sprocket and a chain, and the chain and the sprocket are usually made of metal, so that the weight of the system is not easy to control, and in order to further reduce the weight of the system, a synchronizing wheel and a synchronous belt can be used for transmission to drive the connecting shaft to rotate. At this time, the motion control module comprises a main synchronizing wheel, a slave synchronizing wheel sleeved on the connecting shaft, a synchronous belt connecting the slave synchronizing wheel and the main synchronizing wheel, and a rotating handle driving the main synchronizing wheel to rotate; the main synchronizing wheel is positioned at the center of the circle where the track is positioned.

The synchronous belt and the synchronous wheel are in the prior art, and the synchronous belt, the master synchronous wheel, the slave synchronous wheel and the like are used for driving the connecting shaft and the exposure imaging mechanism in the same way as the connecting shaft and the exposure imaging mechanism are driven by the driving chain, the driving chain wheel, the driven chain wheel and the like in the embodiment, so that a person skilled in the art can refer to the installation mode of the chain wheel and the like for designing, and redundant description is omitted here.

Example IV

The present embodiment is a modification of the first, second or third embodiment, and the repetition is not repeated here. The position parameter extraction mechanism in this embodiment is different from the above-described embodiment. The structure of the position parameter extraction mechanism described in this embodiment will be briefly described below.

Referring to fig. 13, in the present embodiment, the position parameter extraction mechanism includes a scale extraction camera (not shown), a position scale 3132 provided on the outer wall of the track along the length direction of the track 3130, and a first pointer 3133 provided on the exposure imaging mechanism to point to the position scale.

In this embodiment, the first pointer is disposed on the exposure imaging mechanism, and the first pointer 3133 may be connected to the connecting shaft 3131. The position scale is attached to the outer wall of the track, when the connecting shaft and the exposure imaging mechanism move along the track, the first pointer is driven to move along with the track, the position scale pointed by the first pointer can accurately determine the relative position between the exposure imaging mechanism and an object to be detected or between the X-ray source and the detector when the position scale is extracted from a scale extraction camera which has a certain distance from the track and the shooting direction of the track and can cover the whole scale to obtain each relative position or each exposure.

The position parameter extraction mechanism provided in this embodiment may directly read the moving distance or the position of the exposure imaging mechanism, calculate the penetration path of the X-ray incident on the detector according to the moving distance or the position, and perform three-dimensional reconstruction based on the penetration path and the projection data at each relative position.

Preferably, the position scale is an angle at which the X-ray irradiates the object to be detected or the detector when the exposure imaging mechanism is at each position, that is, the position scale indicates an angle. The method can directly read the penetrating paths of the X-rays corresponding to each relative position, namely each projection parameter, so that the three-dimensional reconstruction is convenient and rapid.

Example five

The present embodiment is a modification of the third embodiment, and the repetition is not repeated here. The position parameter extraction mechanism in this embodiment is different from the position parameter extraction mechanism of the above-described embodiment. The structure of the position parameter extraction mechanism described in this embodiment will be briefly described below.

In the present invention, when the motion control module is that the transmission chain is matched with the sprocket, or that the synchronous belt is matched with the synchronous wheel, the position parameter extraction mechanism may adopt the scheme provided in the above embodiment, or of course, may also adopt a scheme of setting a mark on the driving sprocket or the main synchronous wheel, and acquiring the position of the exposure imaging mechanism according to the rotation angle of the driving sprocket, or directly acquiring the angle between the X-ray source and the detector. When the motion control module is a transmission chain matched with a sprocket, as shown in fig. 14 and 15, the position parameter extraction mechanism includes a scale extraction camera (not shown in the drawings), an angle scale 3142 provided on the driving sprocket 3141, and a second pointer 3143 pointing to the angle scale. The driving sprocket 3141 may be fixed to a fixing mechanism 3145 through a mounting shaft 3144, and the fixing mechanism may be a detector mounting frame, any relatively fixable device in a C-arm, a vertical frame or a suspension frame, or a fixing frame fixed to the ground or any device through a counterweight or the like. In this embodiment, the second pointer is disposed on the fixing mechanism 3145, the scale extraction camera is disposed at intervals with the driving sprocket and the exposure imaging mechanism, and when the scale extraction camera shoots, the X-ray source of the exposure imaging mechanism, the second pointer and the driving sprocket with an angle scale are both present in the frame, so that an angle is obtained according to the number of turns of rotation of the driving sprocket and the angle pointed by the second pointer in the shot frame; the time for emitting X-rays is not needed to be deduced according to the time obtained by the projection parameters, and then the angle corresponding to the projection parameters is found according to the time for picking up pictures by the camera according to scales. Errors of the established three-dimensional image caused by errors between the extracted angle parameters and actual exposure projection operation are avoided.

When the angle scales are set, the second pointer can be set at the position indicated on the driving sprocket when the exposure imaging mechanism is driven to reach each preset relative position according to the motion block after the track, the motion block, the detector and the motion control module are installed.

Further, in order to reduce the calculation of the number of rotation turns, the sizes of the driving sprocket and the driven sprocket may be adjusted, such as increasing the size of the driving sprocket and/or decreasing the diameter of the driven sprocket.

Example six

The three-dimensional imaging data acquisition method provided by the embodiment comprises the step of acquiring three-dimensional imaging data by using the three-dimensional imaging data acquisition system according to any one of the embodiments.

Referring to fig. 16, in this embodiment, the three-dimensional imaging data acquisition method includes the following steps:

s701, controlling the relative position between the exposure imaging mechanism and the object to be detected by using a limiting mechanism, so that the exposure imaging mechanism sequentially reaches different relative positions between the exposure imaging mechanism and the object to be detected;

s702, 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;

s703, extracting relative positions between the object to be detected and the exposure imaging mechanism and/or relative position data between the X-ray source and the detector in the exposure imaging mechanism corresponding 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, when the limiting mechanism includes an arc-shaped track, a motion block, and a motion control module; the relative position between the exposure imaging mechanism and the object to be detected is controlled by the limiting mechanism, and the method comprises the following steps: controlling the motion block to move in the track by using the motion control module so as to drive an X-ray source of an exposure imaging mechanism to move along the track; the focal spot of the X-ray source is located on the detector of the exposure imaging mechanism during movement.

In this embodiment, the extracting, by using the position parameter extracting mechanism, the relative position between the object to be detected and the exposure imaging mechanism and/or the relative position data between the X-ray source and the detector in the exposure imaging mechanism, which correspond to each projection data, includes:

When the position parameter extraction mechanism comprises a revolution number dosimeter arranged on the connecting shaft, acquiring relative positions corresponding to each projection data by using the revolution number dosimeter, wherein the revolution number of the connecting shaft is the number of turns;

When the rack is arranged in the track and the motion block comprises a gear and a connecting shaft, and the motion control module is a motor, a driven gear and a driving gear, and the position parameter extraction mechanism is a plurality of photoelectric couplers, the steps S701-S703 include:

S711, starting the motor to enable the motor to rotate positively, driving the connecting shaft to rotate through the driving gear, the transmission gear and the driven gear, and continuously meshing with teeth of the rack in the rotation process of the connecting shaft so as to drive the first mounting frame and the X-ray source to move left to right, and stopping the motor when the motor moves to a first relative position;

s721, the X-ray source emits X-rays towards the detector, the emitted X-rays are received by the detector after being absorbed by the object to be detected, and the detector generates projection data at the current relative position;

s731, collecting the serial number of the blocked photoelectric coupler, determining the position of the blocked photoelectric coupler in the track according to the serial number, and further determining the relative position data between the X-ray source and the detector;

s712, starting the motor, repeating the step S711 until the first mounting frame and the X-ray source move to a second relative position, and suspending the motor;

s722 and S732 are: repeating the steps S721 and S731 to complete the acquisition of the projection data and the relative position data at the second relative position;

and repeating the steps S712-S732 again until the acquisition of the projection data and the relative position data at all the preset relative positions is completed, and the acquisition of the three-dimensional data image is completed.

And S704, starting the motor to reverse, driving the first mounting frame and the X-ray source to move back to the initial position, and obtaining three-dimensional image data next time.

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, when the preset relative position is reached, X-ray projection is carried out, projection data and relative position data at the corresponding relative position are obtained, the actual relative position data is obtained by utilizing the method of directly extracting the position data at the time of exposure instead of the preset relative position data, the accuracy of the position data matched with the projection data is effectively ensured, and the problem of inaccurate reconstructed three-dimensional image caused by errors or mistakes of the relative position data is avoided. Meanwhile, in the motion process of each relative position, the three-dimensional data acquisition method provided by the application always faces one end point, so that the problems of image imaging precision, such as whether an object to be detected, a detector and the like are horizontally placed, whether an X-ray source is tightly and firmly suspended or not and the like are avoided, the angle of the X-ray source facing the detector is not required to be rotated, the angle control is simplified into the distance control, the angle control is realized while the control is specific, the X-ray data acquisition operation required by simplifying the three-dimensional imaging is effectively realized, and the three-dimensional data acquisition method has the advantages of simplicity in operation, strong controllability, high adaptability, strong popularization and the like.

Example seven

The three-dimensional imaging method based on X-rays provided by the embodiment comprises the step of acquiring three-dimensional imaging data by using the three-dimensional imaging data acquisition system according to any embodiment.

Referring to fig. 17, 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 according to any one of the embodiments, and performing three-dimensional reconstruction, and specifically includes the following steps:

s801, using a limiting mechanism to control the exposure imaging mechanism to reach each relative position successively;

s802, acquiring projection data of X rays on the object to be detected at each relative position by using an exposure imaging mechanism;

s803, three-dimensional reconstruction is carried out 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 application has the advantage that the projection data can accurately reach each relative position by utilizing the three-dimensional imaging data acquisition system and the three-dimensional imaging data acquisition method, and based on the advantages, the relative position data of each relative position 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 the projection with the 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:

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:

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

1. A three-dimensional image data acquisition system, comprising: the device comprises an exposure imaging mechanism, a limiting mechanism and a position parameter extraction mechanism;

2. The system of claim 1, wherein the limit mechanism comprises a track, a motion block that moves along the track, and a motion control module that controls the motion of the motion block along the track; the exposure imaging mechanism is correspondingly connected with the motion block.

3. The system of claim 2, wherein the track is arc-shaped and the center of the circle in which the arc is located on the detector; the X-ray source of the exposure imaging mechanism is correspondingly connected with the motion block.

4. A system according to claim 2 or 3, wherein two of said tracks are spaced side by side with racks disposed therein along the length of each of said tracks; the motion block comprises a first mounting frame, a connecting shaft penetrating through the first mounting frame, and a plurality of motion gears arranged on the connecting shaft, wherein each motion gear is meshed with a corresponding rack on the track; the exposure imaging mechanism is correspondingly connected with the first mounting frame;

Or alternatively, the process may be performed,

the rails are sliding rails, and the two rails are arranged side by side at intervals; the moving block comprises a second mounting frame, a connecting shaft penetrating through the second mounting frame and a plurality of rollers arranged on the connecting shaft, and the rollers are respectively arranged in the corresponding sliding rails; the exposure imaging mechanism is correspondingly connected with the second mounting frame.

5. The system of claim 4, wherein the system further comprises a controller configured to control the controller,

when the racks are paved in the track, two connecting shafts are arranged on the first mounting rack in a penetrating way at intervals, and a plurality of motion gears are arranged on each connecting shaft; each motion gear on the connecting shaft is meshed with a rack on the corresponding track respectively; the motion control module is connected with at least one connecting shaft;

or alternatively, the process may be performed,

when the track is a sliding rail, two connecting shafts which are arranged at intervals are arranged on the second mounting rack in a penetrating way, and a plurality of rollers are arranged on each connecting shaft; each roller on the connecting shaft is respectively arranged in the corresponding sliding rail; the motion control module is connected with at least one connecting shaft.

6. The system of claim 5, wherein the motion control module comprises a motor, a driving gear sleeved on an output shaft of the motor, and a driven gear fixed on the connecting shaft, the driving gear being correspondingly meshed with the driven gear;

Or alternatively, the process may be performed,

the motion control module comprises a driving sprocket, a driven sprocket sleeved on the connecting shaft, a transmission chain connecting the driving sprocket and the driven sprocket, and a rotating handle driving the driving sprocket to rotate; the driving sprocket is positioned at the center of a circle where the track is positioned;

or alternatively, the process may be performed,

the motion control module comprises a main synchronous wheel, a slave synchronous wheel sleeved on the connecting shaft, a synchronous belt connecting the slave synchronous wheel and the main synchronous wheel, and a rotating handle driving the main synchronous wheel to rotate; the main synchronizing wheel is positioned at the center of the circle where the track is positioned.

7. The system according to claim 5 or 6, wherein the position parameter extraction mechanism includes a revolution meter provided on the connection shaft for extracting a current position where the exposure imaging mechanism is located according to a number of rotations of the connection shaft; or the position parameter extraction mechanism comprises a plurality of photoelectric couplers which are uniformly distributed along the length direction of the track and is used for extracting the current position of the exposure imaging mechanism according to the position of the blocked photoelectric coupler; or, the position parameter extraction mechanism comprises a scale extraction camera, a position scale arranged on the outer wall of the track along the length direction of the track and a first pointer arranged on the exposure imaging mechanism and pointing to the position scale.

8. The system of claim 6, wherein the position parameter extraction mechanism comprises a scale extraction camera, an angle scale disposed on the drive sprocket or the primary synchronizing wheel, and a second pointer to the angle scale.

9. A three-dimensional image data acquisition method, characterized by comprising acquiring three-dimensional image data by applying the three-dimensional image data acquisition system according to any one of claims 1 to 8.

10. The method according to claim 9, comprising the steps of:

11. The method of claim 10, wherein the limit mechanism comprises an arcuate track, a motion block, and a motion control module; the limiting mechanism is used for controlling the relative position between the exposure imaging mechanism and the object to be detected, and the limiting mechanism comprises;

12. The method according to claim 11, wherein extracting, with the position parameter extraction means, relative positions between the object to be detected and the exposure imaging means and/or relative position data between the X-ray source and the detector in the exposure imaging means corresponding to the respective projection data, comprises:

13. An X-ray based three-dimensional imaging method, comprising the steps of acquiring three-dimensional image data using the three-dimensional image data acquisition system according to any one of claims 1 to 8, and performing three-dimensional reconstruction, comprising in particular the steps of:

14. The X-ray based three-dimensional imaging method according to claim 13, 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:

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: