CN116831750A

CN116831750A - Method and device for adjusting beam limiter, medical imaging device and storage medium

Info

Publication number: CN116831750A
Application number: CN202310842238.8A
Authority: CN
Inventors: 付斌; 肖琦
Original assignee: Beijing Neusoft Medical Equipment Co Ltd
Current assignee: Beijing Neusoft Medical Equipment Co Ltd
Priority date: 2023-07-10
Filing date: 2023-07-10
Publication date: 2023-10-03

Abstract

The invention discloses a method and a device for adjusting a beam limiter, medical imaging equipment and a storage medium. Determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object; determining adjustment data for the beam limiter according to the irradiation condition; adjusting the beam limiter based on the adjustment data to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not positioned in the irradiation area corresponding to the target irradiation field. The radiation range of the appointed part of the operation object is reduced, so that the radiation dose received by the appointed part of the operation object is reduced, and the body harm to the operation object caused by the radiation dose is reduced.

Description

Method and device for adjusting beam limiter, medical imaging device and storage medium

Technical Field

The invention relates to the technical field of medical diagnosis and treatment equipment, in particular to a method and a device for adjusting a beam limiter, medical imaging equipment and a storage medium.

Background

In the interventional operation, the hands and wrists of the doctor are inevitably exposed to X-rays, which has a certain influence on the physical health of the doctor. It is therefore necessary to reduce the radiation dose to which a doctor is exposed in the working environment of an X-ray examination apparatus.

Disclosure of Invention

The embodiments of the present specification aim to solve at least one of the technical problems in the related art to some extent. To this end, the embodiments of the present specification provide a method and apparatus for adjusting a beam limiter, a medical imaging device, and a storage medium.

The embodiment of the specification provides a method for adjusting a beam limiter, which comprises the following steps:

determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object;

if the irradiation condition indicates that the designated part appears in the initial irradiation field, determining operation position data of the designated part;

determining adjustment data for the beam limiter from the operational position data; the adjusting data are used for indicating the adjustment of the beam limiter to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not located in the irradiation area corresponding to the target irradiation field.

In one embodiment, the determining adjustment data for the beam limiter from the operational position data comprises:

Determining a target shielding sheet to be adjusted according to the operation position data, wherein the beam limiter comprises a plurality of shielding sheets, and the target shielding sheet is at least one of the plurality of shielding sheets;

acquiring first relative position data between a radiation source and the target shielding sheet;

adjustment data for the target occlusion tile is determined from the first relative position data and the operational position data.

In one embodiment, the adjustment data includes an adjustment offset; the operational position data includes second relative position data provided between the target occlusion tile and a radiation source,

before said determining adjustment data for said target occlusion tile based on said first relative position data and said operational position data, said method further comprises:

determining initial irradiation size data of the initial irradiation field to the designated part;

determining a target distance according to the initial irradiation size data and the initial distance; wherein the initial distance is a horizontal distance between an edge to be adjusted of the initial irradiation field and the radiation source; the target distance is the horizontal distance between the edge of the target irradiation field and the ray source;

The determining adjustment data for the target occlusion tile based on the first relative position data and the operational position data comprises:

performing geometrical similarity relation calculation according to the target distance, the first relative position data and the second relative position data to obtain a target opening size of the target shielding sheet;

and determining the adjustment offset for the target shielding piece according to the size of the target opening.

In one embodiment, the second relative position data is represented by a vertical distance between the source and the designated location; the first relative position data is represented by a vertical distance between the radiation source and an opening plane of the beam limiter; the calculating the geometric similarity relation according to the target distance, the first relative position data and the second relative position data to obtain the target opening size of the target shielding sheet comprises the following steps:

determining a distance ratio between the first relative position data and the second relative position data;

taking the product of the distance ratio and the target distance as the target opening size;

the determining the adjustment offset for the target occlusion sheet according to the target opening size includes:

And determining the adjusting direction and the adjusting distance of the target shielding sheet according to the initial opening size and the target opening size of the target shielding sheet, and taking the adjusting direction and the adjusting distance as the adjusting offset for the target shielding sheet.

In one embodiment, determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object includes:

acquiring image data for the specified portion; wherein the image data includes position information of the specified portion and position information of an initial irradiation field;

determining the illumination condition based on the image data; the image data are depth images acquired by a depth camera or low-dose images acquired by an X-ray device provided with the beam limiter in a low-dose scanning mode.

In one embodiment, the initial irradiation field is determined by any one of the following methods:

projecting on the surface of the region of interest by means of optical projection to determine the initial irradiation field;

shooting an interested region through the depth camera, and mapping the position information of the initial irradiation field of the beam limiter onto a depth image obtained by shooting the interested region based on internal parameters and external parameters of the depth camera so as to determine the initial irradiation field.

In one embodiment, the determining the operation position data of the designated part includes:

determining the coordinates of an image coordinate system of the designated part;

the operation position data is determined based on the image coordinate system coordinates of the specified portion.

In one embodiment, the beam limiter is adjusted in either a manual or an automatic manner to obtain a target illumination field of the beam limiter.

In one embodiment, each shielding piece of the beam limiter is correspondingly provided with a separate driving motor; the driving motor is used for unilaterally adjusting the corresponding shielding sheets to realize multilateral movement combination; the polygonal motion combination comprises bilateral motion, trilateral motion and quadrilateral motion, and after adjusting data aiming at the beam limiter is determined according to the operation position data and the beam limiter is automatically or manually adjusted to a target irradiation field based on the adjusting data, the polygonal motion combination further comprises:

a main scan, wherein the main scan is alternately performed with the step of acquiring image data for the specified portion; or alternatively

And if the beam limiter and/or the designated part are identified to act, executing the step of acquiring the image data of the designated part before the formal scanning.

The embodiment of the specification provides an adjusting device of a beam limiter, which comprises:

the irradiation condition determining module is used for determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object;

the position data determining module is used for determining operation position data of the designated part if the irradiation condition indicates that the designated part appears in the initial irradiation field;

an adjustment data determination module for determining adjustment data for the beam limiter based on the operational position data; the adjusting data are used for indicating the adjustment of the beam limiter to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not located in the irradiation area corresponding to the target irradiation field.

The present specification embodiment provides a medical imaging apparatus including: a memory, and one or more processors communicatively coupled to the memory; the memory has stored therein instructions executable by the one or more processors to cause the one or more processors to implement the steps of the method of any of the embodiments described above.

The present description provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method according to any of the above embodiments.

The present description provides a computer program product comprising instructions which, when executed by a processor of a computer device, enable the computer device to perform the steps of the method of any one of the embodiments described above.

In the above-described embodiments, the irradiation condition of the initial irradiation field of the beam limiter to the designated portion of the operation object is determined; determining adjustment data for the beam limiter according to the irradiation condition; adjusting the beam limiter based on the adjustment data to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not positioned in the irradiation area corresponding to the target irradiation field. The radiation range of the appointed part of the operation object is reduced, so that the radiation dose received by the appointed part of the operation object is reduced, and the body harm to the operation object caused by the radiation dose is reduced.

Drawings

FIG. 1a is a schematic illustration of a body part exposed to X-rays provided in an embodiment of the present disclosure;

fig. 1b is a schematic application scenario diagram of a method for adjusting a beam limiter according to an embodiment of the present disclosure;

fig. 1c is a schematic flow chart of a method for adjusting a beam limiter according to an embodiment of the present disclosure;

FIG. 1d is a schematic illustration of determining an initial illumination field provided by embodiments of the present disclosure;

FIG. 2a is a schematic flow chart of determining adjustment data of a beam limiter according to an embodiment of the present disclosure;

FIG. 2b is a schematic illustration of a geometric model for determining adjustment data provided by embodiments of the present disclosure;

FIG. 3 is a schematic flow chart of determining adjustment data of a target occlusion tile according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of determining adjustment data of a target occlusion tile according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of determining adjustment data of a target occlusion tile according to an embodiment of the present disclosure;

FIG. 6 is a schematic flow chart of determining an adjustment offset of a target occlusion sheet according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart of determining an adjustment offset of a target occlusion sheet according to an embodiment of the present disclosure;

FIG. 8 is a schematic flow chart of determining an adjustment offset of a target occlusion sheet according to an embodiment of the present disclosure;

FIG. 9 is a schematic flow chart of determining operation position data according to the embodiment of the present disclosure;

FIG. 10 is a schematic flow chart of determining operation position data according to the embodiment of the present disclosure;

FIG. 11 is a schematic view of a point source and a focal spot of a radiation source according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of a beam limiter shutter arrangement provided in an embodiment of the present disclosure;

fig. 13 is a schematic flow chart of a method for adjusting a beam limiter according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of an adjustment device of a beam limiter provided in an embodiment of the present disclosure;

fig. 15 is a schematic view of an adjusting device of the beam limiter according to the embodiment of the present disclosure.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

Currently, when an X-ray detection apparatus is used for irradiation, an X-ray shutter (Shutters) is usually installed near an X-ray generator (bulb), and the range of the X-ray beam emitted is controlled by adjusting the window size of the X-ray shutter (Shutters). The X-ray Shutters (Shutters) may also be referred to as beam limiters. They limit the direction and extent of propagation of the X-rays and thus control the radiation range of the X-rays. Beam limiters or shutters are commonly used in applications such as X-ray imaging and radiation therapy.

In the environment where the X-ray detection apparatus works, both the staff and the person or object to be detected are subjected to a certain dose of X-ray radiation, especially in interventional operations, the doctor cannot shield the body by wearing cumbersome lead clothing to achieve the purpose of reducing the dose of X-ray radiation, which results in an increasing total dose to the doctor's body, especially to the hand and wrist parts exposed to X-rays. Referring to fig. 1a, in the left hepatic tube biliary tract internal drainage, a doctor's hand is directly exposed to an X-ray irradiation range during a puncture process. It is therefore necessary to reduce the radiation dose to which a doctor is exposed in the working environment of an X-ray examination apparatus.

There are various ways to reduce the dose of X-rays currently, but most of the ways are to perform low-dose imaging by a software algorithm under the condition of ensuring the image quality, the way to improve the image quality by the software algorithm has high performance requirements on a computer, and the way to do not realize real low-dose imaging by the software algorithm has to be improved in terms of protecting other staff in a hand operating room, and especially the safety of the hand of an attending doctor.

In the related art, for an X-ray diagnostic apparatus, such as an X-ray cardiovascular diagnostic apparatus, a region of interest (ROI) can provide a referenceable image under low dose radiation by placing an X-ray filter near an X-ray emission source so that the region of interest (ROI) can acquire an image in real time, thereby obtaining a larger image field of view. When DSA detection equipment starts to check, firstly, the openings of all X-ray Shutters (shift) are in the maximum state to collect original images as mask for storage, then the interested areas required by clinical diagnosis are defined, the on-off states of the corresponding X-ray Shutters are adaptively adjusted according to the range of the interested areas, the images are collected again to generate new subtraction images, and a series of subtraction image libraries are obtained through cyclic operation, so that the DSA imaging method with low dosage is realized.

However, while a portion of the X-rays may be filtered at the non-region of interest based on the manner in which the X-ray filter is added, the total dose of X-rays is reduced; however, there is still a certain radiation dose in the non-interested area, and the total radiation dose born by the non-interested area is higher and higher along with the accumulation of time, so that the possibility of harming the human body is higher and higher.

Based on this, the present description embodiment provides a method of adjusting a beam limiter. Determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object; determining adjustment data for the beam limiter according to the irradiation condition; adjusting the beam limiter based on the adjustment data to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not positioned in the irradiation area corresponding to the target irradiation field. The beam limiter is flexibly and reasonably adjusted according to the actual irradiation condition of the designated part of the operation object, the irradiation area of the designated part is reduced, and the irradiation range of the designated part of the operation object is reduced, so that the radiation dose received by the designated part is reduced, and the damage of the radiation dose to the designated part of the operation object is reduced.

The adjustment method of the beam limiter provided in the embodiment of the present disclosure may be applied to the application scenario of fig. 1b, and the X-ray detection apparatus may include an X-ray generator (bulb), an X-ray receiver (detector), and a console. The beam limiter is usually mounted above an X-ray generator (bulb) which can emit X-rays, which are irradiated onto the object to be detected through an opening of the beam limiter. The beam limiter can comprise a shielding sheet, the shielding sheet can be formed by lead-plated metal aluminum sheets, unnecessary parts of X-ray beams are shielded by adjusting gaps of the shielding sheet, so that the size of the ray beams is controlled, and the irradiation field of the practically used X-rays is changed. The size of the opening of the beam limiter determines the irradiation range of the X-rays, i.e., the area size of the exposure Field of View (FOV). The X-ray generator (bulb) mainly includes a high voltage generator and a bulb for receiving the exposure parameters sent by the console and precisely performing exposure. The computer equipment corresponding to the X-ray detection equipment can be used for receiving and transmitting data, executing operation and judgment and controlling the operation of the X-ray exposure control system. The method comprises the steps that an appropriate beam limiter opening can be determined according to the focus condition of a patient, the position and the size of an initial irradiation field can be determined through the opening of the beam limiter, a depth image transmitted by a depth camera is received by computer equipment, whether a doctor's hand exists in the initial irradiation field of the beam limiter or not is detected based on the depth image, when the fact that the doctor's hand exists in the initial irradiation field is determined, adjusting data aiming at the beam limiter can be determined according to the irradiation condition of the doctor's hand, a control signal is sent to a driving motor of the beam limiter according to the adjusting data of the beam limiter, and the driving motor can be instructed to adjust the beam limiter through the control signal, so that the target irradiation field of the beam limiter is obtained. When the range of the adjustment data is smaller, the automatic adjustment may not be accurate enough, and at this time, the target position of the joystick of the beam limiter may be determined according to the adjustment data of the beam limiter, and the beam limiter is adjusted in response to the manipulation of the joystick, so as to obtain the target irradiation field of the beam limiter.

An embodiment of the present disclosure provides a method for adjusting a beam limiter, referring to fig. 1c, the method for adjusting a beam limiter may include the following steps:

s110, determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object;

s120, if the irradiation condition indicates that the designated part appears in the initial irradiation field, determining operation position data of the designated part;

s130, determining adjustment data for the beam limiter according to the operation position data.

The adjusting data are used for indicating adjustment of the beam limiter to obtain a target irradiation field. The irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not positioned in the irradiation area corresponding to the target irradiation field.

Specifically, the initial irradiation field of the beam limiter can be determined by the region of interest of the patient, and the irradiation condition of the initial irradiation field to the specified portion of the operation object can be determined based on the initial irradiation field and the position condition of the operation object. When the irradiation condition indicates that the specified portion of the operation object is present within the range of the initial irradiation field, in order to reduce the irradiation of the specified portion, it is first necessary to determine the operation position data of the specified portion, and then to determine the adjustment data for the beam limiter based on the operation position data.

In the embodiment, the beam limiter is flexibly and reasonably adjusted according to the actual irradiation condition of the designated part of the operation object, the irradiation area of the designated part is reduced, the irradiation range of the designated part of the operation object is reduced, the radiation dose received by the designated part is reduced, and the damage of the radiation dose to the designated part of the operation object is reduced.

In some embodiments, the method of adjusting the beam limiter may comprise the steps of: and determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object. Adjustment data for the beam limiter is determined as a function of the illumination situation.

The adjusting data are used for indicating the adjustment of the beam limiter to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part. The beam limiter may be used for directing radiation to an intended region of interest in the object under examination, the beam limiter being provided with a shielding plate for changing the exposure to the radiation, the beam limiter being of any suitable shape, optionally rectangular or square. The shielding sheet is arranged at the bottom plate of the beam limiter main body, and the exposure range is controlled by adjusting the opening and closing degree or the gap. The shielding sheet has the effect of absorbing rays, and ensures that rays can be emitted from the gap of the shielding sheet. The function of changing the size of the radiation irradiation field is realized by adjusting the opening size of the shielding sheet. The structure of the shielding sheet may specifically be any suitable lead plate combination structure. The initial irradiation field may refer to the extent of the desired portion of the patient's body surface to be irradiated, and in this embodiment may refer to the field of view defined by the mask sheet that allows the beam to pass through. Illustratively, referring to fig. 1d, where the designated body part 110 of the patient is the region of interest, radiation emitted by the radiation source 120 may pass through the patient's body via the beam limiter 130, and the range of radiation exposure on the patient's body may be the initial exposure field. The irradiation condition can be understood as whether or not the specified region is present in the initial irradiation field. The operation object may be a doctor during a surgery. The designated area may be a body part of the operation subject, such as a hand or arm of the operation subject, which is often exposed to the initial irradiation field.

Specifically, the initial irradiation field of the beam limiter can be determined through the region of interest of the patient, the irradiation condition of the initial irradiation field to the specified part of the operation object can be determined based on the initial irradiation field and the station condition of the operation object, for example, the irradiation condition can comprise qualitative description of the range of the specified part of the operation object in the initial irradiation field, qualitative description of the range of the specified part of the operation object not in the initial irradiation field, and quantitative description of the size of the overlapping region of the specified part of the operation object and the initial irradiation field. When the irradiation condition indicates that the specified portion of the operation object is not present in the range of the initial irradiation field, the beam limiter may not be adjusted, and when the irradiation condition indicates that the specified portion of the operation object is present in the range of the initial irradiation field, adjustment data for the beam limiter may be determined according to the irradiation condition to reduce the irradiation area of the irradiation field to the specified portion, even so that the specified portion is not present in the irradiation field.

In the adjusting method of the beam limiter, the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object is determined; determining adjustment data for the beam limiter according to the irradiation condition; the beam limiter can be adjusted through adjusting data, and a target irradiation field is obtained; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part. The beam limiter is flexibly and reasonably adjusted according to the actual irradiation condition of the designated part of the operation object, the irradiation area of the designated part is reduced, and the irradiation range of the designated part of the operation object is reduced, so that the radiation dose received by the designated part is reduced, and the damage of the radiation dose to the designated part of the operation object is reduced.

In some embodiments, referring to fig. 2a, determining adjustment data for the beam limiter according to the illumination situation may comprise the steps of:

s210, if the irradiation condition indicates that the designated part appears in the initial irradiation field, determining operation position data of the designated part.

S220, adjusting data for the beam limiter are determined according to the operation position data.

The operation position data is used for describing the position of a designated part of the operation object when the operation object operates the interested part in the radiation irradiation process. The operation position data may be relative position data between the designated region and the radiation source, or may be relative position data between the designated region and the initial irradiation field. For example, the operational position data may be a vertical distance between the designated location and the source of radiation. Referring to fig. 2b, the designated location may be a doctor's hand, and the vertical distance H between the position of the doctor's hand and the radiation source may be the operation position data. The initial illumination field may be 2L wide in the field of view of FIG. 2b ₁ Adjusting the horizontal distance between the front edge and the source, i.e. the initial distance, to L at the horizontal position ₁ . The shielding sheet in fig. 2b may be any shielding sheet included in the beam limiter, and this is not limited in this embodiment.

Specifically, when the irradiation condition indicates that the specified portion of the operation object is present within the range of the initial irradiation field, in order to reduce the irradiation of the specified portion, it is first necessary to determine the operation position data of the specified portion, and then to determine the adjustment data for the beam limiter from the operation position data. Illustratively, the operating position data H of the designated part is determined from the vertical distance between the position of the designated part and the radiation source, from which the adjustment data for the beam limiter can be determined.

In the adjustment method of the beam limiter, if the irradiation condition indicates that the designated part appears in the initial irradiation field, the operation position data of the designated part is determined, and the adjustment data for the beam limiter is determined according to the operation position data. The beam limiter can be adjusted by adjusting the data, and the target irradiation field is obtained. Based on the adjustment data, the beam limiter can be flexibly adjusted, and the radiation range of the appointed part of the operation object is reduced.

In some embodiments, referring to fig. 3, determining adjustment data for the beam limiter based on the operational position data may include the steps of:

s310, determining a target shielding sheet to be adjusted according to the operation position data, wherein the beam limiter comprises a plurality of shielding sheets, and the target shielding sheet is at least one of the plurality of shielding sheets.

S320, determining adjustment data for the target occlusion slice according to the operation position data.

The adjustment data of the target shielding sheet can include an offset amount of the target shielding sheet to be adjusted and a direction of the target shielding sheet to be adjusted.

Specifically, the beam limiter comprises a plurality of shielding sheets, and the target shielding sheet is at least one of the plurality of shielding sheets. Each shielding sheet corresponds to an illumination range controlled by each shielding sheet, and the illumination range controlled by the shielding sheet of which designated part appears in the beam limiter can be determined according to the operation position data. Namely, according to the operation position data and the irradiation range controlled by each shielding sheet, the shielding sheet needing to be adjusted, namely, the target shielding sheet, can be determined; the direction in which the target shielding piece needs to move and the distance which needs to move, namely the offset which needs to be adjusted, of the target shielding piece can be further determined according to the operation position data.

Illustratively, the beam limiter comprises a shielding sheet 1, a shielding sheet 2, a shielding sheet 3, a shielding sheet 4. The ray source can be characterized as the position of the origin in the three-dimensional coordinate system, the vertical center line of the ray beam can be characterized as the Z axis in the three-dimensional coordinate system, the direction of the beam limiter can be characterized as the positive direction of the Z axis, the directions of the shielding sheet 1 and the shielding sheet 2 can be characterized as the X axis in the three-dimensional coordinate system, the direction of the shielding sheet 1 is the positive direction of the X axis, and the direction of the shielding sheet 2 is the negative direction of the X axis; the directions of the shielding sheets 3 and 4 can be characterized as Y-axis in a three-dimensional coordinate system, the direction of the shielding sheet 3 is the positive direction of the Y-axis, and the direction of the shielding sheet 4 is the negative direction of the Y-axis. From the operation position data, the position of the specified portion in the three-dimensional coordinate system can be determined. The specified portion appears in the XY plane, the shielding sheet 1, the shielding sheet 2, the shielding sheet 3, and the shielding sheet 4 may be located in four quadrants of the XY coordinate system, and if the specified portion appears in the positive direction of the X axis and the positive direction of the Y axis, the shielding sheet 1 may be determined as the target shielding sheet, and if the specified portion appears in the positive direction of the X axis and the negative direction of the Y axis, the shielding sheet 4 may be determined as the target shielding sheet. Adjustment data for the target occlusion tile may be determined from the operational position data.

In the adjustment method of the beam limiter, the target shielding piece to be adjusted is determined from a plurality of shielding pieces included in the beam limiter according to the operation position data, and the adjustment data for the target shielding piece is determined according to the operation position data. The beam limiter can be adjusted by adjusting the data, and the target irradiation field is obtained. Based on the adjustment data, the beam limiter can be flexibly adjusted, and the radiation range of the appointed part of the operation object is reduced.

In some embodiments, referring to fig. 4, before determining adjustment data for a target occlusion slice based on operational position data, the adjustment method of the beam limiter may comprise the steps of:

s410, acquiring first relative position data between the ray source and the target shielding sheet.

The first relative position data may be a vertical distance between the target shielding sheet and the radiation source, and may be a fixed value. Referring to fig. 2b, a vertical distance h between the target shielding plate and the radiation source may be first relative position data.

Specifically, a distance between the radiation source and the target shielding sheet is acquired as first relative position data h. For example, the first relative position data, which is the vertical distance between the shielding plate of the beam limiter and the radiation source, may be determined depending on the position at which the beam limiter is mounted.

Determining adjustment data for the target occlusion tile based on the operational position data, comprising:

s420, determining adjustment data for the target occlusion slice according to the first relative position data and the operation position data.

In some cases, the shielding plate of the beam limiter is used to limit the propagation direction and range of rays, thereby controlling the radiation range of rays. The position relation between the beam limiter and the ray source determines the ray radiation range, so that in order to adjust the target shielding sheet more finely, first relative position data between the ray source and the target shielding sheet are determined, and the first relative position data are used as references for adjusting the target shielding sheet; adjustment data for the target occlusion tile is then determined based on the first relative position data and the operational position data. Specifically, the positional relationship among the radiation source, the target shielding sheet and the designated part has geometric similarity, and the adjustment data for the target shielding sheet can be determined according to the similar relationship among the first relative position data H and the operation position data H by combining the geometric similarity.

In the adjustment method of the beam limiter, first relative position data between the ray source and the target shielding sheet is obtained, and adjustment data for the target shielding sheet is determined according to the first relative position data and the operation position data. The beam limiter can be adjusted through adjusting data, and a target irradiation field is obtained; based on the adjustment data, the beam limiter can be flexibly and accurately adjusted, and the radiation range of the appointed part of the operation object is reduced.

In some embodiments, referring to fig. 5, before determining adjustment data for a target occlusion slice based on operational position data, the adjustment method of the beam limiter may comprise the steps of:

s510, determining initial irradiation size data of the initial irradiation field to the designated part.

s520, determining adjustment data for the target occlusion slice according to the initial irradiation size data and the operation position data.

The initial irradiation size data may be length and width data in which the designated region appears in the initial irradiation field range. The initial irradiation size data may be, for example, the longest data m at which the specified region appears in the initial irradiation field or the widest data n at which the specified region appears in the initial irradiation field.

Specifically, in some embodiments, the depth image is obtained by photographing the specified portion with a depth camera, so that initial irradiation size data of the initial irradiation field to the specified portion is determined based on the depth image. In some embodiments, the detection member may be attached to the designated portion, and the initial irradiation size data of the designated portion may be irradiated with the initial irradiation field by the detection member. Further, the initial irradiation size data of the initial irradiation field to the specified portion may reflect the irradiation area of the initial irradiation field to the specified portion, and in order to accurately reduce the irradiation area to the specified portion, adjustment data for the target barrier sheet is determined based on the initial irradiation size data and the operation position data H. For example, the required irradiation range in the plane of the designated part can be determined by the initial irradiation size data, so that the target irradiation field is obtained by adjusting the adjustment range of the initial irradiation field by combining the geometric similarity and determining the adjustment data for the target shielding sheet according to the operation position data.

In the adjustment method of the beam limiter, initial irradiation size data of the initial irradiation field to the designated part is determined, and adjustment data for the target shielding sheet is determined according to the initial irradiation size data and the operation position data. And adjusting the beam limiter based on the adjustment data to obtain the target irradiation field. Based on the adjustment data, the beam limiter can be flexibly adjusted, and the radiation range of the appointed part of the operation object is reduced.

In some embodiments, referring to fig. 6, adjusting the data includes adjusting an offset. The target shielding sheet and the ray source have first relative position data therebetween, and the operation position data comprises second relative position data between the designated part and the ray source. Determining adjustment data for the target occlusion tile based on the initial shot size data and the operational position data may include the steps of:

s610, determining the target distance according to the initial irradiation size data and the initial distance.

The initial distance is the horizontal distance between the edge to be adjusted of the initial irradiation field at the horizontal position of the designated part and the ray source. The target distance is the horizontal distance between the adjusted trailing edge and the source of radiation at the horizontal position.

S620, determining the adjustment offset for the target occlusion slice according to the target distance, the first relative position data and the second relative position data.

Wherein the target distance is less than the initial field of view width, and the designated portion may not appear within the target field of view width. The second relative position data between the designated region and the source may be represented using the operational position data H.

Specifically, the horizontal position of the designated portion is determined, and the diameter of the initial irradiation field at the horizontal position is recorded as the initial distance. Since the designated area appears within the initial field of view width, the designated area is irradiated. To reduce the irradiation of the specified portion, it is necessary to adjust the initial distance to reduce the portion of the specified portion that appears within the adjusted initial distance. Therefore, if the designated portion is required not to be present within the target distance, the target distance of the target irradiation field at the horizontal position of the designated portion is determined based on the initial irradiation size data and the initial distance of the initial irradiation field at the horizontal position of the designated portion. Further, combining the geometric similarity, and determining the adjustment offset for the target shielding sheet according to the target distance, the first relative position data and the second relative position data to obtain the target irradiation field.

Illustratively, the initial distance L of the initial irradiation field at the horizontal position of the designated part is based on the initial irradiation size data ₁ The subtraction operation is performed to determine the target distance L of the target irradiation field at the horizontal position of the designated part ₂ . According to the target distance L ₂ Calculation of the first relative position data H, the second relative position data H may determine an adjustment offset d for the target occlusion sheet.

In the adjustment method of the beam limiter, the target distance is determined according to the initial irradiation size data and the initial distance, and the adjustment offset for the target shielding sheet is determined according to the target distance, the first relative position data and the second relative position data. By determining the adjustment offset of the target occlusion tile, data support can be provided for subsequent adjustment of the target occlusion tile, so that the range of occlusion tile adjustment is clarified.

In some embodiments, referring to fig. 7, determining the adjustment offset for the target occlusion tile based on the target distance, the first relative position data, and the second relative position data may include the steps of:

s710, calculating geometric similarity according to the target distance, the first relative position data and the second relative position data to obtain the target opening size of the target shielding sheet.

S720, determining the adjustment offset for the target shielding sheet according to the size of the target opening.

Wherein the size of the opening of the shielding sheet is equal to the horizontal distance between the edge of the shielding sheet close to the ray source and the ray source. The size of the opening of the target shielding plate is equal to the horizontal distance between the edge of the target shielding plate, which is close to the ray source, and the ray source. The initial opening size of the target shielding plate is equal to the horizontal distance between the edge of the target shielding plate, which is close to the radiation source, and the radiation source before adjustment. The target opening size of the target shielding sheet is equal to the horizontal distance between the edge of the target shielding sheet, which is close to the ray source, and the ray source after adjustment.

Specifically, in combination with the geometric similarity relationship, the proportional relationship between the first relative position data and the second relative position data is equal to the proportional relationship between the opening size of the target shielding sheet and the initial distance of the initial irradiation field at the horizontal position of the designated position. Thus, according to the target distance L ₂ The geometrical similarity relation calculation is carried out on the first relative position data H and the second relative position data H, so that the target opening size l of the target shielding sheet can be obtained ₂ Knowing the target opening size l ₂ The adjustment offset d for the target occlusion tile can be determined to obtain the target illumination field.

In the adjustment method of the beam limiter, geometric similarity relation calculation is carried out according to the target distance, the first relative position data and the second relative position data, and the target opening size of the target shielding sheet is obtained. And determining the adjustment offset for the target shielding sheet according to the size of the target opening. By determining the adjustment offset of the target occlusion tile, data support can be provided for subsequent adjustment of the target occlusion tile, so that the range of occlusion tile adjustment is clarified.

In some embodiments, referring to FIG. 8, the second relative position data is represented by a vertical distance between the source and a horizontal position at which the designated location is located; the first relative position data is represented by a vertical distance between the ray source and an opening plane of the beam limiter; performing geometric similarity relation calculation according to the target visual field width, the first relative position data and the second relative position data to obtain a target opening size of the target shielding sheet, and the method can comprise the following steps:

s810, determining a distance ratio between the first relative position data and the second relative position data.

S820, taking the product of the distance ratio and the target distance as the target opening size.

Determining an adjustment offset for a target occlusion tile based on a target opening size, comprising:

S830, according to the initial opening size and the target opening size of the target shielding sheet, determining the adjusting direction and the adjusting distance of the target shielding sheet as the adjusting offset for the target shielding sheet.

Specifically, referring to fig. 2b, a distance ratio between the first relative position data H and the second relative position data H is determined, and the distance ratio between the first relative position data H and the second relative position data H is determined to be equal to the initial opening size l of the target occlusion sheet according to the triangle similarity principle ₁ From the initial distance L ₁ The ratio of the distances between them is equal to the target opening size l ₂ Distance from target L ₂ The ratio of the distances betweenThe distance ratio between the second relative first relative position data H and the second relative position data H is compared with the target distance L ₂ The product between them is taken as the target opening size l ₂ I.e. < ->According to the initial opening size l of the target shielding sheet ₁ And the target opening size l ₂ The adjustment distance of the target shielding plate can be determined as the adjustment offset d for the target shielding plate>The adjustment direction of the target occlusion sheet can be determined according to the offset d. The opening size is as follows

In the adjusting method of the beam limiter, the distance ratio between the first relative position data and the second relative position data is determined; taking the product of the distance ratio and the target distance as the target opening size. And determining the adjusting direction and the adjusting distance of the target shielding sheet according to the initial opening size and the target opening size of the target shielding sheet, and taking the adjusting direction and the adjusting distance as the adjusting offset for the target shielding sheet. By determining the adjustment offset of the target occlusion tile, data support can be provided for subsequent adjustment of the target occlusion tile, so that the range of occlusion tile adjustment is clarified.

In some embodiments, the target illumination field has target illumination size data of 0 for the specified region such that the specified region is not located within the illumination region corresponding to the target illumination field.

In some cases, the target irradiation field having the target irradiation size data of 0 for the specified portion may indicate that the specified portion is not located within the irradiation region corresponding to the target irradiation field, and may determine that the target irradiation field is satisfactory.

In some embodiments, determining an illumination of the initial illumination field of the beam limiter to a specified portion of the object comprises: acquiring image data for a specified region; wherein the image data includes position information of the designated portion and position information of the initial irradiation field; determining an illumination condition based on the image data; the image data is a depth image acquired by a depth camera or a low-dose image acquired by an X-ray device provided with a beam limiter in a low-dose scanning mode.

The low dose scanning mode is that the scanning dose is less than or equal to 66mGy/min, such as 43.5mGy/min. Specifically, in some embodiments, the designated portion and the initial irradiation field are photographed by a depth camera, and the obtained corresponding depth image, based on which the position information of the designated portion and the position information of the initial irradiation field can be determined. Comparing the position information of the designated part with the position information of the initial irradiation field to determine the irradiation condition of the initial irradiation field to the designated part.

In some embodiments, the initial illumination field is determined in any of the following ways: the method comprises the steps of projecting on the surface where an area of interest is located in an optical projection mode to determine an initial irradiation field, or shooting the area of interest by a depth camera, and mapping position information of the initial irradiation field of a beam limiter onto a depth image obtained by shooting the area of interest based on internal parameters and external parameters of the depth camera to determine the initial irradiation field.

The internal reference of the depth camera is the conversion relation between the camera coordinate system and the image coordinate system, the external reference of the depth camera is the conversion relation between the camera coordinate system and the world coordinate system, the conversion relation comprises a conversion matrix, and the position information of the initial irradiation field of the beam limiter can be determined based on the geometric relation among the ray source, the opening of the beam limiter and the region of interest. For example, the position coordinates of the radiation source, the opening of the beam limiter and the world coordinate system in which the region of interest is located are known, and the projection coordinates of the opening of the beam limiter on the region of interest along the outgoing direction of the radiation source light are the coordinates in the world coordinate system of the initial irradiation field. The coordinates in the world coordinate system of the initial illumination field may be displayed in the image coordinate system after being converted by the external and internal parameters of the depth camera.

In still other embodiments, the image data is obtained by an X-ray device equipped with a beam limiter using a low dose scanning mode. The image data includes position information of the designated region and position information of the initial irradiation field. Comparing the position information of the designated part with the position information of the initial irradiation field to determine the irradiation condition of the initial irradiation field to the designated part.

In some embodiments, determining the operational position data for the designated location includes: determining coordinates of an image coordinate system of the designated part; the operation position data is determined based on the image coordinate system coordinates of the specified portion.

Specifically, a depth image is acquired by a depth camera, and a reference coordinate system of the depth image is an image coordinate system. And performing target detection on the depth image, and determining the coordinates of an image coordinate system of the designated part. And converting the coordinates of the image coordinate system of the designated part into a world coordinate system to obtain the operation position data of the designated part. For example, referring to fig. 9, the determining manner of the operation position data may include the steps of:

s910, acquiring a depth image obtained by shooting the region of interest by using a depth camera.

S920, determining operation position data based on the depth image.

The depth camera may obtain depth information by shooting a space, so as to obtain operation position data, and the depth camera may be a binocular camera, a TOF camera, or a structured light camera. Radiation is harmful to the human body, and thus it is necessary to control the radiation to irradiate a region to be examined, i.e., a region of interest (Region of Interest, ROI), of the object to be examined. The Depth image includes an RGB image and a Depth Map (Depth Map). Wherein the RGB image and the depth map are registered, and pixels are in one-to-one correspondence. The depth map contains an image channel of information about the surface distance of the viewpoint scene object, the channel itself being similar to a grey scale image, each pixel value being the actual distance measured by the sensor from the object. The field of view of the depth camera may overlap with the initial illumination field, and the field of view of the depth camera may include the initial illumination field.

In some cases, the source may be intermittently operated, as the source is not required to perform medical imaging all the way through the procedure, so the depth camera may take images while the source is operating, and may likewise be off while the source is not operating. The depth camera can be in an open state in the whole process of operation without considering the working time of the ray source, and the interested region is shot.

Specifically, the region of interest is photographed by a depth camera, so that a depth image can be obtained, and operation position data can be obtained by performing corresponding calculation operation on the depth image.

The passive depth sensing may be performed by acquiring two images of the region of interest simultaneously with two cameras having a certain spatial interval, calculating a positional deviation between corresponding points using a stereo matching algorithm, and acquiring operational position data of the designated portion in the actual scene. The structured light method is to project light with certain structural characteristics to a designated part through a near infrared laser and obtain operation position data by adopting different phase information. The optical time-of-flight method is to continuously emit laser pulses to a designated part, receive reflected light rays by a sensor, and obtain operation position data by calculating the exact distance of the pulse time-of-flight.

In the adjusting method of the beam limiter, a depth image obtained by shooting an interested area by using a depth camera is obtained; operating position data is determined based on the depth image. By determining the operational position data, a data basis may be provided for calculating the offset of the beam limiter.

In some embodiments, referring to fig. 10, determining the operational position data based on the depth image may include the steps of:

S1010, if the target detection is performed based on the depth image to determine that the designated part appears in the initial irradiation field, determining the image coordinate system coordinates of the designated part based on the depth image.

S1020, determining operation position data based on the image coordinate system coordinates of the designated part.

In some cases, if the specified portion is present in the initial irradiation field, the size of the opening of the shielding sheet may be considered as unsatisfactory, and the position of the shielding sheet needs to be adjusted to ensure that the specified portion is not present in the irradiation field of the radiation.

Specifically, the reference coordinate system of the depth image is an image coordinate system. Target detection of the depth image may determine whether the specified region is present within the depth image. When the appointed part appears in the depth image, the initial irradiation field of the beam limiter is mapped into the depth image based on the internal parameters and the external parameters of the depth camera, specifically, the initial irradiation field under the world coordinate system is converted into the image coordinate system, and the position parameters and the range of the initial irradiation field are converted into the image coordinate system, so that the position and the range of the initial irradiation field in the depth image are obtained. Then, whether the designated part is present in the initial irradiation field is judged, and if the designated part is present in the initial irradiation field, the image coordinate system coordinates of the designated part can be determined based on the depth image. And converting the coordinates of the image coordinate system of the designated part into a world coordinate system to obtain the operation position data of the designated part.

In some embodiments, the target detection may be implemented by a target detection model, which may be deployed at a cloud server. Uploading the depth image acquired by the image acquisition equipment to a cloud server, inputting the depth image into a trained target detection model by the cloud server to extract characteristic information of the designated part, determining that the designated part exists in the depth image based on the extracted characteristic information, and outputting image coordinate system coordinates of the designated part. In other embodiments, the object detection model may be deployed within a depth camera.

It should be noted that the designated portion may be configured according to an actual situation, for example, the designated portion may be a hand, and in the detection process, the hand may be used as a shielding target to perform detection and identification. In training a target detection model corresponding to a specified site, a training set of target detection models may be constructed based on medical images captured during surgery in the presence of the specified site. The tag is a designated location present within the medical image.

In the adjustment method of the beam limiter, if the target detection is performed based on the depth image to determine that the specified portion is present in the initial irradiation field, the image coordinate system coordinates of the specified portion are determined based on the depth image. The operation position data is determined based on the image coordinate system coordinates of the specified portion. By determining the operational position data, a data basis may be provided for calculating the offset of the beam limiter.

In some embodiments, the determining the operation position data may further include: if the target detection is carried out based on the depth image, the designated part is determined not to be in the initial irradiation field, and the initial irradiation field of the beam limiter is maintained unchanged.

In some cases, if the designated portion is not present in the initial irradiation field, it may be stated that the designated portion is not irradiated, and thus the initial irradiation field of the beam limiter may be maintained unchanged.

Specifically, in some embodiments, the depth image is subject to target detection, and if it is determined that the specified portion is not present in the depth image, it may be determined that the specified portion is not present in the initial irradiation field, which indicates that the specified portion is not irradiated, and thus the beam limiter may not be adjusted. In still other embodiments, the target detection is performed on the depth image, if it is determined that the designated portion is present in the depth image, the initial irradiation field under the world coordinate system may be converted into the image coordinate system, the position parameter and the range of the initial irradiation field may be converted into the image coordinate system, the position and the range of the initial irradiation field in the depth image may be obtained, then it is determined whether the designated portion is present in the initial irradiation field, and if the designated portion is not present in the initial irradiation field, it is indicated that the designated portion is not irradiated, and therefore, the beam limiter may not be adjusted. The depth image acquired by the image acquisition device is uploaded to a cloud server, the cloud server inputs the depth image into a trained target detection model, and the target detection model detects that no designated part exists in the depth image, so that the designated part is determined not to exist in the initial irradiation field, and the initial irradiation field of the beam limiter is maintained unchanged. If the specified part exists in the depth image, whether the specified part exists in the initial irradiation field can be further judged, and if the specified part does not exist in the initial irradiation field, the fact that the specified part is not irradiated can be indicated, so that the beam limiter is not required to be adjusted.

In the adjustment method of the beam limiter, if the target detection is performed based on the depth image to determine that the designated part is not present in the initial irradiation field, the initial irradiation field of the beam limiter is maintained unchanged, so that unnecessary adjustment of the beam limiter can be avoided.

In some embodiments, the position information of the initial illumination field may be projected onto the surface on which the region of interest is located by means of optical projection, and the depth camera may capture the projection of the region of interest and the initial illumination field. Specifically, the adjustment method of the beam limiter may further include any one of the following cases:

simulating a focus of a ray source by using a point light source, and reflecting light rays of the point light source to an interested region through a reflecting mirror to obtain an irradiation range of the ray source; an initial position of the beam limiter is calculated based on an irradiation range of the radiation source. I.e. by means of optical projection onto the surface where the region of interest is located.

Wherein a point source can be used to simulate the focal point of a radiation source, replacing the radiation with visible light. The reflector is an important part in the beam limiter, the position of the reflector is correct, whether the simulated light irradiation field is correct or not is directly influenced, the reflector is a thin lens, the reflector is generally made of plastic, the surface is vacuum coated, the function of a mirror surface is realized, and the reflector is required to be smooth in surface.

In some cases, the radiation emitted by the radiation source is invisible, so that whether the opening size of the shielding plate meets the actual requirement cannot be predicted, a point light source is arranged in the beam limiter, a bulb simulates the focal position of the radiation source, the light is reflected to a part to be irradiated through a reflector, the irradiation field of the radiation source is predicted by irradiation field of visible light, and therefore the opening degree of the shielding plate can be adjusted according to the required irradiation field. In order to make the simulated light irradiation field accurately reflect the radiation source irradiation field, the positions of the radiation source focal point, the point light source and the reflecting mirror are important, and referring to fig. 11, the positions of the point light source and the radiation source focal point may be symmetrical with each other with the reflecting mirror as a symmetry center axis.

Specifically, the beam limiter is provided with a simulated light button, and after the simulated light button is pressed, the point light source is in an open state, and can be used for simulating the focus of a ray source to replace rays with visible light. The light of the point light source is reflected to the region of interest by the reflector, and the irradiation range of the point light source can be obtained. The beam limiter can be adjusted according to the irradiation range of the point light source and the position of the region of interest. When the irradiation range of the point light source covers the region of interest, the adjustment of the beam limiter may be stopped, and the irradiation range of the point light source may determine the irradiation range of the radiation source. By determining the position of the beam limiter, the distance of the beam limiter from the vertical centre line of the beam, i.e. the initial position of the beam limiter, can be calculated.

In the adjusting method of the beam limiter, a point light source is adopted to simulate the focus of the ray source, and the light of the point light source is reflected to the region of interest through a reflector, so that the irradiation range of the ray source is obtained. An initial position of the beam limiter is calculated based on an irradiation range of the radiation source. By determining the initial position of the beam limiter, an initial irradiation field can be determined, and the irradiation condition of the initial irradiation field to the specified portion of the operation object can be determined from the initial irradiation field.

In some embodiments, the adjustment is performed in any of the following ways to obtain the target illumination field of the beam limiter:

determining a target position of an operating rod of the beam limiter according to the adjustment data of the beam limiter, and adjusting the beam limiter in response to the operation of the operating rod to obtain a target irradiation field of the beam limiter; or, sending a control signal to a driving motor of the beam limiter according to the adjustment data of the beam limiter; or if the beam limiter adjusting operation corresponding to the adjusting data is received through the beam limiter adjusting interface, adjusting the shielding sheet of the beam limiter to obtain the target irradiation field of the beam limiter.

The control signal is used for indicating the driving motor to adjust the beam limiter, so that a target irradiation field of the beam limiter is obtained. The control lever is provided with corresponding position irradiation field size indication marks, the control action can be that a user manually moves the control lever, and the marks of the control lever can reach the indication marks of the target irradiation field by moving the control lever. The driving motor of the beam limiter can be arranged in or outside the beam limiter, a control signal is sent through the received driving motor or a shielding sheet of the beam limiter can be adjusted in response to the operation action of the operating lever of the operating object, so that the adjustment of the irradiation field is realized, the adjustment of the exposure range and the exposure area is realized, the irregular irradiation field can be formed, the detection requirements of the interested areas with different sizes are met, and the accurate control of the movement position of the shielding sheet is realized.

In some cases, when the offset of the initial beam limiter is larger, the automatic adjustment of the beam limiter can be realized by sending a control signal to a driving motor of the beam limiter, and when the subsequent fine adjustment is performed or the region of interest needs to be accurate, the automatic adjustment can be assisted by manual adjustment through a control rod.

Specifically, the target position of the operating lever of the beam limiter can be determined through the adjustment data of the beam limiter and the initial position data of the beam limiter, the operation object can control the movement of the operating lever according to the target position, and the beam limiter can be adjusted to enable the beam limiter to move to a designated position in response to the operation action of the operation object on the operating lever, so that the target irradiation field of the beam limiter is obtained. Or, the control signal can be sent to the driving motor of the beam limiter according to the obtained adjustment data of the beam limiter, and the software can control the driving motor of the shielding sheet to automatically adjust the beam limiter through the control signal received by the driving motor, so that the beam limiter automatically moves to a designated position, and the target irradiation field of the beam limiter is obtained. Or, providing a beam limiter adjusting interface through display equipment, wherein the beam limiter adjusting interface is provided with a position adjusting control for a beam limiter shielding sheet, under the guidance of adjusting data, a user sends out beam limiter adjusting operation through the position adjusting control in the beam limiter adjusting interface, generates a control signal for the beam limiter shielding sheet in response to the beam limiter adjusting operation corresponding to the adjusting data, sends the generated control signal to a driving motor, and automatically adjusts the beam limiter shielding sheet to obtain a target irradiation field of the beam limiter. For example, a drag operation may be performed on a position adjustment control of the beam limiter adjustment interface, and adjustment may be performed on a beam limiter occlusion sheet in response to the drag operation to obtain a target illumination field of the beam limiter. The position adjustment control can adopt man-machine interaction elements simulating a beam limiter shielding sheet.

In the adjusting method of the beam limiter, the target position of the operating rod of the beam limiter is determined according to the adjusting data of the beam limiter, and the beam limiter is adjusted in response to the operation of the operating rod, so that the target irradiation field of the beam limiter is obtained. Or sending an adjusting control signal for indicating the driving motor to adjust the beam limiter to the driving motor of the beam limiter according to the adjusting data of the beam limiter. Or if the beam limiter adjusting operation corresponding to the adjusting data is received through the beam limiter adjusting interface, adjusting the shielding sheet of the beam limiter to obtain the target irradiation field of the beam limiter. By responding to the manipulation action of the manipulation lever of the manipulation object, the beam limiter can be more accurately adjusted to reach the irradiation area of the target irradiation field to the designated part. The beam limiter can be adjusted by receiving the adjustment operation of the beam limiter corresponding to the adjustment data through the control signal or through the adjustment interface of the beam limiter, so that the automatic adjustment of the beam limiter can be realized, the frequency of manually operating the beam limiter in the operation process is reduced, and the timeliness of the operation is improved. The exposure of the physician to the body part of the irradiated area may be protected by adjusting the beam limiter automatically or manually during the operation, thereby reducing the radiation dose to which the physician is exposed.

In some embodiments, each shutter piece of the beam limiter is correspondingly provided with a separate driving motor; the driving motor is used for unilaterally adjusting the corresponding shielding sheet; and/or the driving motor is used for adjusting at least part of the shielding sheet of the beam limiter so as to realize at least one of polygonal movement combinations.

The polygonal motion combination comprises bilateral motion, trilateral motion and quadrilateral motion.

In some cases, the shielding sheets of the beam limiter are not required to be moved every time, the shielding sheets required to be adjusted can be determined according to actual conditions, and the beam limiter can be determined to be adjusted by single-side shielding sheets or the shielding sheets corresponding to multiple sides.

Specifically, according to the irradiation condition of the designated part of the operation object in the initial irradiation field of the beam limiter, determining the shielding sheet of the beam limiter which needs to be adjusted, if only the shielding sheet on one side is adjusted, adjusting the shielding sheet by a driving motor corresponding to the shielding sheet; if the shielding sheets to be adjusted are polygonal, the corresponding shielding sheets can be adjusted according to the driving motor corresponding to the shielding sheets to be adjusted as required, so that polygonal movement combination is realized.

For example, referring to fig. 12, the beam limiter may include a shielding sheet a, a shielding sheet B, a shielding sheet C, and a shielding sheet D. The shielding sheet A is correspondingly provided with an independent driving motor A ₁ The shielding sheet B is correspondingly provided with an independent driving motor B ₁ The shielding sheet C is correspondingly provided with an independent driving motor C ₁ The shielding sheet D is correspondingly provided with an independent driving motor D ₁ . If the shielding sheet A needs to be adjusted, the shielding sheet A can be driven by a driving motor A ₁ So as to realize unilateral adjustment of the shielding sheet A. The shielding sheet B, the shielding sheet C and the shielding sheet D can realize unilateral adjustment of the shielding sheet through the driving motor corresponding to the shielding sheet. If the shielding sheet A and the shielding sheet B need to be adjusted, the motor A can be driven simultaneously ₁ Realize the adjustment of the shielding sheet A by driving the motor B ₁ The adjustment of the shielding sheet B is realized to realize bilateral movement. The shielding sheet A and the shielding sheet C, the shielding sheet A and the shielding sheet D, the shielding sheet B and the shielding sheet C, the shielding sheet B and the shielding sheet D, and the shielding sheet C and the shielding sheet D can be adjusted by the driving motor corresponding to the shielding sheet in each combination so as to realize bilateral movement. If the shielding sheet A, the shielding sheet B and the shielding sheet C need to be adjusted, the motor A can be driven simultaneously ₁ Realize the adjustment of the shielding sheet A by driving the motor B ₁ Realize the adjustment of the shielding sheet B by driving the motor C ₁ The adjustment of the shielding sheet C is realized to realize trilateral movement. The shielding piece A, the shielding piece B and the shielding piece D, the shielding piece A, the shielding piece C and the shielding piece D, and the shielding piece B, the shielding piece C and the shielding piece D can be used for adjusting the shielding piece through driving motors corresponding to the shielding pieces in each combination so as to realize trilateral movement. If the shielding sheet A, the shielding sheet B, the shielding sheet C and the shielding sheet D need to be adjusted, the motor A can be driven simultaneously ₁ Realize the adjustment of the shielding sheet A by driving the motor B ₁ Realize the adjustment of the shielding sheet B by driving the motor C ₁ Realize the adjustment of the shielding sheet C by driving the motor D ₁ The adjustment of the shielding sheet D is realized to realize the four-side movement.

In the adjusting method of the beam limiter, each shielding piece of the beam limiter is correspondingly provided with an independent driving motor, so that independent driving of the shielding pieces can be realized, and the movement of each shielding piece is independent. The driving motor is used for unilaterally adjusting the corresponding shielding sheet; and/or the driving motor is used for adjusting at least part of the shielding sheet of the beam limiter so as to realize at least one of polygonal movement combinations. The shielding sheet of the corresponding unilateral or multilateral movement combination can be flexibly adjusted through the driving motor, convenience is provided for quick positioning of the region of interest, the function of changing the size of the irradiation field can be realized through adjusting the shielding sheet of the beam limiter, and the body part of a doctor which is initially exposed to the irradiation field can be not exposed to the irradiation field after the size change through changing the size of the irradiation field, so that the body part (such as a hand or an arm) of the doctor can be better protected. Rapid localization of a region of interest (ROI) may be facilitated by a polygonal motion.

The embodiment of the specification also provides an adjusting method of the beam limiter, wherein the adjusting data comprises adjusting offset; the first relative position data are arranged between the target shielding sheet and the ray source, and the operation position data are represented by the second relative position data between the designated part and the ray source; the first relative position data is represented by the vertical distance between the radiation source and the horizontal position of the appointed position; the second relative position data is represented by a vertical distance between the source and the plane of the opening of the beam limiter. For example, referring to fig. 13, the adjustment method of the beam limiter may include the following steps:

s1302, simulating a focus of a ray source by using a point light source, and reflecting light rays of the point light source to a region of interest through a reflector to obtain an irradiation range of the ray source; an initial position of the beam limiter is calculated based on an irradiation range of the radiation source.

S1304, determining the irradiation condition of the initial irradiation field of the beam limiter to the designated part of the operation object.

S1306, acquiring a depth image obtained by shooting the region of interest by using a depth camera.

S1308, if the target detection is performed based on the depth image, it is determined that the designated portion is not present in the initial irradiation field, the initial irradiation field of the beam limiter is maintained unchanged.

S1310, if the target detection is performed based on the depth image to determine that the designated part appears in the initial irradiation field, determining the image coordinate system coordinates of the designated part based on the depth image.

S1312, determining operation position data based on the image coordinate system coordinates of the designated part.

S1314, determining a target shielding sheet to be adjusted from a plurality of shielding sheets included in the beam limiter according to the operation position data.

S1316, determining initial irradiation size data of the initial irradiation field to the designated part.

S1318, determining the target distance according to the initial irradiation size data and the initial distance.

The initial distance is the horizontal distance between the edge to be regulated of the initial irradiation field at the horizontal position of the designated part and the ray source; the target distance is the horizontal distance between the adjusted trailing edge and the source of radiation at the horizontal position.

S1320, determining a distance ratio between the first relative position data and the second relative position data.

S1322, taking the product of the distance ratio and the target distance as the target opening size.

S1324, according to the initial opening size and the target opening size of the target shielding sheet, determining the adjusting direction and the adjusting distance of the target shielding sheet as the adjusting offset for the target shielding sheet.

S1326, determining the target position of the operating rod of the beam limiter according to the adjustment data of the beam limiter, and responding to the operation action of the operating rod of the operating object to adjust the beam limiter so as to obtain the target irradiation field of the beam limiter.

S1328, sending a control signal to a driving motor of the beam limiter according to the adjustment data of the beam limiter.

The control signal is used for indicating the driving motor to adjust the beam limiter, so that a target irradiation field of the beam limiter is obtained. Each shielding piece of the beam limiter is correspondingly provided with an independent driving motor; the driving motor is used for unilaterally adjusting the corresponding shielding sheet; and/or the driving motor is used for adjusting at least part of the shielding sheet of the beam limiter so as to realize at least one of polygonal movement combinations; the polygonal motion combination comprises bilateral motion, trilateral motion and quadrilateral motion.

In some embodiments, each shutter piece of the beam limiter is correspondingly provided with a separate driving motor; the driving motor is used for unilaterally adjusting the corresponding shielding sheets to realize multilateral movement combination; the polygon motion combination comprises bilateral motion, trilateral motion and quadrilateral motion, and after adjusting data aiming at the beam limiter according to the operation position data and automatically or manually adjusting the beam limiter to a target irradiation field based on the adjusting data, the polygon motion combination further comprises formal scanning, wherein the steps of formal scanning and acquiring image data aiming at a designated part are alternately executed, or whether the beam limiter and/or the designated part act or not is identified, if yes, the step of acquiring the image data aiming at the designated part is executed before the formal scanning.

The main scan is to acquire information of a region of interest, for example, the information of the region of interest includes a portion where an interventional operation needs to be performed and a tip position of a guide wire, and the main scan may be a perspective scan, and in order to obtain a perspective image (also referred to as a subtraction image), the subtraction image is obtained by subtracting a mask image from a current frame image, the current frame image includes a blood vessel image injected with a contrast agent, and the mask image includes a blood vessel image not injected with the contrast agent. The formal scan is after the beam limiter is modulated to the target field of view. In one example, the steps of formal scanning and acquiring image data for a specified region (simply referred to as monitoring scanning) may be performed alternately, that is, one monitoring scanning is performed before the formal scanning. In another example, it is identified whether the beam limiter and/or the designated part are in motion, if so, the step of acquiring image data for the designated part is performed prior to the formal scan, that is to say the monitoring scan is based on the beam limiter and/or the designated part motion information as a trigger-executed instruction. The mode of identifying whether the specified part acts can adopt a video camera or a camera and the like, and the mode of identifying whether the beam limiter acts can be acquired based on operation control parameters and instructions of a system or a position sensor arranged on the beam limiter.

The present embodiment provides an adjusting device 1400 of a beam limiter, referring to fig. 14, the adjusting device 1400 of the beam limiter includes: illumination condition determination module 1410, adjustment data determination module 1420.

An illumination condition determining module 1410, configured to determine an illumination condition of the initial illumination field of the beam limiter on a specified portion of the operation object;

an adjustment data determination module 1420 to determine adjustment data for the beam limiter based on the illumination condition; the adjusting data are used for indicating the adjustment of the beam limiter to obtain a target irradiation field; the irradiation area of the target irradiation field to the appointed position is smaller than the irradiation area of the initial irradiation field to the appointed position.

The present disclosure provides an adjusting device 1500 of a beam limiter, referring to fig. 15, the device includes: an illumination condition determination module 1510, a position data determination module 1520, and an adjustment data determination module 1530.

An illumination condition determining module 1510, configured to determine an illumination condition of the initial illumination field of the beam limiter on a specified portion of the operation object;

a position data determining module 1520 configured to determine operation position data of the specified portion if the irradiation condition indicates that the specified portion is present in the initial irradiation field;

An adjustment data determination module 1530 for determining adjustment data for the beam limiter based on the operational position data; the adjusting data are used for indicating the adjustment of the beam limiter to obtain a target irradiation field; the irradiation area of the target irradiation field to the designated part is smaller than the irradiation area of the initial irradiation field to the designated part, or the designated part is not located in the irradiation area corresponding to the target irradiation field.

For a specific description of the adjustment device of the beam limiter, reference may be made to the description of the adjustment method of the beam limiter hereinabove, which is not repeated here.

The present description embodiment provides a medical imaging device comprising a memory storing a computer program and a processor implementing the steps of the method of any of the embodiments described above when the processor executes the computer program.

The present description embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method of any of the above embodiments.

An embodiment of the present specification provides a computer program product comprising instructions which, when executed by a processor of a computer device, enable the computer device to perform the steps of the method of any one of the embodiments described above.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

Claims

1. A method of adjusting a beam limiter, the method comprising:

2. The method according to claim 1, wherein said determining adjustment data for the beam limiter from the operational position data comprises:

3. The method of claim 2, wherein the adjustment data includes an adjustment offset; the operational position data includes second relative position data that is present between the designated site and the radiation source;

4. A method according to claim 3, wherein the second relative position data is represented by a vertical distance between the source and the designated location; the first relative position data is represented by a vertical distance between the radiation source and an opening plane of the beam limiter; the calculating the geometric similarity relation according to the target distance, the first relative position data and the second relative position data to obtain the target opening size of the target shielding sheet comprises the following steps:

5. The method according to any one of claims 1 to 4, wherein determining the irradiation of the initial irradiation field of the beam limiter to the specified portion of the operation object comprises:

6. The method of claim 5, wherein the initial irradiation field is determined in any of the following ways:

7. The method of claim 5, wherein the determining the operational position data for the designated location comprises:

8. The method of claim 5, wherein each shutter piece of the beam limiter is correspondingly provided with a separate driving motor; the driving motor is used for unilaterally adjusting the corresponding shielding sheets to realize multilateral movement combination; the polygonal motion combination comprises bilateral motion, trilateral motion and quadrilateral motion, and after adjusting data aiming at the beam limiter is determined according to the operation position data and the beam limiter is automatically or manually adjusted to a target irradiation field based on the adjusting data, the polygonal motion combination further comprises:

9. An adjustment device for a beam limiter, the device comprising:

10. A medical imaging device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when the computer program is executed.

11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.