CN117653159A

CN117653159A - Imaging method and imaging system

Info

Publication number: CN117653159A
Application number: CN202310205069.7A
Authority: CN
Inventors: 奚岩
Original assignee: Jiangsu Yiying Medical Equipment Co ltd
Current assignee: Jiangsu Yiying Medical Equipment Co ltd
Priority date: 2023-03-06
Filing date: 2023-03-06
Publication date: 2024-03-08

Abstract

The invention provides an imaging method and an imaging system. The imaging method is used for imaging an image of an imaging area, the imaging area comprises at least two key positions and a non-key position positioned between the at least two key positions, and the imaging method comprises the following steps: fine scanning is carried out on at least two key positions, and three-dimensional image data of the at least two key positions are obtained; carrying out rapid scanning on an imaging area to obtain standard two-dimensional image data containing key parts and non-key parts, and collecting and recording the height and angle of the key parts in the standard two-dimensional image data; and carrying out image reconstruction on the three-dimensional image data of all key parts in the imaging area based on the standard two-dimensional image data to obtain a complete imaging image of the imaging area. The imaging method has the advantages of high speed, high accuracy and small radiation dose.

Description

Imaging method and imaging system

Technical Field

The present invention relates to the field of CT imaging technologies, and in particular, to an imaging method and an imaging system.

Background

Currently, X-ray imaging systems are widely used in medical fields, such as DR apparatuses and CT apparatuses. The imaging mode of the DR equipment and the CT equipment is to fix a patient between a ray source and a detector, wherein the ray source emits X-rays, and the detector receives X-ray signals passing through the patient and images the X-rays. DR is two-dimensional projection imaging; the basic process of CT scanning is that the relative positions of the X-ray source and the detector are fixed, and the X-ray source and the detector rotate around an object for one circle, X-ray emission and projection data acquisition are carried out, and a three-dimensional structure is reconstructed by using a filtering back projection operation for each projection.

In CT scanning, the imaging region of the patient needs to be scanned to obtain a complete three-dimensional image. Some of the imaging areas are high-definition images with important parts in detail, while some of the imaging areas are non-important parts, the high-definition images with detail are not needed, and if the same acquisition method is adopted to scan the important parts and the non-important parts of a patient, the patient needs to consume a long time, and is subjected to higher radiation dose and unsafe. In addition, due to the fact that the scanning time is too long, the patient easily shakes, and therefore the problem that final force line and other parameters are not accurately measured is caused.

In view of the foregoing, it is desirable to provide a new imaging method and imaging system to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a rapid, accurate and low-radiation-dose imaging method.

In order to achieve the above object, the present invention provides an imaging method for imaging an image of an imaging region including at least two emphasized portions and a non-emphasized portion located between the at least two emphasized portions, the imaging method comprising:

fine scanning is carried out on at least two key positions, and three-dimensional image data of the at least two key positions are obtained;

carrying out rapid scanning on the imaging region to obtain standard two-dimensional image data containing the key parts and the non-key parts, and collecting and recording the height and the angle of the key parts in the standard two-dimensional image data;

and carrying out image reconstruction on the three-dimensional image data of all key parts in the imaging area based on the standard two-dimensional image data to obtain a complete imaging image of the imaging area.

As a further improvement of the present invention, the method of performing image reconstruction on the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region includes:

searching three-dimensional image data closest to the height and angle of the key position in the standard two-dimensional image data in the three-dimensional image data, and acquiring two-dimensional projection image data of the closest three-dimensional image data;

and carrying out image reconstruction on the two-dimensional projection image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region.

As a further improvement of the present invention, the method of image reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain an imaging image of the imaging region includes:

based on the height and angle of the key position in the standard two-dimensional image data, splicing the two-dimensional projection image data of at least two key positions, and compensating the two-dimensional projection image data by adopting the data of the three-dimensional phantom to compensate the two-dimensional image data of the non-key position so as to obtain the complete two-dimensional image data of the imaging region.

and compensating the two-dimensional projection image data by adopting a difference method based on the height and the angle of the key position in the standard two-dimensional image data, and compensating the two-dimensional image data of the non-key position so as to obtain the complete two-dimensional image data of the imaging region.

As a further improvement of the present invention, it is compared and judged whether the height and angle of the key part in the whole two-dimensional image data of the imaging region are identical to those of the key part in the standard two-dimensional image data,

if the images are consistent, outputting an imaging image of the imaging area;

and if the three-dimensional image data are inconsistent, calibrating the three-dimensional image data until the height and the angle of the key position in the complete two-dimensional image data formed by mapping the three-dimensional image data are consistent with those of the key position in the standard two-dimensional image data.

As a further improvement of the present invention, the method of calibrating the three-dimensional image data includes:

adjusting three-dimensional image data of one or more key positions;

searching three-dimensional image data closest to the height and angle of the key position in the standard two-dimensional image data in the adjusted three-dimensional image data, and acquiring two-dimensional projection image data of the closest three-dimensional image data;

and splicing and compensating the two-dimensional image data based on the standard two-dimensional image data to obtain complete two-dimensional image data.

As a further improvement of the present invention, the three-dimensional image data of one or more key points is adjusted based on the height and angle of the key points in the standard two-dimensional image data.

As a further improvement of the present invention, the method for finely scanning at least two of the key points to obtain three-dimensional image data of at least two of the key points includes:

performing circumferential scanning on the at least two key positions to obtain a series of two-dimensional image data;

and carrying out image reconstruction on the series of two-dimensional image data to obtain three-dimensional image data of at least two key positions.

As a further improvement of the present invention, the method for rapidly scanning the imaging region to obtain standard two-dimensional image data includes:

three or more standard two-dimensional image data having different heights and different angles are acquired for an imaging region.

As a further improvement of the present invention, the fast scanning method is a spiral scanning, including a Z-shaped scanning or a zigzag scanning; alternatively, the fast scan method is a vertical scan, including a straight line scan along a vertical ground direction.

Another object of the present invention is to provide an imaging system for imaging an image using the above-described imaging method.

To achieve the above object, the present invention provides an imaging system including:

and a data acquisition module: the X-ray detector comprises a ray generating device and a signal receiving device, wherein the ray generating device is used for emitting X-rays and comprises a first mechanical arm and an X-ray emitter arranged on the first mechanical arm; the signal receiving device is used for receiving X rays and comprises a second mechanical arm and a detector arranged on the second mechanical arm;

and an image reconstruction module: the data acquisition module is in signal connection with the data acquisition module and is used for image reconstruction so as to obtain an imaging image of the imaging region;

and the control module is used for: and the imaging device is in signal connection with the data acquisition module and the image reconstruction module and is used for executing the imaging method.

The beneficial effects of the invention are as follows: compared with the prior art, the imaging method provided by the invention has the advantages that the important parts in the imaging area are finely scanned, the whole area of the imaging area is rapidly scanned, the three-dimensional image data of all the important parts in the imaging area are subjected to image reconstruction based on the standard two-dimensional image data obtained by rapid scanning, and the complete imaging image of the imaging area is obtained, so that the imaging image of the imaging area is rapidly obtained on the premise of meeting the detailed high-definition image required by the important parts, the scanning time is shortened, the radiation dose required by a patient is reduced, the safety is improved, meanwhile, the problem of inaccurate scanning results caused by shaking of the patient can be effectively avoided, and the accuracy of the scanning results is improved.

Drawings

Fig. 1 is a flow chart of the imaging method of the present invention.

Fig. 2 is a detailed flow chart of the imaging method of the present invention.

Fig. 3 is a frame diagram of an imaging system of the present invention.

Fig. 4 is partial two-dimensional image data and formed three-dimensional image data of a knee joint in a preferred embodiment of the present invention.

Fig. 5 is partial two-dimensional image data and formed three-dimensional image data of an ankle joint in a preferred embodiment of the present invention.

Fig. 6 is standard two-dimensional image data of an imaging region according to a preferred embodiment of the present invention.

Fig. 7 is a comparison of two-dimensional projection image data of a knee joint with standard two-dimensional image data.

Fig. 8 is a comparison of two-dimensional projection image data of the ankle joint with standard two-dimensional image data.

Fig. 9 is a contrast of the imaged images of the imaged regions before and after the stitching.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

In this case, in order to avoid obscuring the present invention due to unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not greatly related to the present invention are omitted.

In addition, it should be further noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1 to 3 in combination with fig. 4 to 9, the present invention provides an imaging method applied to an imaging system 100, and the imaging system 100 uses the imaging method to image.

The imaging system 100 includes: a data acquisition module 10, an image reconstruction module 20 and a control module 30. The data acquisition module 10 is used for acquiring data, the image reconstruction module 20 is in signal connection with the data acquisition module 10, and CT image reconstruction is performed based on the data acquired by the data acquisition module 10 to obtain an imaging image of the imaging region. And the control module 30 is in signal connection with both the data acquisition module 10 and the image reconstruction module 20 for image imaging by performing the imaging method of the present invention.

The data acquisition module 10 comprises a radiation generating means 11 and a signal receiving means 12. The radiation generating device 11 is configured to emit X-rays, and includes a first mechanical arm 111 and an X-ray emitter 112 disposed on the first mechanical arm 111. The signal receiving device is configured to receive X-rays, and includes a second mechanical arm 121 and a detector 122 disposed on the second mechanical arm 121. In particular, the first robot arm 111 and the second robot arm 121 are each a robot arm having 4 to 8 six degrees of freedom, i.e., the first robot arm 111 and the second robot arm 121 are each a robot arm having 4 to 8 independent drive joints. By the arrangement, the first mechanical arm 111 and the second mechanical arm 121 have good operation flexibility, and the X-ray emitter 112 or the detector 122 can be flexibly driven to a preset position or moved according to a preset motion track (i.e. a scanning track), so that the imaging system 100 of the invention can realize multiple scanning modes.

The imaging system 100 utilizes the imaging method of the present invention to effect image reconstruction of an imaging region. The imaging region includes at least two accent portions and a non-accent portion located between the at least two accent portions. The emphasis point is a region of an image requiring a high definition in detail, and the non-emphasis point is a region of an image requiring no high definition in detail.

The imaging method comprises the following steps:

s1: fine scanning is carried out on at least two key positions, and three-dimensional image data of the at least two key positions are obtained;

s2: carrying out rapid scanning on the imaging region to obtain standard two-dimensional image data containing the key parts and the non-key parts, and collecting and recording the height and the angle of the key parts in the standard two-dimensional image data;

s3: and carrying out image reconstruction on the three-dimensional image data of all key parts in the imaging area based on the standard two-dimensional image data to obtain a complete imaging image of the imaging area.

The method comprises the steps of carrying out fine scanning on key positions in an imaging area, carrying out rapid scanning on all areas (including key positions and non-key positions) of the imaging area, carrying out image reconstruction on three-dimensional image data of all the key positions in the imaging area based on standard two-dimensional image data obtained by rapid scanning, and obtaining a complete imaging image of the imaging area, so that the imaging image of the imaging area is rapidly obtained on the premise of meeting detailed high-definition images required by the key positions, the scanning time is shortened, the radiation dose required by a patient is reduced, the safety is improved, meanwhile, the problem of inaccurate scanning results caused by shaking of the patient can be effectively avoided, and the accuracy of the scanning results is improved.

Specifically, in step S1: the method for carrying out fine scanning on at least two key positions to obtain three-dimensional image data of the at least two key positions comprises the following steps:

s11: performing circumferential scanning on the at least two key positions to obtain a series of two-dimensional image data;

s12: and carrying out image reconstruction on the series of two-dimensional image data to obtain three-dimensional image data of at least two key positions.

That is, the X emitter and detector 122 are driven by the first and second robot arms 111 and 121 to perform circumferential scanning around each of the important points in the imaging region, respectively. The time of the circumferential scanning is longer, and the acquired two-dimensional image data is more, so that the fine scanning of key positions can be realized. After obtaining a series of two-dimensional image data of the key region, the image reconstruction module 20 may perform image reconstruction on the series of two-dimensional image data of the key region, to obtain three-dimensional image data of at least two key regions.

Further, in step S2, an imaging region (including an important part and a non-important part) is rapidly scanned, standard two-dimensional image data including the important part and the non-important part is obtained, and the height and the angle of the important part in the standard two-dimensional image data are collected and recorded. That is, the whole imaging region (including the emphasized region and the non-emphasized region) is scanned once again rapidly by adopting a spiral scanning or vertical scanning mode. The spiral scanning mode comprises Z-shaped scanning, zigzag scanning and the like, and the vertical scanning mode comprises linear scanning along the vertical ground direction. The whole imaging area is rapidly scanned by adopting a spiral scanning or vertical scanning mode. The scanning mode needs shorter acquisition time, and the number of acquired two-dimensional images is smaller. Preferably, three or more standard two-dimensional image data having different heights and different angles are acquired for the imaging region. When the first mechanical arm 111 and the second mechanical arm 121 drive the X-ray emitter 112 and the detector 122 to scan rapidly, the heights and angles of the key parts of the imaging region are collected and recorded. Because the quick scanning time is less, the possibility that the patient shakes is lower, and meanwhile, the quick scanning can take account of at least two angles of movement, so that the scanning result of an imaging area is more accurate. By means of the rapid scanning, the radiation dose received by a patient can be reduced, and safety is improved.

Further, step S3: the method for reconstructing the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region comprises the following steps:

s31: searching three-dimensional image data closest to the height and angle of the key position in the standard two-dimensional image data in the three-dimensional image data, and acquiring two-dimensional projection image data of the closest three-dimensional image data;

s32: and carrying out image reconstruction on the two-dimensional projection image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region.

By searching the three-dimensional image data closest to the height and angle of the key position in the standard two-dimensional image data and acquiring the two-dimensional projection image data of the closest three-dimensional image data, the whole three-dimensional image data can be prevented from being projected, the calculated amount and the processing time are reduced, and the working efficiency of the imaging system 100 is improved.

Because the standard two-dimensional image data contains important parts and non-important parts, the complete imaging image of the imaging region can be quickly obtained by carrying out image reconstruction on the two-dimensional projection image data based on the standard two-dimensional image data.

In a preferred embodiment of the present invention, step S32: the method for reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain an imaging image of the imaging region comprises the following steps:

s321: based on the height and angle of the key position in the standard two-dimensional image data, splicing the two-dimensional projection image data of at least two key positions, and compensating the two-dimensional projection image data by adopting the data of the three-dimensional phantom to compensate the two-dimensional image data of the non-key position so as to obtain the complete two-dimensional image data of the imaging region.

Specifically, the height and angle of each key point can be determined in the two-dimensional projection image based on the height and angle of each key point in the standard two-dimensional image. And placing all the key positions in the same space, and roughly calculating the number of faults required between the two key positions according to the heights of all the key positions. And then the height and angle of the key position are adjusted by using the standard two-dimensional image data. Because the two-dimensional image only contains the image of the key position, the non-key position between the two key positions is not displayed. The standard two-dimensional image data is obtained by the imaging system 100 by rapid scanning, and the standard two-dimensional image data contains partial key parts and non-key parts, and the structure of the non-key parts is simpler, and the differences among the organisms are not great. Therefore, when the height and angle of the key position in the standard two-dimensional image data are used to obtain the key two-dimensional projection image data, the two key positions can be spliced by using the image of the non-key position in the three-dimensional body film stored in the imaging system 100, and the non-key position between the two key positions can be spliced, so that the complete two-dimensional image data of the imaging region can be obtained.

In another preferred embodiment of the present invention, a difference method may also be used to achieve the stitching and compensation of non-emphasized portions between two emphasized portions. That is, the imaging method includes step S32: the method for reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain an imaging image of the imaging region comprises the following steps:

s321': and based on the height and the angle of the key position in the standard two-dimensional image data, splicing the two-dimensional projection image data of at least two key positions, and compensating the two-dimensional projection image data by adopting a difference method to compensate the two-dimensional image data of the non-key position so as to obtain the complete two-dimensional image data of the imaging region.

In this embodiment, similarly, the height and angle of each key position in the standard two-dimensional image are determined in the two-dimensional projection image, each key position is placed in the same space, and the number of faults required between two key positions is roughly calculated according to the height of each key position. And then the height and angle of the key position are adjusted by using the standard two-dimensional image data. And then compensating the two-dimensional projection image data by using a difference method to compensate the two-dimensional image data of the non-key part so as to obtain the complete two-dimensional image data of the imaging region.

Further, after obtaining the complete two-dimensional image of the imaging region, step S4 is also required: comparing and judging whether the height and angle of the key position in the complete two-dimensional image data of the imaging area are consistent with those of the key position in the standard two-dimensional image data,

if the images are consistent, outputting an imaging image of the imaging area;

That is, the integrated two-dimensional image data after the mosaic compensation is compared with the standard two-dimensional projection data, and if the height and angle of the key part are consistent, the two-dimensional image is converted into a three-dimensional image by the image reconstruction module 20 and output. If not, calibration of the three-dimensional image data is required.

Further, the method for calibrating the three-dimensional image data comprises the following steps:

s41: adjusting three-dimensional image data of one or more key positions; preferably, the adjustment method is to perform adjustment of translation, left-right movement, up-down movement, rotation along XYZ axes, or the like on the three-dimensional image data based on standard two-dimensional image data obtained by rapid scanning. The three-dimensional image data of one key position can be adjusted based on the height and the angle of the key position in the standard two-dimensional image data, or the three-dimensional image data of a plurality of key positions can be adjusted.

S42: searching three-dimensional image data closest to the height and angle of the key position in the standard two-dimensional image data in the adjusted three-dimensional image data, and acquiring two-dimensional projection image data of the closest three-dimensional image data;

s43: and splicing and compensating the two-dimensional image data based on the standard two-dimensional image data to obtain complete two-dimensional image data.

It should be appreciated that the imaging method of the imaging system 100 is an imaging method according to a preferred embodiment of the present invention, but is not limited thereto, and in other embodiments, the steps in the imaging method may be replaced by a sequence, deleted, combined or combined as required, which is not limited thereto.

Referring to fig. 3 to 9 in combination with fig. 1 to 2, an embodiment of an imaging method according to the present invention is shown. The imaging region in this embodiment is a lower limb imaging region, that is, the imaging region includes two important parts of the knee joint and the ankle joint and a non-important part located between the knee joint and the ankle joint. Of course, in other embodiments, the imaging region may be a full length imaging region of the lower limb, i.e., the imaging region includes three accentuated regions of the hip, knee, and ankle, and non accentuated regions between the hip and knee, and non accentuated regions between the knee and ankle. Alternatively, the imaging region may be full length imaging or whole body imaging of the spine, as the invention is not limited in this regard.

Referring to fig. 4 to 9, referring to fig. 1 to 3, a patient stands in the center of the imaging system 100, drives the X-ray emitter 112 by the first mechanical arm 111 to perform circumferential scanning (i.e. fine scanning) around the knee joint with the human body as a rotation axis, and the detector 122 moves corresponding to the X-ray emitter 112 under the driving of the second mechanical arm 121, and in the moving process, the optical axis of the X-ray emitter 112 always points to the detector 122, a series (e.g. hundreds) of two-dimensional image data are collected for the knee joint, and a series of two-dimensional image data are converted into three-dimensional image data by the image reconstruction system, see fig. 4. Wherein, the left side in fig. 4 is two-dimensional image data of different angles of the knee joint, and the right side is three-dimensional image data of the reconstructed knee joint. In the same way, the data acquisition module 10 of the imaging system 100 acquires a series of two-dimensional image data of the ankle joint, and converts the series of two-dimensional image data into three-dimensional image data through the image reconstruction system, see fig. 5. In fig. 5, the left side is two-dimensional image data of different angles of the ankle joint, and the right side is three-dimensional image data of the reconstructed ankle joint.

Then, the first mechanical arm 111 drives the X-ray emitter 112 to rapidly move from the knee joint to the ankle joint (of course, may rapidly move from the ankle joint to the knee joint) with the human body as the rotation axis, and forms a "Z" -shaped trajectory motion (helical scan) in the extending direction of the rotation axis, so as to rapidly obtain several (for example, three or more) standard two-dimensional image data including important parts and non-important parts, as shown in fig. 6. In addition, in the process of acquiring standard two-dimensional image data, different heights and different angles of the knee joint and the ankle joint are acquired and recorded. It is to be appreciated that the number of images acquired in a helical scan is much smaller than the number of images acquired in a circular scan.

Then, three-dimensional image data closest to the heights and angles of the knee joint and the ankle joint in the standard two-dimensional image data is found from the three-dimensional image data of the knee joint and the ankle joint, and two-dimensional projection image data of the closest three-dimensional image data is acquired, see fig. 7 and 8. The left side of fig. 7 is the standard two-dimensional image data of the knee joint included in the helical scan, and the right side is the two-dimensional projection image data of the three-dimensional image data closest to the height and angle of the knee joint in the helical scan. The left side of fig. 7 is standard two-dimensional image data including the ankle joint in the helical scan, and the right side is two-dimensional projection image data of three-dimensional image data closest to the height and angle of the ankle joint in the helical scan.

Based on the heights and angles of the knee joint and the ankle joint in the standard two-dimensional image data, the two-dimensional projection image data of the knee joint and the ankle joint are spliced, the two-dimensional projection image data are compensated by adopting a difference method, and the two-dimensional image data of the non-key part are compensated to obtain complete two-dimensional image data of the imaging area, as shown in fig. 9. Wherein, the left two in fig. 9 are two-dimensional data of knee joint and ankle joint which are not spliced and compensated for different angles, and the right two in fig. 9 are two-dimensional data of knee joint and ankle joint which are spliced and compensated for. As can be seen from fig. 9, the imaging method can obtain imaging images of the imaging region with at least two angles, so as to improve the accuracy of the imaging images.

Further, the heights and angles of the knee joint and the ankle joint in fig. 9 and the heights and angles of the non-emphasized portions between the spliced knee joint and the ankle joint are compared, so as to determine whether the three-dimensional image data needs to be calibrated, and if the heights and angles are consistent, the calibration is not needed, and the complete three-dimensional image data of the imaging region is output through the image reconstruction module 20. If the height and angle are identical, one or both of the three-dimensional image data of the knee joint and the ankle joint may be adjusted, which may be an adjustment of translation, left-right movement, up-down movement, or rotation along XYZ axes, or the like, of the three-dimensional image data. And then splicing, compensating and calibrating the adjusted three-dimensional image data by applying the imaging method again so as to finally output the complete three-dimensional image data of the imaging area.

In summary, the imaging method of the invention performs fine scanning on the key parts in the imaging area, and performs rapid scanning on all areas of the imaging area, and performs image reconstruction on three-dimensional image data of all the key parts in the imaging area based on standard two-dimensional image data obtained by rapid scanning, so as to obtain a complete imaging image of the imaging area, thereby rapidly obtaining the imaging image of the imaging area on the premise of meeting detailed high-definition images required by the key parts, shortening scanning time, reducing radiation dose required by patients, improving safety, and simultaneously, effectively avoiding the problem of inaccurate scanning results caused by shaking of the patients, and improving accuracy of the scanning results.

The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. An imaging method for imaging an image of an imaging region, the imaging region including at least two accent points and a non-accent point located between the at least two accent points, the imaging method comprising:

2. The imaging method of claim 1, wherein the method of image reconstructing the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region comprises:

3. The imaging method of claim 2, wherein the method of image reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain an imaging image of the imaging region comprises:

4. The imaging method of claim 2, wherein the method of image reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain an imaging image of the imaging region comprises:

5. The imaging method according to claim 3 or 4, wherein it is compared and judged whether or not the height and angle of the emphasized point in the whole two-dimensional image data of the imaging region are identical to those in the standard two-dimensional image data,

if the images are consistent, outputting an imaging image of the imaging area;

6. The imaging method of claim 5, wherein the method of calibrating the three-dimensional image data comprises:

adjusting three-dimensional image data of one or more key positions;

7. The imaging method of claim 6, wherein the three-dimensional image data of one or more accent regions is adjusted based on the height and angle of the accent regions in the standard two-dimensional image data.

8. The imaging method according to claim 1, wherein the method of finely scanning at least two of the key points to obtain three-dimensional image data of at least two of the key points includes:

9. The imaging method of claim 1, wherein the method of rapidly scanning the imaging region to obtain standard two-dimensional image data comprises:

10. The imaging method of claim 1, wherein: the rapid scanning method is spiral scanning, including Z-shaped scanning or zigzag scanning; alternatively, the fast scan method is a vertical scan, including a straight line scan along a vertical ground direction.

11. An imaging system, comprising:

and the control module is used for: and the imaging device is in signal connection with the data acquisition module and the image reconstruction module and is used for executing the imaging method of any one of claims 1 to 10.