CN209032406U - A kind of cone-beam CT system geometric calibration device - Google Patents
A kind of cone-beam CT system geometric calibration device Download PDFInfo
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- CN209032406U CN209032406U CN201721023091.6U CN201721023091U CN209032406U CN 209032406 U CN209032406 U CN 209032406U CN 201721023091 U CN201721023091 U CN 201721023091U CN 209032406 U CN209032406 U CN 209032406U
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Abstract
The utility model relates to a kind of cone-beam CT system geometric calibration devices.Specifically, the utility model provides a kind of device for cone-beam CT system geometric calibration, it is characterized in that, described device has radiographic source, detector, hardware adjustments device and standard die body, the hardware adjustments device includes being able to achieve along Y, the two axle position moving stage and be able to achieve along X that the displacement of Z-direction is adjusted, Y, Z-direction displacement adjusts and along four axle position moving stage of T axis rotation, wherein the radiographic source is fixed on the rack, the detector is arranged in the two axle positions moving stage, the standard die body includes slip gauge die body, cylinder die body and bead die body, described device is placed on optical platform.The method of the utility model uses standard die body, and calibration accuracy is high；It can carry out simple computation directly by testing collected phantom projection displacement and just obtain calibration parameter, calculating speed is fast.
Description
Technical field
The utility model relates to a kind of cone-beam CT system geometric calibration devices.
Background technique
Cone beam computed tomography (Cone Beam Computed Tomography, CBCT) has scanning speed
Fastly, the advantages such as spatial resolution is high, image is high-quality, are with a wide range of applications, and are the important sides of CT technology development
One of to.On the basis of being built upon ideal system geometric parameter due to Image Reconstruction Algorithms for Cone-Beam CT, Cone-Beam CT system
System requires radiographic source, scanned object and detector geometric parameter and installation accuracy stringent.Existing cone-beam CT system geometry
Calibration method can be divided into two kinds: die body calibration and algorithm are calibrated.Calibration method based on die body is using the calibrating die specially designed
Body obtains the geometric error parameter of system in a calibration process, and these parameters are used for the hardware adjustments or direct use of system
In the image reconstruction in later period；Geometric calibration method based on algorithm is directly to handle data for projection or projected image, meter
The geometric error parameter for calculating cone-beam CT system, in algorithm for reconstructing.
Algorithm calibration is usually required through complex calculation, determining calibration ginseng in existing cone-beam CT system geometric calibration method
Number is limited.For example, the calibration algorithm Optimization Solution one that University of Pisa (University of Pisa) Pantta.D et al. is proposed
A cost function defined using data for projection determines system geometric parameter by obtaining local minimum solution, but the algorithm
It can not determine all parameters, and calculation amount is larger.In addition, the prior art, which mostly uses, specially to be designed in die body calibration
Calibration phantom, since the die body mechanical precision for specially designing processing is limited, for calibration result, there are large errors.Example
Such as, using two specially designed orthogonal filament models as calibration phantom method, according to a series of projections of die body
System structure is adjusted, and the geometrical relationship by projecting derives the system geometric parameter needed for rebuilding, and according to institute
Obtained geometric parameter calibrates imaging system geometric position.But high-precision metal silk first is difficult in the method,
And when being placed on turntable usually there is certain angle deviation in the die body and table top.
In view of this, needing to develop a kind of method that in high precision, easily can carry out geometric calibration to cone-beam CT system
And device.
Utility model content
In view of the above shortcomings of the prior art, the purpose of this utility model is to provide a kind of cone-beam CT system geometry schools
Quasi- method and its calibrating installation, the calibration method and calibrating installation use die body calibrating mode, do not need specially to design calibration
Die body, calibration accuracy is high, and can be directly over and be simply calculated calibration parameter, without algorithm for design.
In order to achieve the above object, the utility model is using standard die body to x-ray source focus, position in cone-beam CT system
Moving stage rotation center and detector image-forming planar central position are calibrated, and to detector deflection angle, pitch angle and torsion angle
It is calibrated, and by being simply calculated geometric calibration parameter.
The utility model provides a kind of method for Cone-Beam CT geometric calibration, which is characterized in that the method includes
Ray source focus, four axle position moving stage rotation centers and detector image-forming planar central position are calibrated using standard die body,
And detector deflection angle, pitch angle and torsion angle are calibrated using standard die body, the standard die body include slip gauge die body,
Cylinder die body and bead die body.
In some embodiments, the method also includes obtaining geometric calibration parameter by calculating using bead die body
SID and SOD, wherein SID is distance of the radiographic source to detector, and SOD is distance of the radiographic source to scanning object.
In some embodiments, using the torsion angle of the quasi- detector of the block size sports school, comprising: by block size
Body is placed on the table top of four axle position moving stage shaft T, rotates four axle position moving stage, is opened radiographic source and is exposed, is adopted by detector
Set exposure image, adjustment detector around X-direction angle,
Until the angle between slip gauge die body edge and detector column is zero, i.e., torsion angle is zero.
In some embodiments, using the pitch angle of the quasi- detector of the block size sports school, comprising:
Four axle position moving stage are run along the x axis, while adjusting four axle position moving stage along the position of Z-direction, open ray
Source is exposed, and acquires exposure image by detector, projection line position on the detector sets guarantor until slip gauge die body upper surface
It holds constant；
The two axle position moving stage for carrying detector are moved along Z-direction, radiographic source is opened and is exposed, until by detector
Central row is adjusted to slip gauge upper surface projection line position and is set, i.e. detector central row is aligned with ray source focus；
Four axle position moving stage are moved into 1/2 slip gauge die body height distance along Z axis positive direction, is located at the center of slip gauge die body and visits
Device central row is surveyed, radiographic source is opened and is exposed, adjusts detector around the angle of Y direction, until in exposure image central row
The difference in height of lower slip gauge is identical, i.e., pitch angle is zero.
In some embodiments, using the quasi- ray source focus of the cylinder mold sports school, four axle position moving stage rotation centers and
Detector image-forming planar central position, comprising:
Cylinder die body is inserted at four axle position moving stage centers, so that cylinder die body center is overlapped with shaft；
The two axle position moving stage for carrying detector are moved along the y axis, radiographic source is opened and is exposed, adopted by detector
Set exposure image, until the projection of cylinder die body central axis on the detector is overlapped with detector central series；
It adjusts four axle position moving stage to move in the X-axis direction, opens radiographic source and be exposed, exposure diagram is acquired by detector
Picture, two axle position moving stage of adjustment move along the y axis, cylinder die body central axes when cylinder die body is in the different location in X-axis
Projection on the detector is overlapped with detector central series
In some embodiments, using the deflection angle of the quasi- detector of the small ball mould sports school, comprising:
Bead die body is placed at a certain distance from deviateing four axle position moving stage centers, rotates the T axis of four axle position moving stage, open
It opens radiographic source to be exposed, exposure image is acquired by detector, until in bead die body gnomonic projection to detector central series；
Four axle position moving stage are respectively rotated by 90 ° clockwise, counterclockwise, radiographic source is opened and is exposed, compare double exposure
The bead die body centre of sphere is to detector central series distance in projected image, and until being equidistant, i.e., deflection angle is zero.
In some embodiments, the method for acquisition geometric calibration parameter SID and SOD includes:
Bead die body is placed on four axle positions moving stage T axis platform face center, four axle position moving stage are moved along Z axis positive direction
H distance is opened radiographic source and is exposed, obtain the bead die body centre of sphere on the detector projected position to detector central row away from
From H1；
By four axle position moving stage along X-axis positive direction move distance l, opens radiographic source and be exposed, obtain the bead centre of sphere and visiting
Distance H of the projected position to detector central row on survey device2, geometric calibration the parameter SID and SOD be calculate by the following formula:
Wherein SID is distance of the radiographic source to detector, and SOD is distance of the radiographic source to scanning object.
The utility model provides a kind of device for cone-beam CT system geometric calibration, which is characterized in that described device
With radiographic source, detector, hardware adjustments device and standard die body, the hardware adjustments device includes being able to achieve along Y, Z axis side
To displacement adjust two axle position moving stage and be able to achieve along X, Y, Z axis direction position transposition section and along T axis rotate four axial displacements
Platform, wherein the radiographic source is fixed on the rack, the detector is arranged in the two axle positions moving stage, the standard die body packet
Slip gauge die body, cylinder die body and bead die body, described device is included to be placed on optical platform.
In some embodiments, the slip gauge die body can be used for calibrating the torsion angle and pitch angle of the detector, institute
Stating cylinder die body can be used for calibrating ray source focus, four axle position moving stage rotation centers and detector image-forming planar central position, institute
Stating bead die body can be used for calibrating the deflection angle of the detector.
In some embodiments, the bead die body is for geometric calibration parameter after calculating calibration: radiographic source to detection
Device distance SID and radiographic source are to scanning object distance SOD.
In some embodiments, geometric calibration the parameter SID and SOD are calculate by the following formula:
Wherein h is the distance that four axle position moving stage are moved along Z axis positive direction, H1It is that four axle position moving stage are moved along Z axis positive direction
For projected position to the distance of detector central row, l is four axle position moving stage along X-axis to the bead die body centre of sphere on the detector when distance h
The distance of positive direction movement, H2Be four axle position moving stage along X-axis positive direction move distance l when the bead centre of sphere project position on the detector
Set detector central row distance.
In some embodiments, the four axle positions moving stage is circular.
The Cone-Beam CT geometric calibration device of the utility model offers at least the advantage that
It using standard die body, does not need specially to design calibration phantom, calibration accuracy is high；And
It does not need algorithm for design to calculate by a large amount of, can directly pass through and test collected phantom projection displacement, into
Row simple computation just obtains calibration parameter, and calculating speed is fast.
Those skilled in the art read the whole instruction and whens claims will be understood that the utility model these are excellent
Point and further advantage.
Detailed description of the invention
Fig. 1 shows the exemplary Cone-Beam CT geometric calibration schematic diagram of the utility model
Fig. 2 shows the exemplary phantom projection geometric parameter schematic diagrames of the utility model.
Specific embodiment
Specific embodiment of the utility model is illustrated with reference to the accompanying drawing.The utility model described below
Specific embodiment in, describe some very specific technical characteristics for better understanding of the utility model, but it is aobvious and
It is clear to, for those skilled in the art, these not all technical characteristics are all to realize the utility model
Essential features.Some specific embodiments of the utility model described below are some examples of the utility model
The specific embodiment of property, is not construed as limitations of the present invention.In addition, in order to avoid making the utility model become difficult
To understand, some well known technologies are not described.
Geometric calibration method described in the utility model embodiment suitable for Cone-Beam CT is based on the system of such as flowering structure: X
Radiographic source uses the ray machine of IEAC339V-XM15T model, and is equipped with spellman VMXMAN high pressure generator；X-ray detection
Device uses digitizer tablet detector, and using ASX-2430 amorphous selenium digital flat-panel detector, (Analogic is public for specific implementation
Department)；Using standard die body: slip gauge, cylinder, bead carry out system piece calibration.
Fig. 1 shows the Cone-Beam CT geometric calibration schematic diagram of one embodiment according to the present utility model.In the embodiment
In, x-ray source is fixed in customization rack in Cone-Beam CT device；Flat panel detector is mounted on the displacement platform of two axis, can be along Y
Axis direction and Z-direction are mobile, and scanning die body is placed in four axle position moving stage, the four axle positions moving stage include three linear axis X,
Y, Z and shaft T.Scan die body can along the x axis, Y direction and Z-direction movement, T axis may be implemented 360 ° rotation
Turn, package unit is placed on optical platform.
Ideal cone-beam scan geometry meets the following conditions: 1. shaft is parallel with detector column direction；2. radiographic source
With plane determined by shaft perpendicular to detector plane；3. the projection of focus on the detector is overlapped with detector center.It is logical
Often in practical applications, system geometries are caused not to be able to satisfy the requirement of idealized system due to various reasons.Have with detector
The geometric parameter of pass can be with is defined as: the deflection angle ψ-corner of detector image-forming plane about the z axis；Pitch angle ξ-detector image-forming
Corner of the plane around Y-axis；Corner of the torsion angle η-detector image-forming plane around X-axis.
In this embodiment, system is calibrated roughly first, detailed process is as follows:
A. adjustment detector central row is approximate with ray machine focus with height, passes through preliminary surveying ray machine focal position opposing optical
The height of platform, the displacement platform that detector is carried in adjustment are moved in Z-direction, make detector central row opposing optical podium level
It is approximately equal with ray machine focal position；
B. adjustment detector central series, ray machine focus, shaft three are approximately uniform in Y-direction, and it is burnt to pass through preliminary surveying ray machine
Point position Y-coordinate, adjusts separately carrying detector displacement platform and shaft displacement platform is moved along Y-direction, so that detector central series
Position and shaft Y-coordinate are approximately equal with ray machine focus Y-coordinate three.
In this embodiment, using standard die body to system fine adjustment, detailed process is as follows:
A. the torsion angle of block size body calibration detectors is used.Slip gauge is placed on the table top of shaft T, rotates four axial displacements
Platform is opened radiographic source and is exposed, by the collected exposure image of detector, observes in difference after rotating by a certain angle every time
Whether slip gauge edge with detector shows angle to determine whether detector column is parallel with the table top of shaft T, if not when position
It is parallel then adjust angle of the detector around X-direction, it repeats the above process, until torsion angle is zero.
B. the pitch angle of block size body calibration detectors is used.The four axle position moving stage for carrying slip gauge by control first, along X
Axis direction operation, while adjusting the unlatching radiographic source behind the position of Z-direction, position of every adjustment and being exposed, pass through detection
The collected exposure image of device, the projection line position of observation slip gauge upper surface on the detector are set, are repeated the above process, until slip gauge
The projection line position of upper surface on the detector, which is set, to be remained unchanged.Then control carries two axle position moving stage of detector along Z-direction
Movement is opened radiographic source behind position of every adjustment and is exposed, by observe exposure image by detector central row adjust to
Slip gauge upper surface projection line position is set, and detector central row is aligned with ray source focus at this time.Finally four axis of slip gauge are carried in control
Displacement platform moves 1/2 slip gauge height distance along Z axis positive direction, and the center of slip gauge row is made to be located at detector central row, opens ray
Source is exposed, and by the difference in height of slip gauge above and below observation exposure image central row, detection is adjusted if difference in height is not zero
Device is repeated the above process around the angle of Y direction, and until difference in height is identical, i.e., pitch angle is zero.
C. detector central series are determined using cylindrical rod die body, i.e., in calibration ray source focus, spindle central and detector
Heart column.Cylindrical body is inserted at four axle position moving stage centers first, so that cylindrical rod and circle displacement platform are concentric, i.e. cylindrical rod
Center is overlapped with shaft.Then the two axle position moving stage that detector is carried in control move along the y axis, behind position of every adjustment
It opens radiographic source to be exposed, by the collected exposure image of detector, observes the throwing of cylindrical rod central axes on the detector
Whether shadow is overlapped with detector central series, repeats the above process, until the projection and spy of cylindrical rod central axis on the detector
Device central series are surveyed to be overlapped.Finally adjustment is carried four axle position moving stage of cylindrical rod and is moved in the X-axis direction, and every adjustment is opened behind position
Radiographic source is exposed, and by the collected exposure image of detector, observing the projection of cylindrical rod central axes on the detector is
No to be overlapped with detector central series, the two axle position moving stage that carrying detector is adjusted if not being overlapped move along the y axis, weight
The multiple above process, so that the cylindrical rod projection on the detector of cylindrical rod central axes and detector in the different location in X-axis
Central series are overlapped.
D. small ball mould body calibration detectors deflection angle is used.Bead is placed on Departure displacement platform center certain distance first
Place (for example, generally 2 millimeters to 30 centimetres, moving stage of offing normal in human body CT, industry CT center farther out, is offed normal in Micro-CT scanning
Moving stage center is closer), the T axis rotation of four axle position moving stage of control, every turn of angle is opened radiographic source and is exposed, passes through spy
The collected exposure image of device is surveyed, whether the observation bead centre of sphere projects to detector central series, repeat the above process, until bead
In gnomonic projection to detector central series.Then the T axle position moving stage for carrying bead die body is clockwise, each rotation 90 counterclockwise
Degree is opened radiographic source and is exposed, and is recorded twice the bead centre of sphere to the distance of detector central series, compares what double exposure obtained
Whether the projected image bead centre of sphere is equal to detector central series distance, if unequal, adjusts detector deflection about the z axis
Degree, repeats the above process, until being equidistant, i.e., deflection angle is zero.
In this embodiment, x-ray source is calculated after calibration to detector distance (SID) and source to scanning using bead die body
Object distance (SOD).SID and SOD defines the parameter in the space geometry relationship of system when being CT image reconstruction.Fig. 2 shows
The phantom projection geometric parameter schematic diagram of the utility model embodiment.As shown in Fig. 2, bead is placed on four axle position moving stage first
T axis platform face center, four axle position moving stage of control move h distance along Z axis positive direction, open radiographic source and are exposed, record bead ball
Heart distance H of the projected position to detector central row on the detector1.Then four axle position moving stage are controlled to move along X-axis positive direction
Distance l opens radiographic source and is exposed, and records bead centre of sphere distance of the projected position to detector central row on the detector
H2.Geometrical relationship as shown in Figure 2 can derive following equation group:
By equation group can direct solution go out SID and SOD.
Therefore, the geometric calibration method and device suitable for Cone-Beam CT that the utility model is proposed, wherein calibration process
It is obtained with parameter all simple and easy.Device involved in the utility model has already passed through use, and according to described in the utility model
Method has carried out geometric calibration verifying, can achieve desired effect.The utility model can be applicable to similar cone-beam CT system
Related geometric calibration.
It is practical new in the presence of this is fallen into although the utility model is illustrated according to preferred embodiment
Change, displacement and various substitution equivalent programs within the scope of type.It should also be noted that this is practical new there are a variety of realizations
The optional way of the method and system of type.It is therefore intended that being construed to appended claims comprising falling in the utility model
Spirit and scope within all these changes, displacement and various substitution equivalent programs.
Claims (8)
1. a kind of device for cone-beam CT system geometric calibration, which is characterized in that described device have radiographic source, detector,
Hardware adjustments device and standard die body, the hardware adjustments device include being able to achieve two axis adjusted along the displacement of Y, Z-direction
Displacement platform and be able to achieve along X, Y, Z axis direction position transposition section and along T axis rotation four axle position moving stage, wherein the radiographic source is fixed
On the rack, the detector is arranged in the two axle positions moving stage, the standard die body include slip gauge die body, cylinder die body and
Bead die body, described device are placed on optical platform.
2. the apparatus according to claim 1, which is characterized in that wherein the block size body is for calibrating the detector
Torsion angle.
3. the apparatus according to claim 1, which is characterized in that wherein the block size body is for calibrating the detector
Pitch angle.
4. the apparatus according to claim 1, which is characterized in that wherein the cylinder mold body for calibrate ray source focus,
Four axle position moving stage rotation centers and detector image-forming planar central position.
5. the apparatus according to claim 1, which is characterized in that wherein the small ball mould body is for calibrating the detector
Deflection angle.
6. device according to any one of claims 1-5, which is characterized in that after the bead die body is for calculating calibration
Geometric calibration parameter: radiographic source to detector distance SID and radiographic source to scanning object distance SOD.
7. device according to claim 6, which is characterized in that geometric calibration the parameter SID and SOD pass through following formula meter
It calculates:
Wherein h is the distance that four axle position moving stage are moved along Z axis positive direction, H1It is four axle position moving stage along Z axis positive direction move distance h
For projected position to the distance of detector central row, l is four axle position moving stage along X-axis positive direction to the Shi little Qiu die body centre of sphere on the detector
The distance of movement, H2Be four axle position moving stage along X-axis positive direction move distance l when the bead centre of sphere on the detector projected position to visiting
Survey the distance of device central row.
8. the apparatus according to claim 1, which is characterized in that the four axle positions moving stage is circular.
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| CN201721023091.6U CN209032406U (en) | 2017-08-16 | 2017-08-16 | A kind of cone-beam CT system geometric calibration device |
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| CN201721023091.6U CN209032406U (en) | 2017-08-16 | 2017-08-16 | A kind of cone-beam CT system geometric calibration device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107684435A (en) * | 2017-08-16 | 2018-02-13 | 深圳先进技术研究院 | Cone-beam CT system geometric calibration method and its calibrating installation |
| CN112914591A (en) * | 2021-02-23 | 2021-06-08 | 中科超精(南京)科技有限公司 | Image guidance system calibration device and method |
| CN114324422A (en) * | 2021-12-20 | 2022-04-12 | 丹东华日理学电气有限公司 | Paper clamping method calibration method for accelerator CT detection system |
| CN116892893A (en) * | 2023-09-11 | 2023-10-17 | 上海福柯斯智能科技有限公司 | Industrial CT cone beam center projection point measuring method and storage medium |
-
2017
- 2017-08-16 CN CN201721023091.6U patent/CN209032406U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107684435A (en) * | 2017-08-16 | 2018-02-13 | 深圳先进技术研究院 | Cone-beam CT system geometric calibration method and its calibrating installation |
| CN112914591A (en) * | 2021-02-23 | 2021-06-08 | 中科超精(南京)科技有限公司 | Image guidance system calibration device and method |
| CN114324422A (en) * | 2021-12-20 | 2022-04-12 | 丹东华日理学电气有限公司 | Paper clamping method calibration method for accelerator CT detection system |
| CN116892893A (en) * | 2023-09-11 | 2023-10-17 | 上海福柯斯智能科技有限公司 | Industrial CT cone beam center projection point measuring method and storage medium |
| CN116892893B (en) * | 2023-09-11 | 2023-12-12 | 上海福柯斯智能科技有限公司 | Industrial CT cone beam center projection point measuring method and storage medium |
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