WO2018132969A1

WO2018132969A1 - X-ray machine, and method and device for adjusting rotation center of x-ray machine

Info

Publication number: WO2018132969A1
Application number: PCT/CN2017/071528
Authority: WO
Inventors: 刘勇; 熊璟; 梁闳肆; 甘志坚; 夏泽洋
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2017-01-18
Filing date: 2017-01-18
Publication date: 2018-07-26

Abstract

Disclosed is an X-ray machine. The X-ray machine comprises: a rotating arm (11), an X-ray generator (12) provided on the rotating arm (11), an outline determination component (13), a processor (14), a display apparatus (15), and a position shifting component (16). The X-ray machine performs, by means of the outline determination component (13) emitting an X-ray substitute signal around a target portion, scanning to obtain a surface outline curve of the target portion and determine a reference rotation center of the rotating arm (11). A position adjustment policy is determined according to the reference rotation center and a target rotation center, and a rotation center of the rotating arm (11) is adjusted to be at the target rotation center. In this way, an X-ray diagram of an area of interest of the target portion can be obtained by means of only one pass of X-ray scanning, thus preventing multiple X-ray scanning operations, reducing radiation dosage, and simplifying operation. Also disclosed are a method and device for adjusting a rotation center of an X-ray machine.

Description

X-ray machine, X-ray machine rotation center adjustment method and device

Technical field

The embodiment relates to a signal processing technology, for example, to an X-ray machine, an X-ray machine rotation center adjustment method and device.

Background technique

With the advancement of technology and the development of medicine, the requirements for determining the location of patients' lesions are becoming higher and higher, and the location of patients' lesions is crucial for targeted examination and treatment.

At present, C-arm X-ray machine is widely used in the examination of patients' lesions. The C-arm X-ray machine mainly applies the principle of fluoroscopic imaging to image the patient's lesions.

However, in the C-arm X-ray machine, in order to align the C-arm rotation center point with the position of interest in the target object (such as a specific part of the patient), it is necessary to adjust the C-arm space position multiple times. , multiple exposure imaging, in order to obtain the X-ray three-dimensional perspective image of the required part, not only the operation is cumbersome, but also the patient receives too much unnecessary X-ray radiation.

Summary of the invention

In view of this, the embodiment provides an X-ray machine, an X-ray machine rotation center adjustment method and device, to optimize the X-ray machine in the related art, and simplifies the operation required to align the X-ray machine to the region of interest.

In a first aspect, the embodiment provides an X-ray machine, including: a rotating arm, an X-ray generator, a contour determining component, a processor, a display device, and a position moving component;

Wherein the X-ray generator and the contour determining component are both disposed on the rotating arm;

The rotating arm is configured to drive the X-ray generator and the contour determining component to rotate according to a rotation control command sent by the processor;

The contour determining component is configured to send a substitute X-ray signal for scanning according to a signal control instruction sent by the processor, and send the scan result to the processor;

The processor is configured to control a rotating arm of the X-ray machine to drive the contour determining component to rotate around a target portion of the object to be scanned; during the rotation of the rotating arm, the contour determining component is controlled to send a substitute X-ray signal pair Performing a rotation scan on the target portion, and acquiring a rotation scan result; drawing a surface contour curve of the target portion according to the rotation scan result, and determining a reference rotation center of the rotation arm in the surface contour curve; a reference rotation center and a contour curve at the surface Selecting a target rotation center, determining a position adjustment strategy of the rotation arm, and performing position adjustment on the rotation arm according to the position adjustment strategy to adjust a rotation center of the rotation arm to the target rotation center;

The display device is configured to display a surface contour curve of the target portion generated by the processor, and send the selected target rotation center of the surface contour curve to the processor;

The position moving component is configured to adjust a spatial position of the rotating arm according to a position movement instruction sent by the processor.

In a second aspect, the embodiment further provides an X-ray machine rotation center adjustment method, which is applied to the processor of the X-ray machine according to the embodiment, and the method includes:

Controlling the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned;

During the rotation of the rotating arm, the contour determining unit is configured to send a substitute X-ray signal to perform a rotational scan on the target portion, and obtain a rotation scan result;

Determining, according to the rotation scan result, a surface contour curve of the target portion, and determining a reference rotation center of the rotating arm in the surface contour curve;

Determining a position adjustment strategy of the rotating arm according to a reference rotation center and a target rotation center selected in the surface contour curve, and performing position adjustment on the rotating arm according to the position adjustment strategy to rotate the rotating arm The center of rotation is adjusted to the target center of rotation.

In a third aspect, the embodiment further provides an X-ray machine rotation center adjustment device, the device comprising: a rotation control module, a rotation scan result acquisition module, a reference rotation center determination module, and a rotation center adjustment module;

Wherein, the rotation control module is configured to control the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned;

a rotation scan result obtaining module, configured to control the contour determining component to send a substitute X-ray signal to perform a rotation scan on the target portion during the rotation of the rotating arm, and obtain a rotation scan result;

a reference rotation center determining module, configured to draw a surface contour curve of the target portion according to the rotation scan result, and determine a reference rotation center of the rotating arm in the surface contour curve;

a rotation center adjustment module configured to determine a position adjustment strategy of the rotation arm according to a reference rotation center and a target rotation center selected by the user in the surface contour curve, and position the rotation arm according to the position adjustment strategy Adjusting to adjust the center of rotation of the rotating arm to the Target rotation center.

In a fourth aspect, the embodiment further provides a non-transitory computer readable storage medium storing computer executable instructions for performing the X-ray machine rotation center adjustment method.

The X-ray machine and the X-ray machine rotation center adjusting method and device provided by the embodiment control the X-ray machine's rotating arm and the contour determining component to scan around the target part by the processor in the X-ray machine to obtain the surface contour of the target part. The curve determines the reference rotation center of the rotating arm, determines the position adjustment strategy according to the reference rotation center and the target rotation center, adjusts the rotation center of the rotating arm to the target rotation center, optimizes the X-ray machine in the related art, and realizes the X-ray The precise positioning of the center of rotation of the rotating arm of the machine in the contour of the target part requires only one X-ray scan to accurately obtain the X-ray image generated by the rotation of the position of interest in the target area, avoiding multiple X-ray scans. Reduce radiation dose and simplify operation.

BRIEF abstract

1a is a structural diagram of an X-ray machine provided in Embodiment 1;

1b is a structural diagram of a contour determining component provided in Embodiment 1;

1c is a structural diagram of a contour determining component provided in Embodiment 1;

1d is a structural diagram of a contour determining component provided in Embodiment 1;

1e is a structural diagram of a position moving component provided in Embodiment 1;

1f is a schematic structural view of a C-arm X-ray machine provided in Embodiment 1;

2 is a flow chart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 2;

3 is a flow chart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 3;

4a is a flowchart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 4;

4b is a schematic diagram of a method for calculating a distance value of an X-ray light exit port of an X-ray generator reaching a contour surface of a target portion according to Embodiment 4;

4c is a schematic diagram of parameters in a rotating arm of an X-ray machine provided in Embodiment 4;

4d is a schematic diagram of an acquisition surface profile curve provided in Embodiment 4;

4e is a schematic diagram of a position adjustment strategy of an X-ray machine provided in Embodiment 4;

4f is a schematic diagram of an X-ray scanning three-dimensional imaging provided in Embodiment 4;

4g is a schematic diagram of a termination angle of an X-ray scan provided in Embodiment 4;

FIG. 5 is a structural diagram of an X-ray machine rotation center adjusting device according to Embodiment 5.

detailed description

The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. For the convenience of description, only some but not all of the structures related to the present disclosure are shown in the drawings.

For the convenience of description, only some but not all of the contents related to the present disclosure are shown in the drawings. Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as a process or method depicted as a flowchart. Although a flowchart depicts each operation (or step) as a sequential process, many of the operations can be implemented in parallel, concurrently, or concurrently. In addition, the order of multiple operations can be rearranged. The process may be terminated when the operation is complete, but may also have additional steps not included in the figures. The processing may correspond to methods, functions, procedures, subroutines, subroutines, and the like.

For the convenience of description, the technique used in the embodiment will be first described:

First, the present embodiment is mainly applied to an X-ray machine equipped with a rotating arm. The basic working process is: firstly, the target part of the object to be scanned that needs to be imaged is placed in the X-ray field of view, and the distance between the target part and the X-ray source is adjusted, and then the position of interest in the target part is rotated. The center point controls the rotating arm to move in a circular motion in space, and each time the rotating arm rotates to a fixed angle, the X-ray source is used to expose the X-ray image, and the X-ray detector acquires an X-ray two-dimensional image. A series of two-dimensional maps, and finally the computer constructs a three-dimensional map of these continuous two-dimensional maps according to a three-dimensional reconstruction algorithm.

The inventors found through research that the reason why multiple X-ray scans are required before the X-ray source is aimed at the position of interest in the target site is that the rotation center of the current X-ray machine's rotating arm cannot be accurately obtained before scanning. The exact position in the contour of the target area, and thus the direct adjustment of the center of rotation to the position of interest. Therefore, before the X-ray scanning is performed, if the exact position of the rotation center of the X-ray machine rotating arm in the contour of the target portion can be first determined, the position of the rotating arm around the target portion can be rotated. The purpose is to adjust the center of rotation of the rotating arm to the position of interest.

Correspondingly, the inventor proposes that before the X-ray signal is transmitted by using the X-ray machine, the X-ray light exit port is sent to transmit a non-radiated substitute X-ray signal to scan the target portion, and the X-ray light exit port is obtained by the substitute X-ray signal. The distance to the surface of the target portion can be obtained, and the surface contour of the target portion can be acquired during one rotation scanning, and at the same time, the position of the reference rotation center of the rotating arm in the surface contour of the target portion can be determined, and then the user can be The target rotation center selected on the surface contour of the target portion accurately aligns the X-ray machine with the above-mentioned actual interest position. Only one X-ray scan is required to obtain an X-ray image centered on the position of interest in the target area, avoiding multiple X-ray scans. Trace, reduce radiation dose and simplify operation.

Embodiment 1

FIG. 1a is a structural diagram of an X-ray machine provided in Embodiment 1. As shown in FIG. 1a, the X-ray machine includes a rotating arm 11, an X-ray generator 12, a contour determining unit 13, a processor 14, a display device 15, and a position moving member 16.

Wherein the X-ray generator 12 and the contour determining component 13 are both disposed on the rotating arm;

The rotating arm 11 is arranged to drive the X-ray generator 12 and the contour determining component 13 to rotate according to a rotation control command sent by the processor 14;

The object to be scanned is placed at an appropriate position in the opening of the rotating arm 11, and the X-ray generator 12 and the contour determining member 13 can be rotated around the object to be scanned.

The contour determining component 13 is configured to send a substitute X-ray signal for scanning according to a signal control command sent by the processor 14, and send the scan result to the processor 14;

The contour determining unit 13 transmits a substitute X-ray signal to scan the object to be scanned.

The processor 14 is configured to control the rotating arm 11 of the X-ray machine to drive the contour determining component 13 to rotate around the target portion of the object to be scanned; during the rotation of the rotating arm 11, the contour determining component 13 is controlled to transmit Performing a rotation scan on the target portion instead of the X-ray signal, and acquiring a rotation scan result; drawing a surface contour curve of the target portion according to the rotation scan result, and determining the rotation arm 11 in the surface contour curve a reference rotation center; determining a position adjustment strategy of the rotation arm 11 according to a target rotation center selected by the user in the surface contour curve, and performing position adjustment on the rotation arm 11 according to the position adjustment strategy to The center of rotation of the rotating arm 11 is adjusted to the target center of rotation.

The display device 15 is configured to provide a surface contour curve of the target portion generated by the processor 14 to a user, and send a target rotation center selected by the user in the surface contour curve to the processor 14 ;

The position moving component 16 is configured to adjust a spatial position of the rotating arm according to a position movement command sent by the processor 14.

Therein, an optional structural view of a contour determining component is shown in FIG. 1b, as shown in FIG. 1b, the contour determining component includes at least one X-ray light exit opening 121 disposed proximate to the X-ray generator 12. A distance measuring sensor 130, and a horizontal angle meter 17 disposed at a side of the X-ray generator.

The distance measurement signal sent by the ranging sensor 130 can simulate the transmission of the X-ray light exit port 121. The X-ray signal and the distance from the contour surface of the target portion to the ranging sensor 130 as the distance from the target portion contour surface to the X-ray light exit port 121. The above arrangement is simple in design and small in calculation amount, but the disadvantage is that there is a certain displacement error between the distance measuring sensor 130 and the X-ray light exit port 121, and therefore, the final reference rotation center of the rotating arm is at the surface contour of the target portion. The location of the location has a certain error.

Optionally, an optional structural view of another contour determining component is shown in FIG. 1c. As shown in FIG. 1c, the contour determining component may include: X-ray generation respectively disposed on the rotating arm 11 A distance measuring sensor 131 on the left and right sides of the X-ray light exit port 121 of the device 12. Wherein, the distance from the left ranging sensor to the center of the X-ray exit of the X-ray generator is the same as the distance from the center of the X-ray exit of the X-ray generator to the X-ray generator, wherein In the embodiment and the following embodiments, the left side is the first side, and the right side is the second side.

With the above arrangement, although a distance measuring sensor is introduced, the distance between the two sensors 131 reaching the surface of the target portion can be simulated by the distance between the two sensors 131 reaching the surface of the target portion. In turn, the calculation accuracy of the position of the reference rotation center can be improved.

Optionally, considering the ranging accuracy of the plurality of ranging sensors, the ranging sensor may be a laser ranging sensor, and the substitute X-ray signal is a laser ranging signal.

Alternatively, in view of the fact that the laser ranging signal is a visible signal, an alternative structural diagram of another contour determining component is shown in Figure 1d. As shown in FIG. 1d, the contour determining component includes: a distance measuring sensor 131 disposed on the left and right sides of the X-ray light emitting port 121 of the X-ray generator 12 on the rotating arm 11, and a distance measuring sensor 132 on the upper and lower sides. And a horizontal angle meter 17 disposed on the side of the X-ray generator 12, wherein the upper side is the third side and the lower side is the fourth side in the embodiment and the following embodiments.

The processor is configured to control up, down, left, and right (in order, first side, second side, third side, and fourth side) before controlling the rotating arm to drive the contour determining component to rotate around the target portion of the object to be scanned The ranging sensor transmits a laser ranging signal, so that the user adjusts the target portion to the field of view of the X-ray generator according to the four laser points displayed on the object to be scanned.

After the object to be scanned is placed in the opening of the rotating arm 11, it is not possible to accurately ensure that the target portion can be accurately positioned within the field of view of the X-ray generator 12. Therefore, the four laser points displayed on the object to be scanned by the laser ranging signal are transmitted by the ranging sensors of the upper, lower, left, and right sides, and the target portion can be accurately adjusted to the field of view of the X-ray generator. To simplify the scanning operation.

Optionally, an optional structural diagram of the position moving component is shown in FIG. 1e, as shown in FIG. 1e. The position moving member includes: a horizontal moving seat 161 connected to the rotating arm 11, and a lifting column 162 at the bottom of the horizontal moving seat;

Wherein, the horizontal moving seat 161 is arranged to adjust the horizontal position of the rotating arm, and the lifting column is arranged to adjust the vertical position of the rotating arm.

Optionally, the rotating arm may be a C-arm or an O-arm.

Illustratively, FIG. 1f shows a schematic structural view of a C-arm X-ray machine. As shown in FIG. 1f, the C-arm X-ray machine includes a C-arm 101, an X-ray generator 102, and contour determination. The member 103, the C-arm bed 104, the X-ray detector 105, the base 106, the lifting column 107, the horizontal moving seat 108 and the C-arm supporting seat 109.

The X-ray machine provided in this embodiment sends a substitute X-ray signal through the contour determining component, performs a rotational scan on the target portion of the object to be scanned by using the rotating arm, draws a surface contour curve of the target portion, determines a reference rotation center, and combines the target rotation center. The position moving component adjusts the rotation center of the rotating arm to the target rotation center, thereby realizing precise positioning of the rotation center of the X-ray machine rotating arm in the contour of the target portion, instead of the X-ray signal, there is no radiation to the object to be scanned, only need An X-ray scan can accurately obtain the X-ray image generated by the rotation of the position of interest in the target area, avoiding multiple X-ray scans, reducing the radiation dose, and simplifying the operation.

Embodiment 2

2 is a flow chart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 2, which may be performed by an X-ray machine rotation center adjustment device, which may be implemented by software and/or hardware, and may be integrated into, for example, The processor of the X-ray machine of the first embodiment. As shown in FIG. 2, the method in this embodiment may include:

S210. Control a rotating arm of the X-ray machine to drive the contour determining component to rotate around a target portion of the object to be scanned.

S220. During the rotation of the rotating arm, the contour determining component is controlled to send a substitute X-ray signal to perform a rotational scan on the target portion, and obtain a rotation scan result.

The contour determining unit acquires the rotation scan result by scanning the target portion of the object to be scanned. The alternative X-ray signal can be any type of signal that can be used for positioning with low radiation, such as a laser signal or an ultrasonic signal.

S230. Draw a surface contour curve of the target portion according to the rotation scan result, and determine a reference rotation center of the rotating arm in the surface contour curve. According to the result of the rotation scan, the surface contour curve of the target portion is drawn, and a smooth curve or a spline curve or the like can be used. Surface profile The coordinate origin of the curve can be used as the reference rotation center of the rotating arm.

S240. Determine a position adjustment strategy of the rotating arm according to a reference rotation center and a target rotation center selected by the user in the surface contour curve, and perform position adjustment on the rotating arm according to the position adjustment strategy to The center of rotation of the rotating arm is adjusted to the target center of rotation.

The target rotation center selected by the user in the surface contour curve may be the lesion location of the patient. Illustratively, the strategy of moving from the reference center of rotation to the target center of rotation is a position adjustment strategy for the rotating arm. Adjusting the center of rotation of the rotating arm to the target center of rotation allows for accurate scanning of the target site, which may be an X-ray scan.

In this embodiment, the target portion of the object to be scanned is scanned by the contour determining component, the contour curve of the target portion is obtained, the reference rotation center of the rotating arm is determined, and the rotation center of the rotating arm is adjusted according to the positional relationship between the reference rotation center and the target rotation center to The target rotation center realizes the precise positioning of the rotation center of the X-ray machine rotating arm in the contour of the target part, and only needs one X-ray scanning to accurately obtain the X-ray generated by the rotation of the position of interest in the target part. Figure, avoid multiple X-ray scans, reduce radiation dose, and simplify operation.

Embodiment 3

3 is a flowchart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 3. The present embodiment is optimized based on the above embodiment. In this embodiment, the contour determining component may be changed, and During the rotation of the rotating arm, the contour determining unit is controlled to send a substitute X-ray signal to perform a rotational scan of the target portion, and the obtained rotational scan result becomes: the rotating arm is rotated to a preset rotational position. And controlling the ranging sensors on the left and right sides to transmit a ranging signal as the substitute X-ray signal to obtain distance values of the ranging sensors on the left and right sides reaching the contour surface of the target portion at different rotation positions. a horizontal angle value measured by the horizontal angle meter at different rotational positions, and a distance value of the distance measuring sensors on the left and right sides reaching the contour surface of the target portion at different rotational positions as the rotation scan result . Correspondingly, the method in this embodiment may include:

S310. Control a rotating arm of the X-ray machine to drive the contour determining component to rotate around a target portion of the object to be scanned, where the contour determining component includes left and right sides of the X-ray light exiting port of the X-ray generator disposed on the rotating arm. A distance measuring sensor, and a horizontal angle meter disposed on a side of the X-ray generator.

The distance measuring sensors provided on the left and right sides of the X-ray light exiting port of the X-ray generator on the rotating arm may have the same distance to the X-ray light exiting port, or may be unequal, preferably equal. Through the distance between the left and right distance measuring sensors to the target area and the trapezoidal geometric relationship, the X-ray light exit port can be obtained to the target part. the distance.

S320. When the rotating arm rotates to a preset rotational position, the ranging sensors that control the left and right sides transmit a ranging signal as the substitute X-ray signal to obtain the left and right sides at different rotational positions. A distance value at which the ranging sensor reaches the contour surface of the target portion.

The initial angle of the rotating arm to the contour determining member, that is, the horizontal angle value of the horizontal angle meter, is determined in the preset rotational position. Different rotational positions can be characterized by angular values.

S330, a horizontal angle value measured by the horizontal angle meter at different rotation positions, and a distance value of the distance measuring sensors on the left and right sides reaching the contour surface of the target part at different rotation positions, as the rotation scan result.

S340. Draw a surface contour curve of the target portion according to the rotation scan result, and determine a reference rotation center of the rotating arm in the surface contour curve.

The distance from the X-ray exit port to the contour of the target portion may be represented by the distance value of the distance measuring sensor on the left and right sides reaching the contour surface of the target portion, using the distance from the X-ray light exit port to the contour of the target portion and the level measured at different rotational positions. The angle value is used to draw the surface contour curve of the target part, and the origin of the coordinates of the curve is the reference selection center of the rotating arm.

S350. Determine a position adjustment strategy of the rotating arm according to a reference rotation center and a target rotation center selected by the user in the surface contour curve, and perform position adjustment on the rotating arm according to the position adjustment strategy to The center of rotation of the rotating arm is adjusted to the target center of rotation.

In this embodiment, by obtaining the horizontal angle value at different positions and the distance value of the ranging sensor on the left and right sides reaching the contour surface of the target portion, the surface contour curve of the target portion is drawn, thereby determining the reference alignment center of the rotating arm, and rotating according to the reference. The positional relationship between the center and the target rotation center adjusts the rotation center of the rotating arm to the target rotation center to ensure that the obtained surface contour curve is relatively accurate, thereby achieving accurate position of the rotation center of the X-ray machine rotating arm in the contour of the target portion. Positioning.

In another optional implementation manner of this embodiment, the ranging sensor is a laser ranging sensor, and the ranging signal is a laser ranging signal.

The laser ranging signal has no radiation to the human body, and the human eye can recognize it, which is convenient for the user to observe.

The contour determining component further includes: a distance measuring sensor disposed on upper and lower sides of the X-ray light exiting port of the X-ray generator on the rotating arm;

Before controlling the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned, the method further includes:

Controlling the ranging sensor of the upper, lower, left, and right sides to transmit a laser ranging signal, so that the user can Four laser spots displayed on the object are scanned to adjust the target portion to the field of view of the X-ray generator.

The up-and-down left and right distance measuring sensors can be arranged equidistantly on the X-ray light exit of the X-ray generator, or can be arranged at different distances, preferably at equal distances, and placed close to the X-ray output port of the X-ray generator.

The up-and-down left and right ranging sensors transmit laser ranging signals to display four laser points on the object to be scanned, and the user can determine whether the target portion is within the area determined by the four laser points according to the positions of the four laser points, thereby realizing the target. The portion is accurately adjusted to the field of view of the X-ray generator to simplify the scanning operation.

Embodiment 4

4A is a flowchart of a method for adjusting a rotation center of an X-ray machine according to Embodiment 4. The present embodiment is changed based on the above embodiment. In this embodiment, the method is drawn according to the rotation scan result. a surface contour curve of the target portion, and determining in the surface contour curve that the reference rotation center of the rotating arm is changed to: at the ith rotation angle, respectively, the distance measuring sensors on the left and right sides reach the target portion The distance values Li and Ri of the contour surface, wherein i ∈ [1, N], N is the total number of rotation angles of a rotation scan period of the rotating arm; simulating the X-ray generation according to Li, Ri and trapezoidal geometric relations Calculating the distance value Di of the X-ray light exit of the device to the contour surface of the target portion; calculating the reference rotation of the rotating arm according to Di, the radius of the rotating arm, and the height of the X-ray generator on the radius of the rotating arm The center reaches a distance value di of the contour surface of the target portion; combining ai and di into position coordinates (ai, di), wherein ai is the level measured by the horizontal angle meter at the i-th rotation angle Angle value; the horizontal direction is the X axis, the vertical direction is the Y axis, a standard coordinate system is established, and the surface contour curve of the target portion is drawn according to the position coordinates (ai, di), i ∈ [1, N], and The origin of the standard coordinate system is determined as the reference center of rotation of the rotating arm. Correspondingly, the method of this embodiment includes:

S410. Control a rotating arm of the X-ray machine to drive the contour determining component to rotate around a target portion of the object to be scanned, where the contour determining component includes left and right sides of the X-ray light exiting port of the X-ray generator disposed on the rotating arm. A distance measuring sensor, and a horizontal angle meter disposed on a side of the X-ray generator.

S420. When the rotating arm rotates to a preset rotational position, the ranging sensors that control the left and right sides transmit a ranging signal as the substitute X-ray signal to obtain the left and right sides at different rotational positions. A distance value at which the ranging sensor reaches the contour surface of the target portion.

S430, a horizontal angle value measured by the horizontal angle meter at different rotation positions, and a distance value of the distance measuring sensors on the left and right sides reaching the contour surface of the target part at different rotation positions, As a result of the rotation scan.

S440, respectively, obtaining the distance values Li and Ri of the ranging sensors on the left and right sides reaching the contour surface of the target portion under the i-th rotation angle, where i ∈ [1, N], N is the rotating arm The total number of rotation angles over which a rotating scan cycle passes.

S450: Simulate a distance value Di of the X-ray light exit port of the X-ray generator reaching the contour surface of the target portion according to the Li, Ri, and trapezoidal geometric relationships.

Illustratively, a laser center point is provided at an intermediate position of the left and right laser ranging sensors, that is, an X-ray light exit of the X-ray generator. Calculating a distance value Di of the X-ray light exit port of the X-ray generator reaching the contour surface of the target portion according to the trapezoidal geometric relationship, and the value of the distance value Di is equal to half of the sum of Li and Ri, as shown in FIG. 4b. A schematic diagram for calculating a distance value of the X-ray light exit port of the ray generator reaching the contour surface of the target portion, comprising: a left laser ranging sensor 41, a right laser ranging sensor 42, and an X-ray light exit port 43 of the X-ray generator.

Correspondingly, Di=(Li+Ri)/2 according to the trapezoidal geometric relationship.

S460. Calculate a distance value di of the reference center of rotation of the rotating arm to the contour surface of the target portion according to Di, the radius of the rotating arm, and the height of the X-ray generator on the radius of the rotating arm.

Exemplarily, the radius of the rotating arm is denoted by r, and the height of the X-ray generator on the radius of the rotating arm is denoted by hx, and the distance di of the reference rotation center of the rotating arm to the contour surface of the target portion is calculated as: di=r- hx-Di.

S470, combining ai and di into position coordinates (ai, di), wherein ai is a horizontal angle value measured by the horizontal angle meter at an i-th rotation angle.

Illustratively, the parameters in the swivel arm are shown in Figure 4c, where a1 is the initial angle of rotation value of the swivel arm.

S480, the horizontal direction is the X axis, the vertical direction is the Y axis, a standard coordinate system is established, and the surface contour curve of the target portion is drawn according to the position coordinates (ai, di), i ∈ [1, N], and The origin of the standard coordinate system is determined as the reference center of rotation of the rotating arm.

Exemplarily, FIG. 4d shows a schematic diagram of acquiring a surface contour curve. The laser scanning center point is the reference rotation center of the rotating arm. First, the laser ranging value of the horizontal angle meter and the left and right laser sensors are collected, and the laser center point ranging is calculated. The value of the laser center point ranging value, that is, the distance value Di of the X-ray emitting port of the X-ray generator reaching the contour surface of the target portion is calculated, and the Di is converted into the laser scanning center point to the contour distance, that is, the rotating arm reference rotation center arrives. The distance value di of the contour surface of the target portion, and the contour curve is drawn according to the horizontal angle values ai and di.

S490, according to the reference rotation center and the target rotation selected by the user in the surface contour curve Center, determining a position adjustment strategy of the rotating arm, and performing position adjustment on the rotating arm according to the position adjustment strategy to adjust a rotation center of the rotating arm to the target rotation center.

Determining a position adjustment strategy of the rotating arm according to a reference rotation center and a target rotation center selected by the user in the surface contour curve, and performing position adjustment on the rotating arm according to the position adjustment strategy includes:

In the standard coordinate system, calculating a projection value Δy of a target rotation center selected by the user in the surface contour curve on the X axis, and a projection value Δx on the Y axis;

With (Δx, Δy) as a position adjustment strategy, the rotating arm of the X-ray machine is moved by Δx in the horizontal direction and by Δy in the vertical direction.

Exemplarily, FIG. 4e shows a position adjustment strategy of an X-ray machine. As shown in FIG. 4e, Δx is a horizontal offset value from a reference rotation center to a target rotation center, and Δy is a reference rotation center to a target rotation center. The vertical offset value, (Δx, Δy) can be used as a position adjustment strategy, so that the rotation center of the rotating arm of the X-ray machine is adjusted from the reference rotation center to the target rotation center, thereby achieving accurate positioning of the target portion.

In this embodiment, the surface contour curve of the target portion is drawn by the rotation angle and the distance value of the reference rotation center of the rotating arm to the contour surface of the target portion, and the origin of the standard coordinate system where the surface contour curve is located is determined as the reference rotation center of the rotating arm, and according to The target rotation center adjusts the rotation center of the rotating arm to the target rotation center, thereby ensuring a relatively accurate surface contour curve, thereby achieving accurate positioning of the rotation center of the X-ray machine rotating arm in the contour of the target portion.

In another optional implementation manner of this embodiment, after adjusting a rotation center of the rotating arm to the target rotation center, the method further includes:

X-ray scanning three-dimensional imaging is performed with the target rotation center as the rotation center point of the rotating arm. Figure 4f shows a schematic diagram of an X-ray scanning three-dimensional imaging. First, as shown in Fig. 4f, the rotating arm is rotated to the starting angle β1 of the X-ray scanning, the X-ray generator is exposed, and the X-ray detector acquires a two-dimensional X-ray image. According to the rotation direction of the rotating arm, the X-ray source is exposed once every other preset angle, and the X-ray detector acquires an X-ray two-dimensional image until the end angle βn of the X-ray scanning, as shown in Fig. 4g. The computer will obtain a series of X-ray two-dimensional maps, and finally construct a three-dimensional map according to the three-dimensional reconstruction algorithm. In this way, an X-ray three-dimensional map centering on the target site, that is, the lesion position is obtained. Optionally, the preset angle may be a specific angle in a range of 0.1 to 5 degrees.

The X-ray machine rotation center adjustment method provided by any of the above embodiments is applicable not only to the three-dimensional imaging of the isocenter rotating arm, but also to the three-dimensional imaging of the variable isocenter rotating arm, and can obtain a partial contour of the object to be scanned, or Get the full outline of the object to be scanned.

Embodiment 5

FIG. 5 is a structural diagram of an X-ray machine rotation center adjusting device according to Embodiment 5. The X-ray machine rotation center adjusting device provided in this embodiment can be applied to the X-ray machine described in the embodiment of the present disclosure. As shown in FIG. 5, the apparatus includes a rotation control module 510, a rotation scan result acquisition module 520, a reference rotation center determination module 530, and a rotation center adjustment module 540.

The rotation control module 510 is configured to control the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned;

The rotation scan result obtaining module 520 is configured to control the contour determining component to send a substitute X-ray signal to perform a rotation scan on the target portion during the rotation of the rotating arm, and obtain a rotation scan result;

a reference rotation center determining module 530, configured to draw a surface contour curve of the target portion according to the rotation scan result, and determine a reference rotation center of the rotating arm in the surface contour curve;

a rotation center adjustment module 540, configured to determine a position adjustment strategy of the rotation arm according to a reference rotation center and a target rotation center selected by the user in the surface contour curve, and perform the rotation arm according to the position adjustment strategy Position adjustment to adjust the center of rotation of the rotating arm to the target center of rotation.

The X-ray machine rotation center adjusting device provided by the embodiment controls the rotating arm of the X-ray machine and the contour determining component to scan around the target part by the processor in the X-ray machine, thereby obtaining a surface contour curve of the target part and determining the rotating arm. The reference rotation center determines the position adjustment strategy according to the reference rotation center and the target rotation center, adjusts the rotation center of the rotating arm to the target rotation center, optimizes the X-ray machine in the related art, and realizes the rotation center of the X-ray machine rotating arm The precise positioning of the position in the contour of the target part requires only one X-ray scan to accurately obtain the X-ray image generated by the rotation of the position of interest in the target area, avoiding multiple X-ray scans, reducing the radiation dose, and simplifying the operation. .

Based on the above embodiment, the contour determining component may include a distance measuring sensor disposed on the left and right sides of the X-ray light exiting port of the X-ray generator on the rotating arm, and a X-ray generator disposed on the X-ray generator Horizontal angle meter on the side;

The rotation scan result acquisition module is set to:

When the rotating arm rotates to a preset rotating position, the ranging sensors that control the left and right sides transmit a ranging signal as the substitute X-ray signal to obtain the measured positions on the left and right sides at different rotational positions. a distance value from the sensor reaching the contour surface of the target portion;

The horizontal angle value measured by the horizontal angle meter at different rotation positions, and the distance value of the distance measuring sensors on the left and right sides reaching the contour surface of the target portion at different rotation positions as the rotation scan result.

Based on the above embodiment, the ranging sensor is a laser ranging sensor, and the ranging signal is a laser ranging signal.

On the basis of the above embodiment, the contour determining component further includes: a distance measuring sensor disposed on upper and lower sides of the X-ray light exiting port of the X-ray generator on the rotating arm;

The X-ray machine rotation center adjusting device may further include: a target portion adjusting module configured to control the up, down, left, and right measurements before the rotating arm of the X-ray machine drives the contour determining member to rotate around the target portion of the object to be scanned. The laser distance measuring signal is sent from the sensor to enable the user to adjust the target portion to the field of view of the X-ray generator according to the four laser points displayed on the object to be scanned.

Based on the above embodiment, the reference rotation center determining module is set to:

Obtaining the distance values Li and Ri of the ranging sensors on the left and right sides reaching the contour surface of the target portion under the i-th rotation angle, wherein i ∈ [1, N], N is a rotation of the rotating arm The total number of rotation angles over which the scan cycle passes;

Simulating a distance value Di of the X-ray light exit port of the X-ray generator reaching the contour surface of the target portion according to Li, Ri, and trapezoidal geometric relationship;

Calculating a distance value di of the reference center of rotation of the rotating arm to the contour surface of the target portion according to Di, the radius of the rotating arm and the height of the X-ray generator on the radius of the rotating arm;

Combining ai and di into position coordinates (ai, di), where ai is the horizontal angle value measured by the horizontal angle meter at the i-th rotation angle;

Taking the horizontal direction as the X axis and the vertical direction as the Y axis, a standard coordinate system is established, and the surface contour curve of the target portion is drawn according to the position coordinates (ai, di), i ∈ [1, N], and the The origin of the standard coordinate system is determined as the reference rotation center of the rotating arm.

Based on the above embodiment, the rotation center adjustment module is configured to:

The X-ray machine rotation center adjusting device provided in this embodiment can be used to execute the X-ray machine rotation center adjusting method provided by any embodiment, and has corresponding functional modules to achieve the same beneficial effects.

The embodiment further provides a non-transitory computer readable storage medium storing computer executable instructions for performing the above-described X-ray machine rotation center adjustment method.

It is to be noted that the foregoing is merely illustrative of alternative embodiments of the present disclosure and the principles of the application, and that various modifications, alterations and substitutions can be made by those skilled in the art. The present disclosure has been described in detail by the above embodiments and may include further equivalent embodiments.

Industrial applicability

Claims

An X-ray machine comprising: a rotating arm, an X-ray generator, a contour determining component, a processor, a display device, and a position moving component;

Wherein the X-ray generator and the contour determining component are both disposed on the rotating arm;

The rotating arm is configured to drive the X-ray generator and the contour determining component to rotate according to a rotation control command sent by the processor;

The contour determining component is configured to send a substitute X-ray signal for scanning according to a signal control instruction sent by the processor, and send the scan result to the processor;

The processor is configured to control a rotating arm of the X-ray machine to drive the contour determining component to rotate around a target portion of the object to be scanned; during the rotation of the rotating arm, the contour determining component is controlled to send a substitute X-ray signal pair Performing a rotation scan on the target portion, and acquiring a rotation scan result; drawing a surface contour curve of the target portion according to the rotation scan result, and determining a reference rotation center of the rotation arm in the surface contour curve; a reference rotation center and a target rotation center selected in the surface contour curve, determining a position adjustment strategy of the rotation arm, and performing position adjustment on the rotation arm according to the position adjustment strategy to Adjusting the center of rotation to the target center of rotation;

The display device is configured to display a surface contour curve of the target portion generated by the processor, and send the selected target rotation center of the surface contour curve to the processor;

The position moving component is configured to adjust a spatial position of the rotating arm according to a position movement instruction sent by the processor.
The X-ray machine according to claim 1, wherein the contour determining means comprises: at least one ranging sensor disposed adjacent to the X-ray light exit port of the X-ray generator, and disposed on the X-ray generator side Horizontal angle meter on the side.
The X-ray machine according to claim 2, wherein the contour determining means comprises: distance measuring sensors respectively disposed on the first side and the second side of the X-ray light exiting port of the X-ray generator on the rotating arm, Wherein the first side and the second side are oppositely disposed sides.
The X-ray machine according to claim 3, wherein the first side ranging sensor reaches a distance from a center position of the X-ray exit port of the X-ray generator, and the second side ranging sensor reaches the X-ray generator The distance between the center positions of the X-ray exits is the same.
The X-ray machine according to claim 3, wherein the ranging sensor is a laser ranging sensor, and the substitute X-ray signal is a laser ranging signal.
The X-ray machine according to claim 5, wherein the contour determining part further comprises: a distance measuring sensor on the third side and the fourth side of the X-ray light exit port of the X-ray generator on the rotating arm, wherein the third side and the fourth side are oppositely disposed sides;

The processor is configured to control the ranging sensors of the first side, the second side, the third side, and the fourth side to be sent before controlling the rotating arm to drive the contour determining component to rotate around the target portion of the object to be scanned The laser ranging signal is such that the user adjusts the target portion to the field of view of the X-ray generator according to the four laser points displayed on the object to be scanned.
The X-ray machine according to claim 1, wherein the position moving member comprises: a horizontal moving seat connected to the rotating arm, and a lifting column at a bottom of the horizontal moving seat;

Wherein the horizontal moving seat is arranged to adjust a horizontal position of the rotating arm, and the lifting column is arranged to adjust a vertical position of the rotating arm.
The X-ray machine according to any one of claims 1 to 7, wherein the rotating arm is a C-arm or an O-arm.
An X-ray machine rotation center adjustment method includes:

Controlling the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned;

During the rotation of the rotating arm, the contour determining unit is configured to send a substitute X-ray signal to perform a rotational scan on the target portion, and obtain a rotation scan result;

Determining, according to the rotation scan result, a surface contour curve of the target portion, and determining a reference rotation center of the rotating arm in the surface contour curve;

Determining a position adjustment strategy of the rotating arm according to a reference rotation center and a target rotation center selected in the surface contour curve, and performing position adjustment on the rotating arm according to the position adjustment strategy to rotate the rotating arm The center of rotation is adjusted to the target center of rotation.
The method according to claim 9, wherein said contour determining means comprises a distance measuring sensor disposed on said first side and said second side of said X-ray light exiting port of said X-ray generator on said rotating arm, and setting a horizontal angle meter on the side of the X-ray generator;

During the rotation of the rotating arm, controlling the contour determining component to send a substitute X-ray signal to perform a rotational scan on the target portion, and acquiring the rotational scan result includes:

When the rotating arm rotates to a preset rotational position, the ranging sensors that control the first side and the second side transmit a ranging signal as the substitute X-ray signal to obtain different rotational positions, the first side and The ranging sensor of the second side reaches a distance value of the contour surface of the target portion, wherein the first side and the second side are oppositely disposed sides;

a horizontal angle value measured by the horizontal angle meter at different rotational positions, and a distance value of the distance measuring sensor of the first side and the second side reaching the contour surface of the target portion at different rotational positions, as Rotate the scan results.
The method of claim 10 wherein said ranging sensor is a laser ranging sensor and said ranging signal is a laser ranging signal.
The method according to claim 11, wherein the contour determining part further comprises: a distance measuring sensor disposed on the third side and the fourth side of the X-ray light exiting port of the X-ray generator on the rotating arm;

Before controlling the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned, the method further includes:

The ranging sensor that controls the first side, the second side, the third side, and the fourth side transmits a laser ranging signal to enable a user to target the target portion according to four laser points displayed on the object to be scanned Adjusted to the field of view of the X-ray generator.
The method according to claim 10, wherein a surface contour curve of the target portion is drawn according to the rotation scan result, and determining a reference rotation center of the rotating arm in the surface contour curve comprises:

Acquiring the distance values Li and Ri of the ranging sensors of the first side and the second side to reach the contour surface of the target portion under the i-th rotation angle, where i ∈ [1, N], N is the The total number of rotation angles over which a rotating scan cycle passes;

Simulating a distance value Di of the X-ray light exit port of the X-ray generator reaching the contour surface of the target portion according to Li, Ri, and trapezoidal geometric relationship;

Calculating a distance value di of the reference center of rotation of the rotating arm to the contour surface of the target portion according to Di, the radius of the rotating arm and the height of the X-ray generator on the radius of the rotating arm;

Combining ai and di into position coordinates (ai, di), where ai is the horizontal angle value measured by the horizontal angle meter at the i-th rotation angle;

Taking the horizontal direction as the X axis and the vertical direction as the Y axis, a standard coordinate system is established, and the surface contour curve of the target portion is drawn according to the position coordinates (ai, di), i ∈ [1, N], and the The origin of the standard coordinate system is determined as the reference rotation center of the rotating arm.
The method according to claim 13, wherein a position adjustment strategy of the rotating arm is determined according to a reference rotation center and a target rotation center selected from the surface contour curves, and the rotating arm is determined according to the position adjustment policy Position adjustments include:

Calculating a target rotation center selected in the surface contour curve on the X axis in the standard coordinate system Projection value Δy on, and projection value Δx on the Y-axis;

With (Δx, Δy) as a position adjustment strategy, the rotating arm of the X-ray machine is moved by Δx in the horizontal direction and by Δy in the vertical direction.
An X-ray machine rotation center adjusting device comprises: a rotation control module, a rotation scan result acquisition module, a reference rotation center determination module and a rotation center adjustment module;

Wherein, the rotation control module is configured to control the rotating arm of the X-ray machine to drive the contour determining component to rotate around the target portion of the object to be scanned;

a rotation scan result obtaining module, configured to control the contour determining component to send a substitute X-ray signal to perform a rotation scan on the target portion during the rotation of the rotating arm, and obtain a rotation scan result;

a reference rotation center determining module, configured to draw a surface contour curve of the target portion according to the rotation scan result, and determine a reference rotation center of the rotating arm in the surface contour curve;

a rotation center adjustment module, configured to determine a position adjustment strategy of the rotation arm according to a reference rotation center and a target rotation center selected in the surface contour curve, and perform position adjustment on the rotation arm according to the position adjustment strategy, To adjust the center of rotation of the rotating arm to the target center of rotation.
A non-transitory computer readable storage medium storing computer executable instructions for performing the method of any of claims 9-14.