WO2023165074A1 - Image positioning and dynamic image generation methods, apparatuses and systems, and storage medium - Google Patents

Abstract

Disclosed are image positioning and dynamic image generation methods, apparatuses and systems, and a storage medium, which relate to the technical field of medical imaging. The dynamic image generation method comprises: setting an image collection site and setting at least two imaging paths passing through the image collection site; respectively obtaining image data corresponding to each imaging path; according to an angle formed between the imaging paths and the obtained image data, on the basis of a three-dimensional imaging algorithm, generating three-dimensional image corresponding to the image collection site, and generating a three-dimensional dynamic image according to three-dimensional images continuously collected and generated in a set time period; or according to a comparison result of actual image data captured by each imaging path and virtual image data virtual generated on the basis of a three-dimensional static model, generating the three-dimensional dynamic image on the basis of a three-dimensional dynamic image generation method. According to the dynamic image generation method in the solution, dynamic tracking and three-dimensional dynamic image display can be carried out on an imaging object at the image collection site, and dynamic function analysis can be conveniently carried out on a bone joint.

Description

Image positioning and dynamic image generation method, device, system and storage medium technical field

The present invention relates to the technical field of medical imaging, more specifically, it relates to an image positioning and dynamic image generation method, device, system and storage medium.

Background technique

At present, in the field of orthopedic medical imaging, most of them rely on X-ray static imaging (including digital X-ray photography system, DT, etc.) for preoperative diagnosis, and preoperative MRI or ultrasound are often used for joint soft tissue imaging.

As mentioned above, the imaging equipment used in orthopedic surgery can only collect static images when the imaging subject is standing, but cannot collect and display the motion state of the joint under load, and thus cannot perform dynamic function analysis on the bone joint.

Contents of the invention

In view of the problem that orthopedic medical imaging equipment can only collect static images when the imaging object is standing, but cannot collect images showing the motion state of the joint under load, the purpose of this application is to set the three-dimensional coordinate system based on the static image of the imaging object The method for generating and determining the position of an imaging object can precisely position the imaging object in a three-dimensional reference space coordinate system. The second purpose of the application is to propose a method for generating a three-dimensional dynamic image, which generates a three-dimensional dynamic image of the imaging object based on the above positioning data and the three-dimensional static model data of the imaging object. The third purpose of the present application is to propose a joint dynamic image generation method, which can accurately obtain the dynamic image of the imaging object (such as bone and joint tissue, etc.), so as to facilitate the dynamic function analysis of the imaging object; the fourth purpose is to provide a joint dynamic image Acquisition device, which can accurately complete the collection of graphic data; the fifth purpose is to propose a joint dynamic image acquisition and generation system, which can generate dynamic three-dimensional images based on the image data collected by the image acquisition device, so as to facilitate the dynamic analysis of bone joints. Functional analysis. Finally, the application also proposes to protect a computer-readable storage medium loaded with a computer program for realizing the joint dynamic image generation method.

The specific plan is as follows:

A method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a static image of the imaging object,

Setting multiple imaging paths based on an imaging object, storing the relative positional relationship of each imaging path, and acquiring actual image data corresponding to the imaging object captured by each imaging path;

Establishing a three-dimensional reference space coordinate system, generating a three-dimensional static model according to the imaging object, and placing it at a set imaging position in the three-dimensional reference space coordinate system;

Setting a plurality of virtual imaging paths through the imaging sites and using the relative positional relationship, and obtaining virtual image data corresponding to each virtual imaging path;

Calculate and compare the similarity between the virtual image data and the actual image data:

If it meets expectations, the position coordinate data of the current imaging site is used as the position data;

If it does not meet expectations, then using an optimization operator to adjust the imaging site position of the imaging object in the three-dimensional reference space coordinate system, and generate new virtual image data based on the new imaging site acquisition;

The newly generated and acquired virtual image data is compared with the actual image data until the similarity between the two meets expectations.

Through the above technical scheme, based on the 3D static model of the imaging object, the virtual image data is captured from the set angle and compared with the actual image data. If the two are the same, it means that the position of the 3D static model at this time is different from The positions of the actual imaging objects are consistent, thereby realizing precise positioning of the imaging objects.

Further, the imaging path is determined based on the positions of the ray sources and detectors arranged in pairs;

The relative positional relationship of each of the imaging paths includes the angular relationship and the positional distance relationship formed between the imaging paths;

The actual image data is acquired by alternate exposure of ray sources and detectors located on multiple imaging paths.

Through the above technical solution, the ray sources on each imaging path are alternately exposed, which can reduce the mutual interference between each imaging path and improve the accuracy of positioning.

Further, using an optimization operator to adjust the position of the imaging site of the imaging object in the three-dimensional reference space coordinate system also includes adjusting the posture of the imaging object in the three-dimensional reference space coordinate system.

Through the above technical solution, precise positioning of the position and attitude of the imaging object with an irregular shape structure can be realized.

Further, calculating and comparing the similarity between the virtual image data and the actual image data includes:

Setting a set number of image characteristic parameters in the actual image data;

Establish an image feature parameter similarity comparison algorithm;

Searching for the image feature parameters in the virtual image data and comparing them, and outputting similarity based on the comparison result and the comparison algorithm;

Wherein, the image feature parameters include the shape and size of the image itself, or the shape and size of a partial image selected from the image itself, or the shapes, sizes and relative positional relationships of several points in the image.

Based on the above imaging object positioning method, the present application also proposes a method for generating a three-dimensional dynamic image, including:

Obtain a three-dimensional static model of the imaging object;

Obtain the actual image data captured by the imaging object on the set imaging path at the current moment;

Using the method of generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the three-dimensional static image of the imaging object as described above, determine the position and posture of the imaging object in the three-dimensional reference space coordinate system at the current moment;

According to the control sequence when the imaging object is imaged, the position and posture of the imaging object are continuously generated and output to obtain a three-dimensional dynamic image of the imaging object.

Through the above technical solution, a three-dimensional dynamic image can be associated and generated based on the two-dimensional actual image data obtained by continuous exposure sampling, which is convenient for dynamic analysis of the imaging object.

Based on the above-mentioned method for generating a three-dimensional dynamic image, this application also proposes a method for generating a dynamic image of joints, including:

setting an image acquisition site and placing at least two imaging paths through the image acquisition site;

Acquiring image data corresponding to each of the imaging paths respectively;

generating a three-dimensional image corresponding to the image acquisition site based on a three-dimensional imaging algorithm according to the angles formed between the imaging paths and the acquired image data,

The three-dimensional images generated by continuous acquisition within a set period of time are generated based on the dynamic imaging algorithm to generate three-dimensional dynamic images; or

According to the image data captured by each of the imaging paths, a three-dimensional dynamic image is generated based on the aforementioned method for generating a three-dimensional dynamic image.

Through the above-mentioned technical solution, the images of the set image acquisition sites are collected from multiple angles, and then the above images are converted into three-dimensional images through the three-dimensional imaging algorithm, so as to realize the upgrade from the two-dimensional image to the three-dimensional image, and then each image within the set time period The 3D images are spliced to form a continuous 3D dynamic image, and then the dynamic tracking of the image acquisition site is realized. In addition, the above method can also generate a 3D dynamic image based on the existing 3D static model combined with image data corresponding to each imaging path obtained through actual sampling.

Further, the method also includes:

Setting at least one tracking point in association with the image collection point or its surroundings;

Adjusting the space vectors of each of the imaging paths based on the tracking point ensures that each of the imaging paths passes through the image acquisition point.

Through the above technical solution, it can be ensured that when the position of the image acquisition point is constantly changing, each of the imaging paths can also acquire image data from a set angle, ensuring the accuracy of the three-dimensional imaging in the later stage.

Further, the method also includes:

Calculate the time length value required for each imaging path to complete image acquisition and imaging;

calculating and generating a time difference at which each of the imaging paths starts an imaging action based on the duration value;

The imaging actions of each of the imaging paths within a set time period are controlled based on the time difference.

Through the above technical solution, the imaging action time of each of the imaging paths can be arranged more accurately, avoiding mutual interference of each imaging path during the imaging action, and ensuring the accuracy of imaging results.

Further, the method also includes:

adjusting the angles formed between each of the imaging paths to generate corresponding three-dimensional images under various angle conditions;

determining and generating image quality data of the three-dimensional image, and determining an optimal imaging angle between each of the imaging paths according to the image quality data;

The three-dimensional image acquisition and generation actions required by the three-dimensional dynamic image are completed based on the optimal imaging angle.

Through the above technical solution, the optimal imaging path angles for different image acquisition positions can be quickly found, thereby ensuring the quality of subsequent static and dynamic three-dimensional images.

Further, the method also includes:

collecting real-time location data of the tracking site;

Calculating and generating the position change rate of the tracking point within a set time period;

Establish the relationship between the rate of change of the location of the tracking site and the image acquisition frequency of each imaging path;

The image acquisition frequency of each imaging path is adjusted in real time based on the association relationship and the position change rate of the tracking point.

Through the above technical solution, when the rate of change of the position of the image acquisition site is set to be accelerated, the image acquisition frequency of each of the imaging paths can also be correspondingly increased, thereby ensuring the imaging when the position of the image acquisition site changes drastically. precision.

Further, the method also includes:

Collect and store the movement trajectory data of the tracking site;

Generate a motion prediction algorithm for expressing the motion law of the tracking site based on the motion trajectory data, and/or a motion relationship model for reflecting the corresponding relationship between the various motion states of the tracking site;

Collecting the motion trajectory data of the tracking point at the current moment, predicting and outputting the predicted point based on the motion prediction algorithm and/or the motion relationship model;

The space vectors of each of the imaging paths are adjusted based on the predicted position to ensure that each of the imaging paths passes through the image collection point.

Through the above technical solution, based on the position and motion trajectory of the tracking point at the current moment, the position of the tracking point at the next moment can be predicted and output in advance, so that the control amount can be output in advance to adjust the space vector of the imaging path, making imaging more efficient Timely and accurate.

In order to realize the acquisition of joint dynamic images, the application also proposes a joint dynamic image acquisition device, including:

The image acquisition component includes an image acquisition controller and multiple pairs of ray sources and detectors, respectively forming multiple imaging paths, collecting and outputting multiple sets of image data;

A position adjustment assembly, including a mounting bracket for installing the radiation source and detector, and an adjustment member for adjusting the positions of each group of radiation sources and detectors;

A position control component, including a marker set on the imaging object for marking the image acquisition position, a position detection component for detecting and outputting position information of the marker, and generating a position adjustment based on a position detection signal output by the position detection component signal position control;

Wherein, the position detection part detects the position of the marker and outputs the position detection signal, the position control part receives and responds to the position detection signal to generate a position adjustment signal and outputs it to the position adjustment component, the The position adjustment component receives and controls the positions of each group of ray sources and detectors in response to the position adjustment signal.

Through the above technical solution, images of the image acquisition sites, that is, joint bone tissue, can be collected from different angles, and a 3D image and a 3D dynamic image of the object can be generated based on the collected image data in the later stage, so as to facilitate the dynamic function analysis of the bone joint .

Further, the adjustment member includes:

The screw drive parts are arranged in multiple groups, and each group is set in pairs and surrounds a set imaging area. The screw drive parts of each group include a column, a screw rod, a slider arranged on the screw rod, and a drive The servo motor for the rotation of the screw mandrel, and the radiation sources and detectors of each group are respectively installed on two oppositely arranged sliders; or

The mechanical arms are configured in multiple groups, and each group is arranged in pairs opposite to each other and surrounds a set imaging area, and the clamping ends of the two oppositely arranged mechanical arms are respectively provided with the radiation source and the detector;

The motion control part is configured to be connected to the servo motor or the mechanical arm, and receives and outputs a control signal in response to the position adjustment signal to control the action of the servo motor or the mechanical arm.

Through the above technical solution, the position of the ray source and the detector, especially the horizontal position, can be adjusted conveniently to form different imaging paths for different image acquisition positions.

Further, the position adjustment assembly also includes an angle adjustment member for adjusting the angle formed between the imaging paths, and the angle adjustment member includes:

The ring base is configured in multiples and arranged to rotate coaxially, each group of mechanical arms or the column of the screw transmission part are respectively fixed and installed on each of the ring bases;

The rotating drive member is configured as a plurality of rotating motors and their rotation controllers for driving each ring base to rotate around its axis, each of the rotating motors is connected to the corresponding ring base, and the rotation controller receives and responds Outputting a control signal to the position adjustment signal to control the action of the rotating motor.

Through the above technical solution, the angle formed between the various imaging paths can be conveniently changed.

Further, the ray source is configured as an X-ray source, and the detector is configured as a dynamic flat panel detector matched with the X-ray source;

The image acquisition controller is respectively connected to the X-ray source and the detector to control the imaging actions of the two.

Further, the marker includes a shield between the radiation source and the detector, an RFID positioning tag, a heat source or a combination thereof;

The position detection part includes the detector, an RFID identifier or a thermal imager, and outputs a position detection signal;

The position controls include:

A coordinate generation module, configured to be connected to the position detection element with a signal, receive the position detection signal and generate the marker coordinate data of the marker in the set imaging area;

The imaging path storage module is configured to associate and store the space vector data of the imaging path corresponding to each marker coordinate data, and the position coordinate data of the image acquisition component corresponding to the space vector data;

The movement instruction generation module is configured to be connected with the coordinate generation module and the imaging path storage module by signals, receive the marker coordinate data and obtain the position coordinate data of the corresponding image acquisition component, and generate the position adjustment signal.

Through the above technical solution, the tracking position, that is, the position of the marker can be quickly and accurately captured, and an accurate position adjustment signal can be generated to improve the accuracy of image acquisition.

Further, the image acquisition controller is configured with:

The rate-of-change calculation module is configured to be signal-connected to the position detection element, receive the position detection signal, and calculate and output the position change rate data of the marker;

The frequency storage module is configured to be used for associatingly storing each position change rate data and corresponding image acquisition frequency data;

The frequency control module is configured to be electrically connected to the change rate calculation module and the frequency storage module, to receive the position change rate data of the marker and to find and output the corresponding image acquisition frequency data;

The trigger controller is configured to be in control connection with the radiation source and the detector and in signal connection with the frequency control module, receive the image acquisition frequency data and output a trigger signal with a set frequency, and trigger the action of the radiation source.

Through the above technical solution, the image acquisition controller can change the trigger frequency of the ray source according to the position change rate of the marker, and then when the marker, that is, the imaging object is in a moving state, it can also effectively capture the image of the image acquisition site, ensuring the imaging quality .

Further, the position control part is configured with:

A trajectory generation module configured to be connected to the position detection element signal, receive the position detection signal, generate and store the movement trajectory data of the marker;

The trajectory prediction algorithm generation module is configured to be data-connected to the trajectory generation module, receive the motion trajectory data, generate and store a motion prediction algorithm for expressing the movement law of the marker;

The first trajectory prediction module is configured to be data-connected with the trajectory prediction algorithm generation module and the trajectory generation module, receive the movement trajectory data of the marker at the current moment, and calculate and output the movement trajectory data of the marker according to the motion prediction algorithm. Pre-judgment position signal of the position at a moment;

Wherein, the position control part is connected with the data of the first trajectory prediction module, receives the predicted position signal, and generates the position adjustment signal.

Through the above technical solution, the motion trajectory of the marker can be generated based on the collected position detection signal of the marker, and the motion prediction algorithm for the imaging object can be calculated and generated based on the above motion trajectory, based on the above motion prediction algorithm and the motion trajectory at the current moment , it is possible to predict the movement trajectory of the marker in the future setting time, so that the position adjustment signal output by the position control unit has an advance amount, which offsets the response time of the position adjustment component, so that the imaging path can follow the movement of the marker and change its position. Improve the imaging quality of images.

Further, the position control part is configured with:

A trajectory generation module configured to be connected to the position detection element signal, receive the position detection signal, generate and store the movement trajectory data of the marker;

A relationship model generation module configured to be connected to the trajectory generation module data, receive and based on the motion trajectory data, generate and store a motion relationship model for reflecting the relationship between the various motion states of the marker;

The second trajectory prediction module is connected with the signal of the position detection part and/or the trajectory generation module, receives the position detection signal and/or motion trajectory data, and outputs the position of the marker at the next moment according to the above-mentioned kinematic relationship model Prediction site signal;

Wherein, the position control part is connected with the data of the second trajectory prediction module, receives the predicted position signal, and generates the position adjustment signal.

Through the above technical solution, based on the analysis of the movement track data of the marker, the motion relationship model of the marker motion law is obtained, and based on the above motion relationship model and the motion state of the marker at the current moment, the motion state of the marker at the next moment can be predicted , so that the position adjustment signal output by the position control member has an advance amount, so that the imaging path can change its position closely following the movement of the marking member, thereby improving the imaging quality of the image.

Based on the joint dynamic image acquisition device described above, the present application also proposes a joint dynamic image acquisition and generation system, including the aforementioned joint dynamic image acquisition device; and

A three-dimensional image generation unit configured to receive multiple sets of image data output by the joint dynamic image acquisition device, and generate three-dimensional image data based on a three-dimensional imaging algorithm;

The dynamic image generation unit is configured to receive the 3D image data, generate a 3D dynamic image based on a dynamic imaging algorithm, and/or receive the image data, and generate a 3D dynamic image based on the aforementioned 3D dynamic image generation method.

Through the above technical solution, the image acquisition device collects accurate two-dimensional image data, and then the corresponding three-dimensional image is generated by the three-dimensional image generating unit, and finally a continuous three-dimensional dynamic image is obtained.

Further, the joint dynamic image acquisition and generation system also includes an angle acquisition unit for acquiring the best imaging angle between each imaging path, including:

An imaging quality determination module configured to be data-connected to the 3D image generation unit, receive the 3D image data, determine the image quality of the 3D image based on a set algorithm, and output image quality data;

The preset angle output module is configured to control and connect with the position control component in the joint dynamic image acquisition device, and output preset imaging angle data to adjust the angle formed between each imaging path;

The imaging angle correction module is configured to be data-connected to the imaging quality determination module, acquire image quality data corresponding to each preset imaging angle, determine the best imaging angle data and output it to the position control component.

Through the above technical solution, the angle between the imaging paths can be adjusted according to the image quality of the imaging, and finally the best imaging angle can be obtained to ensure that the dynamic three-dimensional image generated later is more accurate.

A computer-readable storage medium loaded with a computer program for implementing the method for generating joint dynamic images as described above.

Through the above technical solution, the above method can be applied to the positioning operation of the imaging object in setting the three-dimensional reference space coordinate system, which is convenient for popularization and use.

A computer-readable storage medium loaded with a computer program for implementing the method for generating joint dynamic images as described above.

Through the above-mentioned technical solution, the above-mentioned joint dynamic image generation method can be applied to an image acquisition and generation system with relevant hardware conditions, which facilitates the promotion of the above-mentioned method.

Compared with the prior art, the beneficial effects of the present invention are as follows:

(1) The actual image data of the imaging object is collected from multiple imaging paths, and virtual image data is generated according to the 3D static model of the imaging object at the same time, and the position and posture of the 3D static model are determined by comparing the actual graphic data with the virtual image data. Convenient and efficient, 3D dynamic images can be generated by using the above position and attitude data in the later stage;

(2) By collecting the image data of the set image acquisition site from multiple angles, and then transforming and splicing the above images through a three-dimensional imaging algorithm to form a continuous three-dimensional dynamic image, and then realizing the dynamic tracking of the image acquisition site, it is convenient for the bone joint Perform dynamic functional analysis;

(3) By setting the working status of each imaging path to alternate triggering, the interference between two adjacent imaging paths is effectively reduced, and the imaging quality of the image acquisition site is improved;

(4) Change the image acquisition frequency of each imaging path by capturing and judging the motion speed of the imaging object, so that the imaging device can capture rapidly changing images, making the three-dimensional dynamic images generated later more accurate;

(5) By analyzing the motion state of the imaging object, the motion law of the imaging object is generated, so that the image acquisition device can predict the position of the set image acquisition site in advance, thereby ensuring that each imaging path can accurately pass through the set image Collect the location to ensure the accuracy of the image data.

Description of drawings

1 is a schematic diagram of the overall flow of the imaging object positioning method of the present invention;

Fig. 2 is a schematic flow chart of the method for calculating and comparing the similarity between virtual image data and actual image data in the present invention;

Fig. 3 is the overall flow diagram of the method of the present invention;

4 is a schematic diagram of a method for changing the frequency of image acquisition based on the rate of change of the position of the tracking site;

5 is a schematic diagram of a method for pre-adjusting the position of the imaging path based on the track of the tracking point;

Fig. 6 is a schematic diagram of a method for time interleaved control during image acquisition;

Fig. 7 is a schematic diagram of a method for obtaining the best imaging angle between each imaging path;

8 is a schematic diagram of the connection of the overall functional modules of the joint dynamic image acquisition device;

Fig. 9 is a schematic diagram of the functional framework of the position control component and the position adjustment component;

Fig. 10 is a schematic frame diagram (1) of a position control part with a tracking position prediction function;

Fig. 11 is a frame schematic diagram (2) of a position control part with a tracking position prediction function;

Fig. 12 is a schematic diagram of the functional framework of the image acquisition controller;

13 is a schematic structural diagram of a joint dynamic image acquisition device;

Fig. 14 is a schematic structural view of the joint dynamic image acquisition device (parts are omitted to illustrate clearly);

Fig. 15 is a schematic diagram of the functional framework of the joint dynamic image acquisition system (with an angle acquisition unit).

Reference signs: 100, image acquisition component; 110, image acquisition controller; 111, rate of change calculation module; 112, frequency storage module; 113, frequency control module; 114, trigger controller; 120, ray source; 130, detection device; 200, position adjustment component; 210, screw drive part; 211, column; 212, screw rod; 213, slider; 214, servo motor; 215, transmission rod; 220, mechanical arm; 230, motion control part; 240. Angle adjustment part; 241. Ring base; 242. Rotation drive part; 300. Position control component; 310. Marking part; 320. Position detection part; 330. Position control part; 331. Coordinate generation module; 332. Imaging Path storage module; 333, motion command generation module; 334, trajectory generation module; 335, trajectory prediction algorithm generation module; 336, first trajectory prediction module; 337, relationship model generation module; 338, second trajectory prediction module 400, system server; 410, system control module; 420, image processing module; 421, three-dimensional image generation unit; 422, dynamic image generation unit; 500, angle acquisition unit; 510, imaging quality determination module; 520, preset angle Output module; 530. Imaging angle correction module.

Detailed ways

The present invention will be described in further detail below in conjunction with the examples and accompanying drawings, but the embodiments of the present invention are not limited thereto.

In the field of orthopedic medical imaging, the current joint soft tissue imaging is usually static. In order to obtain more accurate dynamic and three-dimensional bone joint images so that doctors can perform dynamic function analysis on bone joints, this application firstly proposes a A method for generating and determining the position of the imaging object based on the static image of the imaging object in a set three-dimensional coordinate system. Based on the method, the precise positioning of the bone joint is obtained and based on the position and posture data of the bone joint, a three-dimensional dynamic image of the bone joint is generated.

As shown in Figure 1, a method for generating and determining the position of an imaging object based on a static image of an imaging object in a set three-dimensional coordinate system mainly includes the following steps:

A1, setting multiple imaging paths based on an imaging object, storing the relative positional relationship of each imaging path, and acquiring actual image data corresponding to the imaging object taken from each imaging path;

A2, establishing a three-dimensional reference space coordinate system, generating a three-dimensional static model according to the imaging object, and placing it at a set imaging position in the three-dimensional reference space coordinate system;

A3, passing through the imaging site and setting multiple virtual imaging paths according to the relative positional relationship, and acquiring virtual image data corresponding to each virtual imaging path;

A4, calculating and comparing the similarity between the virtual image data and the actual image data:

If it meets expectations, the position coordinate data of the current imaging site is used as the position data;

If it does not meet expectations, use the optimization operator to adjust the imaging site position of the imaging object in the three-dimensional reference space coordinate system, and generate new virtual image data based on the new imaging site acquisition, and the newly generated acquired virtual image data The image data is compared with the actual image data until the similarity between the two meets expectations.

In the above step A1, the imaging path is determined based on the positions of the radiation source 120 and the detector 130 arranged in pairs, two points and one line. The relative positional relationship of each of the imaging paths includes the angular relationship between the imaging paths and the positional distance relationship. In the set three-dimensional reference space coordinate system, the above-mentioned positional relationship can be uniquely determined.

In step A1, the actual image data is obtained by alternate exposure of the radiation source 120 and the detector 130 located on multiple imaging paths. Since there is cross interference in the ray source 120 on each imaging path, the image data obtained by each imaging path can be clearer by using alternate exposure.

In step A2, establishing a three-dimensional reference space coordinate system is mainly used to clarify the position coordinates of the three-dimensional static model to be generated. The three-dimensional static model of the above-mentioned imaging object can be obtained by photoelectric scanning or other methods, and can also be obtained by fitting multiple two-dimensional images with clear imaging angle relationships through a set algorithm.

In the above step A4, calculate and compare the similarity between the virtual image data and the actual image data, as shown in Figure 2, including:

A41, setting a set number of image characteristic parameters in the actual image data;

A42, establishing an image feature parameter similarity comparison algorithm;

A43. Search and compare the image feature parameters in the virtual image data, and output similarity based on the comparison result and the comparison algorithm.

Wherein, the image feature parameters include the shape and size of the image itself, or the shape and size of a partial image selected from the image itself, or the shape, size and relative positional relationship of several points in the image.

In practice, the above-mentioned step A42 can use algorithms such as pixel gray value comparison method, and judge the similarity according to the comparison result.

In the above step A4, the optimization operator is used not only to adjust the position of the imaging site of the imaging object in the three-dimensional reference space coordinate system, but also to adjust the posture of the imaging object.

The above method acquires the virtual image data taken from the set angle based on the 3D static model of the imaging object, and compares it with the actual image data obtained from the actual imaging action. If the two are the same, it means that the 3D static model is not The position at the time is consistent with the position of the actual imaging object, thereby realizing the precise positioning of the imaging object.

After obtaining the precise positioning of the above-mentioned imaging objects, the present application also proposes a method for generating a three-dimensional dynamic image, which mainly includes:

B1, acquiring a three-dimensional static model of the imaging object;

B2, acquiring the actual image data captured by the imaging object on the set imaging path at the current moment;

B3, using the method for generating and determining the position of the imaging object in the set three-dimensional coordinate system based on the three-dimensional static image of the imaging object as described above, to determine the position and posture of the imaging object in the three-dimensional reference space coordinate system at the current moment;

B4. Continuously generate and output the position and posture of the imaging object according to the control timing of the imaging object to obtain a three-dimensional dynamic image of the imaging object.

Based on the above technical solution, a three-dimensional dynamic image can be obtained based on the two-dimensional actual image data obtained by continuous exposure sampling, which is convenient for dynamic analysis of the imaging object.

Based on the above method, in order to obtain continuous dynamic three-dimensional images of bone joints, the present application also proposes a method for generating joint dynamic images.

In Embodiment 1, as shown in FIG. 3 , it mainly includes the following steps:

C1, setting an image acquisition site and setting at least two imaging paths through the image acquisition site;

C2, respectively acquiring image data corresponding to each of the imaging paths;

C3. Generate a three-dimensional dynamic image of the imaging object based on the image data captured by each of the imaging paths and based on the above-mentioned three-dimensional dynamic image generation method.

The above joint dynamic image generation method is mainly based on the three-dimensional static model of the existing bone joints. By comparing the difference between the virtual image data and the actual image data, the position and posture of the bone joints are accurately located, and finally the bone joints are obtained according to the exposure time sequence. 3D dynamic images.

In the second embodiment, it mainly includes the following steps:

D1, setting an image acquisition site and setting at least two imaging paths through the image acquisition site;

D2, respectively acquiring image data corresponding to each of the imaging paths;

D3, generating a three-dimensional image corresponding to the image acquisition site based on a three-dimensional imaging algorithm according to the angle formed between each of the imaging paths and the acquired image data;

D4, the three-dimensional images generated by continuous acquisition within a set period of time will be generated based on the dynamic imaging algorithm to generate three-dimensional dynamic images.

In the above steps C1 and D1, the image acquisition site usually refers to the position where the image acquisition will be performed. According to different imaging methods, the above image acquisition site can be an area or a site, such as the bone joint area of the human body .

The imaging path refers to the straight-line image acquisition path formed between the ray source 120 and the detector 130 during image acquisition, such as using the X-ray source 120 and the dynamic flat panel detector 130 to realize image acquisition in one direction of the bone joint, and the acquired The image of is a two-dimensional planar image. In the embodiment of the present application, for the convenience of description and illustration in the drawings, the number of the above-mentioned imaging paths is preferably two, and it can be set to more than one in actual application as required.

In the step D3, multiple two-dimensional plane images can be transformed into three-dimensional images through three-dimensional modeling software using multiple imaging paths and image data collected from multiple directions for the same image collection site.

In the step D4, the 3D images generated continuously during the set period of time are played according to the set frame rate to obtain a 3D dynamic image of the image collection site, thereby realizing dynamic tracking of the image collection site.

Since the position of the image acquisition point will change during the image acquisition process, in order to enable the imaging path to always pass through the set image acquisition position, the following only takes the second embodiment as an example to expand the description. It should be pointed out that the implementation The following method steps may also be adopted in mode one.

The joint dynamic image generation method also includes:

D11, setting at least one tracking point in association with the image collection point or its surroundings;

D12, adjusting the space vectors of each imaging path based on the tracking point to ensure that each imaging path passes through the image acquisition point.

Since the position of the image acquisition point is constantly changing during the image acquisition process, in order to ensure that the imaging path passes through the above image acquisition point, it is necessary to calculate the space vector of the imaging path, that is, the direction, position and position of the imaging path in the set imaging space. Coordinates are adjusted. Since the image acquisition site is an area such as a bone joint, it is obviously not directly used as a location for positioning. Therefore, in the step D11, at least one tracking site is set at or around the image acquisition site. The above tracking site In practice, the points are required to have good identifiability, so that the relevant detection equipment can quickly and accurately identify and locate the location of the tracking point. Specifically, heat source components, RFID positioning tags, or positioning similar to tumor resection operations can be used. guide wire etc.

Through the above-mentioned technical solution, it can be ensured that when the position of the image acquisition point is constantly changing, each imaging path can also acquire image data from a set angle, ensuring the accuracy of the three-dimensional imaging in the later stage.

In the actual image acquisition process, since the object of image acquisition is the bone joint tissue or other objects in motion, the intensity of motion of different objects is not the same, that is, the position change rate of the set image acquisition site in the three-dimensional space is different. Big difference. In order to ensure the imaging accuracy of the image when the position of the image acquisition site changes drastically, in the embodiment of the present application, as shown in Figure 4, the joint dynamic image generation method further includes:

D120, collecting real-time location data of the tracking site;

D121, calculating and generating a position change rate of the tracking point within a set time period;

D122, establishing the correlation between the rate of change of the position of the tracking site and the image acquisition frequency of each imaging path;

D123, adjusting the image acquisition frequency of each imaging path in real time based on the association relationship and the position change rate of the tracking point.

In the above steps D120-D123, a three-dimensional coordinate system corresponding to the imaging space is first established in the processing system, and then the position data of the tracking point is converted into marker coordinate data, and the marker coordinate data at two adjacent moments are analyzed The change and the position change rate of the tracking site can be obtained. Then establish the correlation between the position change rate and the image acquisition frequency, and then when the position change rate of the set image acquisition site is accelerated, the image acquisition frequency of each imaging path can also be increased to the set frequency correspondingly to ensure the imaging accuracy .

In practice, since the position adjustment of the detectors 130 at both ends of the imaging path and the ray source 120 requires response time, when the actual position of the image acquisition site changes, if the space vector change of the imaging path does not follow in time at this time, obviously It will reduce the imaging quality of the image. For this reason, in the embodiment of the present application, as shown in Figure 5, the joint dynamic image generation method further includes:

D124, collecting and storing the movement trajectory data of the tracking site;

D125, generating a motion prediction algorithm for expressing the motion law of the tracking site based on the motion trajectory data, and/or a motion relationship model for reflecting the corresponding relationship between the various motion states of the tracking site;

D126, collecting the motion trajectory data of the tracking point at the current moment, predicting and outputting the predicted point based on the motion prediction algorithm and/or the motion relationship model;

D127, adjusting the space vectors of each imaging path based on the predicted position to ensure that each imaging path passes through the image acquisition point.

The above technical solution can predict and output the position of the tracking point at the next moment in advance based on the position and motion trajectory of the tracking point at the current moment, so that the control amount can be output in advance to adjust the space vector of the imaging path, making imaging more timely and accurate .

In practical applications, since multiple imaging paths are installed around a set imaging space, the detection results of each detector 130 are easily interfered by the ray source 120 in the adjacent imaging path. In order to eliminate or reduce the above-mentioned interference, the embodiment of the present application Among them, as shown in Figure 6, the joint dynamic image generation method further includes:

D310, calculating the time length value required for each imaging path to complete image acquisition and imaging;

D311, calculating and generating the time difference for each imaging path to start the imaging action based on the duration value;

D312, controlling the imaging action of each imaging path within a set time period based on the time difference.

Through the above technical solution, the imaging action time of each imaging path can be arranged more precisely, the mutual interference of each imaging path during the imaging action can be avoided, and the accuracy of the imaging result can be ensured.

In the above step D30, the imaging time required for each imaging path is determined according to the specific device. After calculating the respective response time of the ray source 120 and the detector 130, the time required for the acquisition and imaging of the imaging path can be known. value.

In order to reduce interference, the imaging action time of each imaging path is set at intervals, for example, the imaging actions of two imaging paths are alternately triggered.

It should be pointed out that the setting of the time difference in the above-mentioned step D31 in general applications should further meet the requirements of the image acquisition frequency, such as the requirement for the image acquisition frequency in step D123, that is, the difference between two acquisitions and imaging actions of the same imaging path There is an upper limit on the time difference between them.

In practical applications, different imaging objects, such as knee joints and cervical spine joints of different patients, correspond to different optimal imaging angles. In order to obtain the best image data and generate more accurate three-dimensional images, such as As shown in Figure 7, the method described in this application also includes:

D320, adjust the angle formed between each imaging path, and generate the corresponding three-dimensional image under each angle condition;

D321, judging and generating image quality data of a three-dimensional image, and determining the best imaging angle between each imaging path according to the image quality data;

D322, complete the 3D image acquisition and generation actions required for 3D dynamic images based on the optimal imaging angle.

In the embodiment of the present application, two imaging paths are used and the angle between the two imaging paths is 90° in the initial state, and then the angle between the two imaging paths is gradually adjusted according to the set angle. The image quality data in the above step D321 can be obtained by image recognition software, such as judging the image quality based on the clarity of some key image locations. Based on the above technical solutions, the optimal imaging path angles for different image acquisition points can be quickly found, thereby ensuring the quality of subsequent static and dynamic 3D images.

In order to realize the acquisition of joint dynamic images, the present application also proposes a joint dynamic image acquisition device, as shown in FIG.

The image acquisition component 100 includes an image acquisition controller 110 and multiple pairs of radiation sources 120 and detectors 130 . In this embodiment, the ray source 120 is configured as an X-ray source 120, and the detector 130 is configured as a dynamic flat panel detector 130 matched with the X-ray source 120, which can realize imaging of bone and joint tissue. The image acquisition controller 110 is electrically connected to the control terminals of the X-ray source 120 and the detector 130 respectively, and is used to control the imaging actions of the two, such as triggering, stopping, saving data and other actions. The above-mentioned image acquisition controller 110 may be realized by a single-chip microcomputer or an FPGA control module.

Each group of ray sources 120 and detectors 130 respectively constitute a plurality of imaging paths for collecting and outputting multiple sets of image data.

The position control component 300 is mainly used to control the real-time positions of each group of ray sources 120 and detectors 130 to adjust the space vector data between each imaging path.

In detail, as shown in FIG. 9 , the position control assembly 300 includes a marker 310 arranged on the imaging object for marking the image acquisition position, a position detection member 320 for detecting and outputting position information of the marker 310 , And a position control part 330 that generates a position adjustment signal based on the position detection signal output by the position detection part 320 . Wherein, the position detection part 320 detects the position of the marking part 310 and outputs the position detection signal, the position control part 330 receives and generates a position adjustment signal in response to the position detection signal and outputs it to the position adjustment assembly 200, the position adjustment assembly 200 receiving and controlling the positions of each group of radiation sources 120 and detectors 130 in response to the position adjustment signals.

In the embodiment of the present application, the marker 310 includes a shield, an RFID positioning tag or a heat source located between the radiation source 120 and the detector 130 . The above-mentioned occluder can be realized by using a positioning guide wire similar to that used in tumor resection, or can directly use the joint tissue of the imaging subject itself as the marker 310 . The heat source part can be realized by using a heat post with a specific shape that generates heat within a set time. In a specific embodiment, the above-mentioned marking part 310 can be used in combination, such as the above-mentioned shielding part and the heat source part can be used in combination, using a specific shape 1. A patch capable of blocking X-rays and generating heat, which facilitates the identification and tracking of the position detection part 320 in the later stage.

Corresponding to the configuration of the above marker 310 , the position detection unit 320 includes a detector 130 corresponding to the radiation source 120 , an RFID identifier or a thermal imager, for outputting a position detection signal indicating the position of the marker 310 .

In practical applications, the above position control unit 330 can be realized by an FPGA control module or a single-chip microcomputer control module, including a coordinate generation module 331 , an imaging path storage module 332 and a movement command generation module 333 .

The coordinate generation module 331 is configured to be connected with the position detection part 320 by signal, receive the position detection signal and generate the mark coordinate data of the mark part 310 in the set imaging area. In practical applications, the above-mentioned coordinate generation module 331 is configured as a positioning program, which first establishes a three-dimensional coordinate system based on the set imaging space, and then uses the position detection member 320, such as a thermal imager, to detect the position of the marker 310 in the three-dimensional space, and finally The mark coordinate data is output based on the above-mentioned three-dimensional coordinate system.

The imaging path storage module 332 is configured to associate and store the space vector data of the imaging path corresponding to each marker coordinate data, and the position coordinate data of the image acquisition component 100 corresponding to the space vector data. The above-mentioned imaging path storage module 332 may be realized by using a storage module based on a RAM memory chip as a core.

The motion instruction generation module 333 is configured to be connected to the coordinate generation module 331 and the imaging path storage module 332 for signal connection, to receive the marker coordinate data and obtain the corresponding position coordinate data of the image acquisition component 100, and obtain the corresponding position coordinate data after obtaining the position coordinate data. conditioning signal.

The position adjustment assembly 200 includes a mounting bracket for installing the radiation source 120 and the detector 130 and an adjustment member for adjusting the positions of each group of the radiation source 120 and the detector 130 .

As shown in FIG. 13 and FIG. 14 , in an embodiment, the adjustment member includes a screw drive member 210 and a motion control member 230 thereof. The screw drive parts 210 are arranged in multiple groups, and each set of screw drive parts 210 is arranged opposite to each other and surrounds a set imaging area. As shown in FIG. 13 , in the embodiment of the present application, the above-mentioned screw drive elements 210 are arranged in two groups, and when image acquisition is performed, the imaging object is located in the above-mentioned set imaging area. Each set of screw drive parts 210 includes a column 211, a screw 212, a slider 213 arranged on the screw 212, and a servo motor 214 that drives the screw 212 to rotate. Each set of the radiation source 120 and The detectors 130 are respectively detachably mounted on two opposite sliding blocks 213 via bolts. In practical applications, the above-mentioned column 211 and the mounting bracket can be used for multiple functions.

The motion control part 230 is configured to be in control connection with the servo motor 214 , to receive and respond to the position adjustment signal output by the motion instruction generation module 333 , and to output a control signal to control the action of the servo motor 214 .

In a particular embodiment, as shown in FIG. 14 , in order to realize the synchronous movement of the slider 213 in each set of screw drive parts 210 , the two pairs of screw rods 212 in the same set of screw drive parts 210 pass through a transmission rod 215 is connected through the transmission of the worm gear structure, and the output shaft of the servo motor 214 is connected with the transmission rod 215 after the reduction gear set (simplified and omitted in the drawings), and the transmission rod 215 transmits the rotation amount output by the servo motor 214 to the On the two screw rods 212, the synchronous up and down movement of the radiation source 120 and the detector 130 is realized.

In another embodiment, the adjusting member includes a plurality of sets of mechanical arms 220 and their motion control members 230. Each set of mechanical arms 220 is arranged oppositely and surrounds a set imaging area. The two oppositely arranged mechanical arms 220 The ray source 120 and the detector 130 are respectively arranged on the clamping end.

The motion control part 230 is configured to be in control connection with the mechanical arm 220, and to receive and output a control signal in response to the position adjustment signal to control the movement of the mechanical arm 220.

The above technical solution can more flexibly adjust the positions of the ray source 120 and the detector 130 , especially the three-dimensional space positions, so as to form different imaging paths for different image acquisition positions.

In the embodiment of the present application, the position adjustment assembly 200 further includes an angle adjustment member 240 for adjusting the angle formed between each imaging path, and the angle adjustment member 240 includes a ring base 241 and a rotation driving member 242 .

In practical applications, according to needs, the ring base 241 can be configured in multiples and arranged to rotate coaxially. In the embodiment of this application, two are set, as shown in FIG. 14 . Each group of mechanical arms 220 or the upright post 211 of the screw drive part 210 is fixedly installed on each of the ring bases 241 .

The rotation driving member 242 is configured as a plurality of rotation motors and rotation controllers for driving each ring base 241 to rotate around its axis. The above-mentioned rotating motor adopts the servo motor 214 to realize the precise adjustment of the rotating angle. In a specific embodiment, a rotating gear is arranged coaxially under each disk, and the output shaft of each rotating motor is connected to the corresponding ring base 241 via the gear, and the rotation controller receives and responds to the position adjustment The signal output control signal controls the action of the rotating motor. The number of teeth of the above-mentioned rotating gear can be set according to the accuracy required for the rotating angle. For example, if the minimum variable of the rotating angle is set to 0.5°, the number of teeth of the rotating gear can be set to 720, or the equivalent effect can be achieved through multiple gear transmissions. Based on the above solution, the angle formed between the various imaging paths can be changed conveniently.

Since there are differences in the motion speed of each imaging object in practical applications, in order to ensure the imaging quality, further, as shown in FIG. module 113 and trigger controller 114 . The rate-of-change calculation module 111 is configured to be signal-connected to the position detection element 320 , receive the position detection signal output by the position detection element 320 , and calculate and output the position change rate data of the marker 310 . The above-mentioned rate of change of position can be set as the sum of the distances that the marker 310 moves per unit time, and the greater the sum of the above-mentioned distances, the higher the speed at which the marker 310 moves; The sum of the number of changes in the direction of motion within a unit of time, etc.

The frequency storage module 112 is configured to associate and store each position change rate data and its corresponding image acquisition frequency data. The above-mentioned image acquisition frequency data and position change rate data are stored in the corresponding memory through a two-dimensional data table, which is convenient for quick adjustment. Pick. The frequency control module 113 is configured to be data-connected with the rate-of-change calculation module 111 and the frequency storage module 112 , receives the position change rate data of the marker 310 , searches the frequency storage module 112 and outputs the corresponding image acquisition frequency data.

The trigger controller 114 is configured to be in control connection with the radiation source 120 and the detector 130 and in signal connection with the frequency control module 113, receive the image acquisition frequency data and output a trigger signal of a set frequency, and trigger the radiation source 120 moves. The above-mentioned trigger controller 114 can be realized by a single-chip microcomputer control module or a trigger circuit.

Based on the above technical solution, the image acquisition controller 110 can change the trigger frequency of the radiation source 120 according to the rate of change of the position of the marker 310, so that the image of the image acquisition site can be effectively captured when the marker 310, that is, the imaging object is in motion. , if the imaging object moves faster, the image acquisition frequency will be higher to ensure the imaging quality.

In practical applications, after the position adjustment component 200 receives the position adjustment signal, it usually takes a period of time before the radiation source 120 and the detector 130 can be adjusted to the set positions, that is, the entire control adjustment process requires a response time. However, due to the above-mentioned response time, when the imaging object, such as a bone joint, moves rapidly in the set imaging space, the imaging path will not be able to keep up with the movement of the marker 310 , resulting in a decrease in imaging quality.

To this end, in an embodiment, as shown in FIG. 10 , the position control member 330 is configured with a trajectory generation module 334 , a trajectory prediction algorithm generation module 335 , and a first trajectory prediction module 336 .

The trajectory generation module 334 is configured as a program module loaded in the above-mentioned position control part 330, which is connected with the signal of the position detection part 320, receives the position detection signal, generates the motion trajectory data of the marker 310 and sends it to the position control unit stored in a memory connected to the hardware 330.

The trajectory prediction algorithm generation module 335 is also configured as a program module loaded in the position control part 330, which is connected with the trajectory generation module 334 data, receives the motion trajectory data, generates and stores the marker used to express 310 motion prediction algorithms for motion laws. In practical applications, the above-mentioned motion track data is actually a data sequence, and the fluctuation and change rule of the above-mentioned data sequence can be obtained by using a specific fitting algorithm.

The first trajectory prediction module 336 is configured as a data processing program, which is connected with the trajectory prediction algorithm generation module 335 and the trajectory generation module 334 data, receives the motion trajectory data of the marker 310 at the current moment, and according to the above-mentioned motion prediction The algorithm calculates and outputs the predicted position signal of the position of the marker 310 at the next moment.

Wherein, the position control part 330 is connected with data to the first trajectory prediction module 336, receives the predicted position signal, and generates a position adjustment signal. In this embodiment, the above-mentioned predicted position signal can be regarded as a position detection signal after data processing, and is output to the coordinate generation module 331 to finally obtain a position adjustment signal.

The above technical solution can generate the motion trajectory of the marker 310 based on the collected position detection signal of the marker 310, and calculate and generate a motion prediction algorithm for the imaging object based on the above motion trajectory, based on the above motion prediction algorithm and the current motion trajectory , it is possible to predict the trajectory of the marker 310 in the future setting time, so that the position adjustment signal output by the position control unit 330 has an advance amount, which offsets the response time of the position adjustment component 200, so that the imaging path can closely follow the movement of the marker 310 And change the position to improve the imaging quality of the image.

In another embodiment, as shown in FIG. 11 , the position control component 330 is configured with a trajectory generation module 334 , a relationship model generation module 337 and a second trajectory prediction module 338 .

The trajectory generation module 334 is configured to be connected with the position detection part 320 by a signal, receive the position detection signal, generate and store the motion trajectory data of the marker 310 . The relationship model generation module 337 is configured as an algorithm program, which is data-connected with the trajectory generation module 334, receives and based on the motion trajectory data, generates and stores a motion relationship for reflecting the association relationship between the various motion states of the marker 310 A model, the above-mentioned kinematic relationship model includes multiple data sets composed of related settings.

Since the above-mentioned motion relationship model can be a single point, that is, the correlation between a position detection signal and a certain motion trajectory data, or the correlation between a certain segment of motion trajectory data and a certain motion trajectory data, therefore, the first A trajectory prediction module 336 and a second trajectory prediction module 338 are connected to both the position detection part 320 and the trajectory generation module 334 with common signals, or to one of them, to receive the position detection signal and/or motion Trajectory data, and output the predicted position signal of the position of the marker 310 at the next moment according to the above-mentioned kinematic relationship model. Wherein, the position control part 330 is connected with the data of the first and second trajectory prediction modules 338, and receives the predicted position signal to generate the position adjustment signal.

The above technical solution is based on the analysis of the movement track data of the marker 310 to obtain the motion relationship model of the marker 310 motion law. Based on the above-mentioned motion relationship model and the motion state of the marker 310 at the current moment, the next moment of the marker 310 can be predicted. In the moving state, the position adjustment signal output by the position control member 330 has an advance amount, so that the imaging path can change its position closely following the movement of the marking member 310, thereby improving the imaging quality of the image.

Based on the above joint dynamic image acquisition device, the present application also proposes a joint dynamic image acquisition and generation system, including the aforementioned joint dynamic image acquisition device and a system server 400, the system server 400 is configured with a system control module 410 And image processing module 420, image or instruction algorithm storage module.

Wherein, the image acquisition controller 110 and the position control component 300 configured in the joint dynamic image acquisition device jointly form a system control module 410, which respectively performs exposure control and motion control. The image processing module 420 includes a three-dimensional image generation unit 421 and a dynamic image generation unit 422 .

The three-dimensional image generation unit 421 is configured to receive multiple sets of image data output by the joint dynamic image acquisition device, and generate three-dimensional image data based on a three-dimensional imaging algorithm. In practical applications, the above-mentioned three-dimensional image generation unit 421 includes loading in Program modules in the system server 400 . The dynamic image generation unit 422 is configured to receive the 3D image data, generate a 3D dynamic image based on a dynamic imaging algorithm, and/or receive multiple sets of image data, and generate a 3D dynamic image based on the aforementioned 3D dynamic image generation method.

During image processing, the imaging system in the embodiment of the present application will judge the imaging quality to ensure the accuracy of the 3D dynamic image generated later. For this reason, as shown in FIG. 15 , the joint dynamic image acquisition and generation system also includes an angle acquisition unit 500 for acquiring the best imaging angle between imaging paths, specifically including: an imaging quality judgment module 510, a preset angle output module 520 and imaging angle correction module 530 .

The imaging quality judging module 510 is configured to be data-connected to the 3D image generating unit 421, receive the 3D image data, judge the image quality of the 3D image based on a set algorithm, and output the image quality data. The determination of the above image quality may be to determine the clarity of some key points of the image.

The preset angle output module 520 is configured to be in control connection with the position control component 300 in the joint dynamic image acquisition device, and output preset imaging angle data to adjust the angle formed between each imaging path.

The imaging angle correction module 530 is configured to be in data connection with the imaging quality determination module 510 , acquire image quality data corresponding to each preset imaging angle, determine the best imaging angle data and output it to the position control component 300 .

The aforementioned preset imaging angles include stored imaging angles or temporarily generated imaging angles according to image quality. If the number of imaging paths is two, the preferred imaging angle range between the two imaging paths is 85-95°, and then the optimal imaging angle is searched for in the above range according to the gradient of 0.5°-1°.

Finally, in order to apply the above-mentioned method of generating and determining the position of the imaging object based on the static image of the imaging object in the set three-dimensional coordinate system to an image acquisition and generation system or device with relevant hardware conditions, the application also provides a computer-readable storage medium, the readable storage medium is loaded with a computer program, and when the computer program is executed by a computer, the functions of the above-mentioned corresponding method embodiments are realized.

Likewise, the present application also protects a computer-readable storage medium loaded with a computer program for implementing the joint dynamic image generation method.

In the above-mentioned embodiments, all or part may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in the form of a computer program in whole or in part. The computer programs include one or more computer programs. When the computer program is loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present disclosure will be generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer program can be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program can be downloaded from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, DDL (DigitalDubDDriberLine, Digital Subscriber Line)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density DVD (DigitalVideoDiDD, digital video disc)), or a semiconductor medium (for example, a DDD (DolidDateDiDk, a solid state drive)), etc. .

It should be noted that, in the above embodiments, the terminology used herein is only for describing specific exemplary embodiments, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the or said" may be intended to include the plural forms as well, unless the context clearly dictates otherwise. The terms "comprising", "comprising" and "having" are inclusive and thus specify the presence of stated features, integers, steps, operations, elements and/or parts but do not exclude one or more other features, Presence or addition of integers, steps, operations, elements, parts and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically indicated that step order should be performed. It should also be understood that additional or alternative steps may be employed.

The above descriptions are only preferred implementations of the present invention, and the scope of protection of the present invention is not limited to the above examples, and all technical solutions that fall under the idea of the present invention belong to the scope of protection of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention should also be regarded as the protection scope of the present invention.

Claims (22)

1. A method for generating and determining the position of an imaging object in a set three-dimensional coordinate system based on a static image of the imaging object, characterized in that:

   Setting multiple imaging paths based on an imaging object, storing the relative positional relationship of each imaging path, and acquiring actual image data corresponding to the imaging object captured by each imaging path;

   Establishing a three-dimensional reference space coordinate system, generating a three-dimensional static model according to the imaging object, and placing it at a set imaging position in the three-dimensional reference space coordinate system;

   Setting a plurality of virtual imaging paths through the imaging sites and using the relative positional relationship, and obtaining virtual image data corresponding to each virtual imaging path;

   Calculate and compare the similarity between the virtual image data and the actual image data:

   If it meets expectations, the position coordinate data of the current imaging site is used as the position data;

   If it does not meet expectations, then using an optimization operator to adjust the imaging site position of the imaging object in the three-dimensional reference space coordinate system, and generate new virtual image data based on the new imaging site acquisition;

   The newly generated and acquired virtual image data is compared with the actual image data until the similarity between the two meets expectations.
2. The method according to claim 1, wherein the imaging path is determined based on the positions of the radiation source and the detector arranged in pairs;

   The relative positional relationship of each of the imaging paths includes the angular relationship and the positional distance relationship formed between the imaging paths;

   The actual image data is acquired by alternate exposure of ray sources and detectors located on multiple imaging paths.
3. The method according to claim 1, characterized in that, using an optimization operator to adjust the position of the imaging site of the imaging object in the three-dimensional reference space coordinate system, further comprising adjusting the posture of the imaging object in the three-dimensional reference space coordinate system.
4. The method according to claim 3, wherein calculating and comparing the similarity between the virtual image data and the actual image data comprises:

   Setting a set number of image characteristic parameters in the actual image data;

   Establish an image feature parameter similarity comparison algorithm;

   Searching for the image feature parameters in the virtual image data and comparing them, and outputting similarity based on the comparison result and the comparison algorithm;

   Wherein, the image feature parameters include the shape and size of the image itself, or the selected local image shape and size from the image itself, or the shape, size and relative positional relationship of several points in the image.
5. A method for generating a three-dimensional dynamic image, comprising:

   Obtain a three-dimensional static model of the imaging object;

   Obtain the actual image data captured by the imaging object on the set imaging path at the current moment;

   Using the method for generating and determining the position of the imaging object based on the three-dimensional static image of the imaging object in the set three-dimensional coordinate system as described in any one of claims 1-4, determine the position of the imaging object in the three-dimensional reference space coordinate system at the current moment and posture;

   According to the control sequence when the imaging object is imaged, the position and posture of the imaging object are continuously generated and output to obtain a three-dimensional dynamic image of the imaging object.
6. A joint dynamic image generation method, characterized in that, comprising:

   setting an image acquisition site and placing at least two imaging paths through the image acquisition site;

   Acquiring image data corresponding to each of the imaging paths respectively;

   generating a three-dimensional image corresponding to the image acquisition site based on a three-dimensional imaging algorithm according to the angles formed between the imaging paths and the acquired image data,

   The three-dimensional images generated by continuous acquisition within a set period of time are generated based on the dynamic imaging algorithm to generate three-dimensional dynamic images; or

   The three-dimensional dynamic image is generated based on the three-dimensional dynamic image generation method according to claim 5 according to the image data captured by each of the imaging paths.
7. The method according to claim 6, further comprising:

   Setting at least one tracking point in association with the image collection point or its surroundings;

   Adjusting the space vectors of each of the imaging paths based on the tracking point ensures that each of the imaging paths passes through the image acquisition point.
8. The method according to claim 6, further comprising:

   Calculate the time length value required for each imaging path to complete image acquisition and imaging;

   calculating and generating a time difference at which each of the imaging paths starts an imaging action based on the duration value;

   The imaging actions of each of the imaging paths within a set time period are controlled based on the time difference.
9. The method according to claim 6, further comprising:

   adjusting the angles formed between each of the imaging paths to generate corresponding three-dimensional images under various angle conditions;

   Determine and generate the image quality data of the three-dimensional image, and determine the best imaging angle between each of the imaging paths according to the image quality data;

   The three-dimensional image acquisition and generation actions required by the three-dimensional dynamic image are completed based on the optimal imaging angle.
10. The method according to claim 7, further comprising:

    collecting real-time location data of the tracking site;

    Calculating and generating the position change rate of the tracking point within a set time period;

    Establish the relationship between the rate of change of the location of the tracking site and the image acquisition frequency of each imaging path;

    The image acquisition frequency of each imaging path is adjusted in real time based on the association relationship and the position change rate of the tracking point.
11. The method according to claim 7, further comprising:

    Collect and store the movement trajectory data of the tracking site;

    Generate a motion prediction algorithm for expressing the motion law of the tracking site based on the motion trajectory data, and/or a motion relationship model for reflecting the corresponding relationship between the various motion states of the tracking site;

    Collecting the motion trajectory data of the tracking point at the current moment, predicting and outputting the predicted point based on the motion prediction algorithm and/or the motion relationship model;

    The space vectors of each of the imaging paths are adjusted based on the predicted position to ensure that each of the imaging paths passes through the image collection point.
12. A joint dynamic image acquisition device is characterized in that it comprises:

    The image acquisition component (100), including an image acquisition controller (110) and multiple pairs of ray sources (120) and detectors (130), respectively constitute multiple imaging paths, and collect and output multiple sets of image data;

    A position adjustment assembly (200), including a mounting bracket for installing the radiation source (120) and the detector (130), and an adjustment member for adjusting the positions of each group of radiation sources (120) and detectors (130);

    A position control assembly (300), comprising a marking member (310) arranged on the imaging object for marking the image acquisition position, a position detection member (320) for detecting and outputting position information of the marking member (310), and A position control part (330) for generating a position adjustment signal based on a position detection signal output by the position detection part (320);

    Wherein, the position detection part (320) detects the position of the marking part (310) and outputs the position detection signal, and the position control part (330) receives and generates a position adjustment signal in response to the position detection signal and outputs To the position adjustment component (200), the position adjustment component (200) receives and controls the positions of each group of ray sources (120) and detectors (130) in response to the position adjustment signal.
13. The device of claim 12, wherein the adjustment member comprises:

    The screw drive parts (210) are configured in multiple groups and each group is arranged in pairs and surrounds a set imaging area. The screw drive parts (210) of each group include a column (211), a screw rod (212), The slider (213) arranged on the screw mandrel (212) and the servo motor (214) that drives the screw mandrel (212) to rotate, each group of the radiation sources (120) and detectors (130) are installed separately On two oppositely arranged slide blocks (213); or

    The mechanical arms (220) are configured in multiple groups, and each group is arranged in pairs opposite to each other and surrounds a set imaging area, and the clamping ends of the two oppositely arranged mechanical arms (220) are respectively provided with the radiation sources (120) and a detector (130);

    A motion control part (230), configured to be in control connection with the servo motor (214) or the mechanical arm (220), receives and outputs a control signal in response to the position adjustment signal to control the servo motor (214) or the mechanical arm ( 220) action.
14. The device according to claim 13, characterized in that, the position adjustment assembly (200) further comprises an angle adjustment member (240) for adjusting the angle formed between the imaging paths, the angle adjustment member (240 )include:

    The circular ring base (241) is configured as a plurality and arranged to rotate concentrically, and the columns (211) of each group of mechanical arms (220) or the screw transmission parts (210) are fixedly installed on each of the circular rings respectively. on the base (241);

    The rotating drive member (242) is configured as a plurality of rotating motors and rotation controllers for driving each ring base (241) to rotate around its axis, and each of the rotating motors is connected to the corresponding ring base (241). , the rotation controller receives and outputs a control signal in response to the position adjustment signal to control the movement of the rotation motor.
15. The device according to claim 12, characterized in that, the ray source (120) is configured as an X-ray source (120), and the detector (130) is configured as a matching device with the X-ray source (120). Dynamic flat panel detector (130);

    The image acquisition controller (110) is control-connected to the X-ray source (120) and the detector (130) respectively and controls the imaging actions of the two.
16. The device according to claim 12, wherein the marker (310) comprises a shield, an RFID positioning tag, a heat source or a combination thereof located between the radiation source (120) and the detector (130);

    The position detection part (320) includes the detector (130), an RFID identifier or a thermal imager, and outputs a position detection signal;

    The position control (330) includes:

    A coordinate generation module (331), configured to be connected to the position detection part (320) with a signal, receive the position detection signal and generate mark coordinate data of the mark part (310) in the set imaging area;

    The imaging path storage module (332), configured to associate and store the space vector data of the imaging path corresponding to each marker coordinate data, and the position coordinate data of the image acquisition component (100) corresponding to the space vector data;

    A motion command generation module (333), configured to be connected to the coordinate generation module (331) and the imaging path storage module (332) in signal connection, receive the marker coordinate data and obtain the position coordinate data of the corresponding image acquisition component (100) , generating the position adjustment signal.
17. The device according to claim 12, characterized in that, the image acquisition controller (110) is configured with:

    A rate-of-change calculation module (111), configured to be signal-connected to the position detection part (320), receive the position detection signal, and calculate and output the position change rate data of the marker (310);

    A frequency storage module (112), configured for associatively storing each location change rate data and corresponding image acquisition frequency data;

    A frequency control module (113), configured to be electrically connected to the rate-of-change calculation module (111) and the frequency storage module (112), to receive the position change rate data of the marker (310) and search for and output corresponding image acquisition frequency data ;

    A trigger controller (114), configured to be in control connection with the radiation source (120) and the detector (130) and in signal connection with the frequency control module (113), receives the image acquisition frequency data and outputs a set frequency The trigger signal triggers the action of the ray source (120).
18. The device according to claim 12, characterized in that, the position control member (330) is configured with:

    A track generation module (334), configured to be connected to the position detection part (320) with a signal, receive the position detection signal, generate and store the movement track data of the marker part (310);

    A trajectory prediction algorithm generation module (335), configured to be connected with the trajectory generation module (334) data, receive the movement trajectory data, generate and store a motion prediction algorithm for expressing the movement law of the marker (310) ;

    The first trajectory prediction module (336) is configured to be data-connected to the trajectory prediction algorithm generation module (335) and the trajectory generation module (334), to receive the movement trajectory data of the marker (310) at the current moment, according to The motion prediction algorithm calculates and outputs the predicted position signal of the position of the marker (310) at the next moment;

    Wherein, the position control part (330) is data-connected to the first trajectory prediction module (336), receives the predicted position signal, and generates the position adjustment signal.
19. The device according to claim 12, characterized in that, the position control member (330) is configured with:

    A track generation module (334), configured to be connected to the position detection part (320) with a signal, receive the position detection signal, generate and store the movement track data of the marker part (310);

    A relationship model generation module (337), configured to be data-connected to the trajectory generation module (334), receive and based on the motion trajectory data, generate and store an association relationship for reflecting the movement states of the markers (310) The motion relationship model;

    The second trajectory prediction module (338), connected with the signal of the position detection part (320) and/or the trajectory generation module (334), receives the position detection signal and/or motion trajectory data, and according to the above-mentioned motion relationship model output the predicted position signal of the position of the marker (310) at the next moment;

    Wherein, the position control part (330) is data-connected to the second trajectory prediction module (338), receives the predicted position signal, and generates the position adjustment signal.
20. A joint dynamic image acquisition and generation system, characterized in that it comprises the joint dynamic image acquisition device according to any one of claims 12-19; and

    A three-dimensional image generation unit (421), configured to receive multiple sets of image data output by the joint dynamic image acquisition device, and generate three-dimensional image data based on a three-dimensional imaging algorithm;

    The dynamic image generation unit (422) is configured to receive the 3D image data, generate a 3D dynamic image based on a dynamic imaging algorithm, and/or receive multiple sets of image data, and generate a 3D dynamic image based on the aforementioned 3D dynamic image generation method.
21. The system according to claim 20, further comprising an angle acquiring unit (500) for acquiring the best imaging angle between each imaging path, comprising:

    An imaging quality judging module (510), configured to be data-connected to the three-dimensional image generating unit (421), receive the three-dimensional image data, judge the image quality of the three-dimensional image based on a set algorithm, and output image quality data;

    The preset angle output module (520), which is configured to be connected to the position control component (300) in the joint dynamic image acquisition device, and output preset imaging angle data to adjust the angle formed between each imaging path;

    The imaging angle correction module (530) is configured to be data-connected with the imaging quality determination module (510), obtain image quality data corresponding to each preset imaging angle, determine the best imaging angle data and output it to the position control component ( 300).
22. A computer-readable storage medium, wherein a computer program for implementing the joint dynamic image generation method according to any one of claims 6-11 is loaded in the readable storage medium.

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