CN119366952A - X-ray imaging system and its offset detection method and motion compensation method - Google Patents
X-ray imaging system and its offset detection method and motion compensation method Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
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Abstract
The application relates to an X-ray imaging system, an offset detection method and a motion compensation method thereof. The X-ray imaging system comprises a suspension device, a detection bed and a stand column, wherein the stand column is provided with a detector, the detection bed is provided with a bed panel, the suspension device comprises an X-ray source, the suspension device is provided with a distance measuring unit, the offset detection method comprises the steps of acquiring at least one distance information, and acquiring at least one offset, the distance information comprises the distance between the distance measuring unit and at least one position of the bed panel, and/or the distance between the distance measuring unit and the detector, the at least one offset comprises at least one of the offset of the stand column in the vertical direction, the offset of the suspension device in the horizontal direction and/or the vertical direction, the offset of the detection bed in the horizontal direction and/or the vertical direction, the offset between the X-ray source and the center of the bed panel, the relative offset between the suspension device and the stand column, and the relative offset between the suspension device and the detection bed.
Description
Technical Field
The present invention relates to medical imaging technology, and more particularly to an X-ray imaging system and an offset detection method and a motion compensation method thereof.
Background
In an X-ray imaging system, radiation from an X-ray source is directed to a subject, typically a patient in a medical diagnostic application. A portion of the radiation passes through the object under examination and impinges on a detector which is divided into a matrix of discrete elements, e.g. pixels. The detector elements are read out to generate an output signal based on the amount or intensity of radiation impinging each pixel area. The signals may then be processed to generate a medical image that may be displayed for viewing, which may be displayed in a display device of an X-ray imaging system.
Generally, when the suspension of the X-ray imaging system is moved relative to the couch, the suspension should be parallel to the upper surface of the couch or the lifting direction of the couch. Similarly, when the suspension moves relative to the column, the direction of movement of the suspension should be parallel to the direction of movement of the detector on the column. When there is no alignment or misalignment between the suspension device and the inspection bed, the image quality of the acquired medical image may be relatively poor, in which case it may be necessary to call a field maintenance person to perform inspection, determine what component is the misalignment, and perform corresponding calibration, and such maintenance is not only complicated in process but also takes a long time.
Disclosure of Invention
The invention provides an X-ray imaging system, an offset detection method and a motion compensation method thereof.
Exemplary embodiments of the present invention provide an offset detection method of an X-ray imaging system. The X-ray imaging system comprises a suspension device, a detection bed and a stand column, wherein the stand column is provided with a detector, the detection bed is provided with a bed panel, the suspension device comprises an X-ray source, a distance measuring unit is arranged on the suspension device, the offset detection method comprises the steps of acquiring at least one distance information based on the distance measuring unit, acquiring at least one offset of the X-ray imaging system based on the at least one distance information, wherein the at least one distance information comprises a distance between the distance measuring unit and at least one position of the bed panel, and/or a distance between the distance measuring unit and the detector, the offset comprises an offset between the stand column and the vertical direction, an offset between the suspension device and the horizontal direction and/or the vertical direction, an offset between the detection bed and the center of the bed panel, a relative offset between the suspension device and the stand column, and a relative offset between the suspension device and the at least one of the detection bed panel.
Exemplary embodiments of the present invention provide a motion compensation method for an X-ray imaging system. The X-ray imaging system comprises a suspension device, a detection bed and a stand column, wherein a detector is arranged on the stand column, the detection bed is provided with a bed panel, the suspension device comprises an X-ray source, a distance measuring unit is arranged on the suspension device, the motion compensation method comprises the steps of acquiring at least one distance information based on the distance measuring unit, acquiring at least one offset of the X-ray imaging system based on the at least one distance information, compensating in the motion process of the suspension device based on the at least one offset, wherein the at least one distance information comprises the distance between the distance measuring unit and at least one position of the bed panel, and/or the distance between the distance measuring unit and the detector, the offset comprises the offset between the stand column and the vertical direction, the offset between the suspension device and the horizontal direction and/or the vertical direction, the offset between the detection bed and the at least one of the distance between the center of the X-ray source and the bed panel, and the relative offset between the suspension device and the at least one of the suspension device.
Exemplary embodiments of the present invention provide an X-ray imaging system. The X-ray imaging system comprises a suspension device, a detection bed, a stand column and a control unit, wherein the detector is arranged on the stand column, the detection bed is provided with a bed panel, the suspension device comprises an X-ray source, a distance measuring unit is arranged on the suspension device, the control unit comprises a distance acquiring unit and a deviation calculating unit, the distance acquiring unit is used for acquiring at least one distance information, the at least one distance information comprises a distance between the distance measuring unit and at least one position of the bed panel, and/or a distance between the distance measuring unit and the detector is arranged at least one position, the deviation calculating unit is used for acquiring at least one deviation of the X-ray imaging system based on the at least one distance information, the deviation comprises a deviation between the stand column and the vertical direction, a deviation between the suspension device and the horizontal direction and/or the vertical direction, a deviation between the detection bed and a center of the panel, a deviation between the suspension device and the bed panel, a relative deviation between the suspension device and the at least one of the suspension device and the detection bed.
Other features and aspects will become apparent from the following detailed description, the accompanying drawings, and the claims.
Drawings
The invention may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an X-ray imaging system according to some embodiments of the invention;
FIG. 2 is a schematic diagram of a control unit in an X-ray imaging system according to some embodiments of the invention;
FIG. 3 is a schematic diagram of distance information acquisition according to some embodiments of the invention;
FIG. 4 is a schematic diagram of the offset calculated from the distance information shown in FIG. 3 and the corresponding motion compensation;
FIG. 5 is a schematic diagram of distance information acquisition according to other embodiments of the present invention;
FIG. 6 is a schematic diagram of distance computation according to some embodiments of the invention;
FIG. 7 is a schematic diagram of distance information acquisition according to further embodiments of the present invention;
FIG. 8 is a flow chart of an offset detection method according to some embodiments of the invention, and
Fig. 9 is a flow chart of a motion compensation method of some embodiments of the invention.
Detailed Description
In the following, specific embodiments of the present invention will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.
Fig. 1 illustrates a schematic diagram of an X-ray imaging system 100 according to some embodiments of the invention. As shown in fig. 1, the X-ray imaging system 100 includes a suspension apparatus 110, a column (WALL STAND) apparatus 120, and a couch apparatus 130. The suspension device 110 includes a longitudinal rail 111, a lateral rail 112, a telescopic cylinder 113, a sled 114, a bulb assembly 115, and a bulb control device (bulb) 116.
For convenience of description, in the present application, the x-axis, the y-axis, and the z-axis are defined as being in a horizontal plane and perpendicular to each other, and the z-axis is perpendicular to the horizontal plane, specifically, the direction in which the longitudinal rail 111 is located is defined as the x-axis, the direction in which the lateral rail 112 is located is defined as the y-axis direction, the extension direction of the telescopic tube 113 is defined as the z-axis direction, and the z-axis direction is the vertical direction.
The longitudinal rail 111 and the transverse rail 112 are vertically arranged, wherein the longitudinal rail 111 is mounted on the ceiling and the transverse rail 112 is mounted on the longitudinal rail 111. Telescoping barrel 113 is used to carry bulb assembly 115.
The pulley 114 is disposed between the transverse guide rail 112 and the telescopic cylinder 113, and the pulley 114 may include a rotating shaft, a motor, a winding drum, and the like, and the motor can drive the winding drum to rotate around the rotating shaft, so as to drive the telescopic cylinder 113 to move along the z-axis and/or slide relative to the transverse guide rail. The sled 114 is capable of sliding relative to the cross rail 112, i.e., the sled 114 is capable of moving the telescoping tube 113 and/or the bulb assembly 115 in the y-axis direction. And the transverse guide rail 112 can slide relative to the longitudinal guide rail 111, so as to drive the telescopic cylinder 113 and/or the bulb assembly 115 to move along the x-axis direction.
The telescopic cylinder 113 comprises a plurality of cylinders with different inner diameters, and the cylinders can be sleeved in the cylinders on the telescopic cylinder from bottom to top in sequence to realize telescopic operation, and the telescopic cylinder 113 can be telescopic (or movable) in the vertical direction, namely, the telescopic cylinder 113 can drive the bulb assembly 115 to move along the z-axis direction. The lower end of the telescopic cylinder 113 is further provided with a rotating part which can rotate the bulb assembly 115.
The bulb control device 116 is mounted on the bulb assembly 115, and the bulb control device 116 includes a display screen and a user interface such as control buttons for performing preparation work before photographing, such as patient selection, protocol selection, and positioning.
The bulb assembly 115 includes an X-ray source therein, and a collimator 117 is typically mounted below the X-ray source. The collimator 117 includes four movable collimator blades, which are materials capable of absorbing X-rays, and the four collimator blades are surrounded to form a square or rectangle, and an opening is formed in the middle after the four collimator blades are surrounded, and the opening is the opening of the collimator, and the size of the opening of the collimator 117 determines the irradiation range of the X-rays, that is, the area size of the exposure Field of View (FOV). The X-rays can be directed through the collimator opening to a region of interest (Region of Interest, ROI) of the object to be examined, and other X-rays are absorbed by the blade to prevent the object to be examined from absorbing too much unnecessary dose. Wherein the position of the X-ray source and collimator 117 in the lateral direction determines the position of the exposure field FOV on the subject.
The movements of the suspension 110 include movements of the bulb assembly along the x, y and z axes, and rotations of the bulb assembly in the horizontal plane (with the axis of rotation parallel or coincident with the z axis) and in the vertical plane (with the axis of rotation parallel to the y axis), in which movements the respective components are typically rotated by motor-driven shafts to effect the respective movements or rotations, and the respective control components are generally mounted within the sled 114. The X-ray imaging system further comprises a motion control unit (not shown) capable of controlling the above-mentioned movement of the suspension 110, and further, the motion control unit is capable of receiving control signals to control the corresponding components to move accordingly to bring the bulb assembly to a preset or specified position.
Column assembly 120 includes probe 121 (first probe), column 122, and connection 123. The connection part 123 includes a support arm vertically connected to the height direction of the upright 122 and a rotation bracket mounted on the support arm, the probe 121 is mounted on the rotation bracket, the upright device 120 further includes a probe driving device disposed between the rotation bracket and the probe 121, and the probe 121 is further rotatable relative to the support arm to form an angle with the upright by being driven by the probe driving device to move in a direction parallel to the height direction of the upright 122 on a plane lifted by the rotation bracket. The detector 121 has a plate-like structure whose direction is changeable so as to make the X-ray incident surface either vertical or horizontal depending on the incident direction of the X-rays.
The detection bed device 130 includes an in-bed detector 131 (second detector), and the selection or use of the first detector 121 and the second detector 131 may be determined based on a photographing position and/or a photographing protocol of a patient, or may be determined based on a position of a detected object obtained by photographing with a camera, so as to perform a photographing inspection of a lying position or a standing position. Fig. 1 shows only one example of a column and a test bed, and it should be understood by those skilled in the art that any form or arrangement of columns and/or test beds may be selected and installed, and that the columns and/or test beds are not limiting to the overall solution of the present application.
The X-ray imaging system 100 further comprises a display unit 150, the display unit 150 being operatively connected to the camera unit, the display unit 150 comprising a user interface 151, the user interface 151 being for displaying real-time optical images. Specifically, the display unit 150 can include any type of display screen, which may be a main display screen located in a control room, a display screen of the bulb control device 116 located in a scanning room, or a removable display, such as a tablet computer, a mobile phone, or the like.
The X-ray imaging system further comprises an input unit 160 for receiving a user's operation, the input unit 160 can comprise, for example, a touch-sensitive screen, a keyboard, a mouse, a voice activated control unit or any other suitable input device, through which input unit 160 the user can input operation/control signals to the control unit.
The X-ray imaging system 100 further comprises a control unit (not shown) which may be a main control unit located in the control room, a bulb control device mounted on the suspension device, a removable or portable control unit or any combination of the above. The control unit may comprise a source control unit and a detector control unit. The source control unit is used for commanding the X-ray source to emit X-rays for image exposure. The detector control unit is used to select an appropriate detector among a plurality of detectors and coordinate control of various detector functions, for example, to automatically select a corresponding detector according to the position or posture of a detected object, or to perform various signal processing and filtering functions, specifically, initial adjustment of a dynamic range, interleaving of digital image data, and the like. In some embodiments, the control unit may provide power and timing signals for controlling the operation of the X-ray source and detector.
In some embodiments, the control unit may also be configured to reconstruct one or more desired images and/or determine useful diagnostic information corresponding to the patient using the digitized signals, wherein the control unit may include one or more special purpose processors, a graphics processing unit, a digital signal processor, a microcomputer, a micro-control device, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other suitable processing device.
Of course, the X-ray imaging system may also include other numbers or configurations or forms of control units, e.g., the control units may be local (e.g., co-located with one or more of the X-ray imaging systems 100, e.g., within the same facility and/or the same local network), and in other implementations the control units may be remote and thus accessible only via a remote connection (e.g., via the Internet or other available remote access technology). In particular implementations, the control unit may also be configured in a cloud-like manner and may be accessed and/or used in a manner substantially similar to the manner in which other cloud-based systems are accessed and used.
In the process of exposing an X-ray imaging system, it is usually required to move the suspension device along a vertical direction and/or a horizontal direction relative to the upright post or the detection bed, when, for example, a guide rail of the suspension device deviates during installation or later use, a moving track of a telescopic tube and an X-ray source mounted on the guide rail also deviates, or the detection bed or the upright post deviates during installation or later use, these deviations can cause noise or poor image quality of an acquired medical image of a detected object, and at this time, a user can only conduct field problem investigation and calibration by a field engineer, and can accurately know which component has the deviation through a relatively complex procedure, which is particularly complex and time-consuming.
In view of such circumstances, the applicant has proposed an offset detection method (or apparatus) and a motion compensation method (or apparatus), in which distances of the suspension apparatus from the detector of the bed panel and the column of the inspection bed at a plurality of positions are obtained by a distance measuring unit mounted on the suspension apparatus, and linear fitting is performed based on the plurality of distance information, so that, for example, a deviation (offset) of the relative distances between the suspension apparatus and the inspection bed can be obtained, and then the system can determine whether the deviation is smaller than a threshold value, and when the deviation is smaller than the threshold value, the motion compensation correction method is started, and when the deviation is larger than the threshold value, the motion compensation is performed to correct the deviation, and when the deviation is larger than the threshold value, the user can be prompted to check the site of the site engineer, and at the same time, the user can be prompted as to what component the deviation is to appear at the bottom according to the plurality of distance information, so that an explicit indication or prompt is provided for the checking and calibration of the site engineer.
Thus, the X-ray imaging system 100 further comprises a ranging unit 140, which ranging unit 140 is capable of aligning with the center of the detection couch or with the center of the detector on the column, which is capable of acquiring the distance of the ranging unit from the target location (e.g., the couch top of the detection couch or the surface of the detector).
Fig. 2 shows a schematic diagram of a control unit of the X-ray imaging system of the application. As shown in fig. 2, the control unit 200 includes a distance acquisition unit 210 and an offset calculation unit 220, the acquisition unit 210 being capable of acquiring at least one distance information based on the distance measurement unit, wherein the at least one distance information includes a distance between the distance measurement unit and at least one position of the couch top, and/or a distance between the distance measurement unit and at least one position of the first detector, and the offset calculation unit 220 being capable of acquiring at least one offset of the X-ray imaging system based on the at least one distance information, wherein the offset includes at least one of an offset between the columns in a vertical direction, an offset of the suspension in a horizontal and/or vertical direction, an offset of the couch detected, an offset between the X-ray source and a center of the couch top, a relative offset between the suspension and the columns, and a relative offset between the suspension and the couch detected.
Specifically, the distance acquisition unit 210 is connected to the distance measurement unit 140 for acquiring at least one distance information.
In some embodiments, ranging unit 140 includes at least one of a camera, a ranging sensor, a millimeter wave sensor, an infrared sensor. When the ranging unit 140 is disposed toward the detection bed, the ranging unit 140 can emit a detection signal and acquire a distance between the ranging unit 140 and the bed panel based on a signal reflected by the bed panel of the detection bed, for example, acquire a distance between the ranging unit and the bed panel based on a time when the signal is emitted, a time when the reflected signal is received, and a speed of signal transmission, and for example, calculate a distance of the ranging unit from the bed panel based on a frequency difference between the emitted detection signal and the received detection signal at the same time, a linear increase slope of a frequency of the emitted detection signal. Similarly, when the ranging unit 140 is disposed toward the first detector of the pillar, the ranging unit can also acquire the distance thereof from the surface of the first detector according to the above-described method.
In some embodiments, ranging unit 140 is a camera that is capable of acquiring optical images of the detection bed and/or column (which may or may not include a detector), preferably the ranging unit is a depth camera, and ranging unit 140 is capable of acquiring the distance of ranging unit 140 from the bed panel or detector surface or the ground based on depth information (e.g., a 3D point cloud) of the depth camera. In particular, if the camera is mounted at an angle α to the side of the X-ray source with respect to the X-ray source, the vertical distance of the ranging unit (or camera) with respect to the couch top or detector surface can be calculated from this depth information and the angle α.
In some embodiments, the distance acquisition unit 210 is further configured to move at least one of the suspension device, the inspection bed, and the column to acquire at least one distance information. Specifically, the distance acquiring unit 210 can move the suspension device in the horizontal direction with respect to the detection bed, simultaneously or forward and backward respectively move the suspension device and the detection bed in the vertical direction, simultaneously or forward and backward respectively move the suspension device and the column in the vertical direction, and so on, and the distance acquiring unit 210 is not limited to perform only one of them.
Fig. 3 illustrates a schematic diagram of distance information acquisition of some embodiments. As shown in fig. 3, the suspension device is controlled to move from a first position 310 to a second position 320 in a horizontal direction (x-axis), and distance information between the suspension device and the bed panel is acquired at a plurality of positions during the movement, respectively, and a relative offset amount of the suspension device and the detection bed is calculated based on the plurality of distance information. For convenience of description, the length direction of the bed panel is the x-axis, and the width direction of the bed panel is the y-axis.
Specifically, the bed panel of the detection bed includes a first long side and a second long side disposed along a length direction (x-axis), and a third short side and a fourth short side for connecting the first long side and the second long side, wherein a vertical direction in which a midpoint position of the third short side is located is defined as a first position 310, and a vertical direction in which a midpoint position of the fourth short side is located is defined as a second position 320. Of course, the positions of the connection points of the third short side and the first long side or the second long side may be defined as the first position and the second position, respectively, or any position on the third short side may be defined as the first position, or the like, and the definition is not specific. Since the suspension device is usually moved at the middle position of the detection bed to perform positioning or shooting during actual shooting, the displacement can be better measured and motion compensation can be correspondingly performed by moving the suspension device at the middle position of the detection bed during detection. Of course, in order to further acquire more offset, the suspension device can be controlled to perform a plurality of movements in the horizontal direction, i.e., a first horizontal movement at a position close to the first long side, a second horizontal movement at a position intermediate to the third short side, and a third horizontal movement at a position close to the second long side, which movement is not limited.
The distance acquisition unit 210 is capable of controlling the suspension device to arrive at the first position 310, then measuring a first relative distance d 1 of the ranging unit 140 from the bed panel at the first position 310, then moving the suspension device along the length direction (i.e., the direction of the x-axis) of the bed panel, acquiring the distance of the ranging unit from the bed panel at intervals or at a fixed frequency, for example, acquiring a second relative distance d 2 of the ranging unit 140 from the bed panel when reaching a first intermediate position until reaching the second position 320, and acquiring an nth relative distance d n of the ranging unit from the bed panel, wherein n refers to the number of acquired distance information of the ranging unit between the first position and the second position, or the frequency of acquisition of the ranging unit, and n is an integer greater than or equal to 2. The distance measurement unit 140 may collect distance information only at the first position and the second position, or may collect distance information at any position among the first position, the second position, and any position in the middle, where the higher the frequency of the collection, the more accurate the calculated offset.
The offset calculation unit 220 can perform linear fitting based on the acquired first relative distance d 1, second relative distance d 2, and nth relative distance d n. Specifically, since the suspension device moves in the horizontal direction and the bed panel of the detection bed is also parallel to the horizontal direction, the distance measured during the translation of the suspension device should be constant, and thus, the relative offset between the suspension device and the detection bed can be determined according to the distance information acquired by the distance acquisition unit.
Fig. 4 shows a schematic diagram of the offset calculated from the distance information shown in fig. 3 and the corresponding motion compensation. As shown in fig. 4, assuming that the suspension device is controlled to move to the first position and to be spaced from the height of the bed panel d b, at this time, the distance measuring unit can measure its distance from the bed panel, assuming that the distance d 1＝db measured at this time is continued to move in the horizontal direction, and continuously measures the distance of the distance measuring unit from the bed panel, when it is assumed to move to the intermediate position 315, the distance measured by the distance measuring unit at this time is d a, and d a>db, and when the suspension device is continued to move toward the second position through the intermediate position, the distance measured by the distance measuring unit from the bed panel is d n＝db. Thus, the offset calculating unit 220 can perform a linear fit based on the distance information obtained by the distance obtaining unit 210 to obtain a curve 410 shown in fig. 4, where the curve 410 illustrates that when moving to the intermediate position 315 (for example, a position 1m away from the first position), there is an offset d a-db between the suspension device and the bed panel, and there is no offset at other positions. Therefore, the offset calculation unit can acquire the corresponding offset by performing linear fitting or data analysis or the like based on the measured distance information.
In some embodiments, when the distance measurement is performed, the suspension device is controlled to reach a designated position and stops moving, and the distance measuring unit can perform the measurement of the distance information when the suspension device is in a stationary state, so that the distance information can be more accurately acquired.
In some embodiments, in addition to being able to control the movement of the suspension device from one end to the other along the length of the bed panel to measure the amount of deflection of the suspension device along the length (x-axis) of the bed panel, the movement of the suspension device from one end to the other along the width of the bed panel, i.e., the amount of deflection of the suspension device along the width (y-axis) of the bed panel, may be controlled.
Referring back to fig. 2, in some embodiments, the control unit further includes a determining unit 230, where the determining unit 230 is capable of determining whether the relative offset between the suspension device and the detection bed exceeds a threshold, and when the relative offset does not exceed the threshold, the relative offset may be sent to the motion control unit 118 according to the result of the linear fitting, and the motion control unit 118 may perform motion compensation or motion correction during controlling the motion of the suspension device. Specifically, the motion control unit 118 can perform motion compensation when controlling the suspension device to move to a position having an offset according to the relative offset calculated by the offset calculation unit 220, for example, when the offset is larger at a certain position than at other positions, the motion control unit moves the suspension device downward by a distance of the offset (reducing the distance between the suspension device and the detection bed or the column) according to the offset when moving the suspension device to the position, so that the distance between the X-ray source and the bed panel or the column of the detection bed at the moment can be the same as the distance between the X-ray source and other positions without the offset.
Referring to fig. 4, a diagram of motion compensation is shown by a curve 420 in fig. 4, which is opposite to a curve 410 of a relative offset between the suspension and the bed surface, the motion compensation curve 420 has a compensation value d b-da at the middle position 315, that is, when the obtained relative offset is shown by the curve 410, the motion control unit 118 can perform control of the motion of the suspension according to the curve 420, for example, initially, to move the suspension by a distance d b between the suspension and the bed surface, and when the suspension reaches the middle position 315, the suspension is moved down on the original basis, such that the actual distance between the suspension and the bed surface is 2d b-da, so that the actual distance at the position 315 is d b, and when the suspension leaves the middle position 315, the initial distance d b is restored, that is, the distance between the suspension and the bed surface is always kept constant (or constant) on the basis of the relative offset.
Returning to fig. 2, when the determining unit 230 determines that the relative offset between the suspension device and the bed panel exceeds the threshold, the relative offset may be sent to the display unit 150 to prompt the user to call the site engineer and prompt the user as to which portion of the offset exceeds the threshold. The prompt may be provided to the user in a pop-up window, a prompt sign, a prompt voice, a warning tone, or any other suitable manner. The information of the reminder may provide, in addition to the reminder having an offset, in particular which part has an offset, for example a larger offset between the suspension device and the detection bed, a larger offset between the suspension device and the upright etc.
Fig. 5 shows a schematic diagram of distance information acquisition of other embodiments. As shown in fig. 5, in some embodiments, the distance acquisition unit 210 controls the suspension device and the detection bed to move from the third position to the fourth position simultaneously in the vertical direction, and acquires distance information between the suspension device and the bed panel at a plurality of positions during the movement, respectively, and the offset calculation unit 220 calculates the relative offset amounts of the suspension device and the detection bed based on the plurality of distance information.
Specifically, the third position and the fourth position are two positions separated by a certain distance in the vertical direction where the center 501 of the bed panel is located, and the third position may be a position directly above the fourth position, or of course, the third position may also be a position directly below the fourth position, that is, the distance acquiring unit may be capable of moving the suspension device and the detection bed from top to bottom in the vertical direction, or of course, may be capable of moving from bottom to top in the vertical direction, and the moving direction is not limited.
Even if the third and fourth positions are defined as two positions in the vertical direction in which the center of the bed panel is located, it is needless to say that any position in the vertical direction may be set as long as the suspension device and the detection bed can be moved upward or downward in the vertical direction, and of course, the movement in the center position is because the vertical direction of the suspension device is most often moved in the center position, and such acquisition of the offset amount is most commonly used.
Of course, it is also possible to move the suspension device and the detection bed upward or downward at a plurality of positions in the vertical direction, respectively, so that the relative offsets of the plurality of suspension devices and the detection bed in the vertical direction can be obtained. For example, the suspension device and the inspection bed are simultaneously moved in the vertical direction in which the center of the bed panel is located, and then the suspension device and the inspection bed are simultaneously moved in the vertical direction in which one end point of the bed panel is located, and so on.
In other embodiments, the distance acquiring unit may be capable of controlling the suspension device and the detection bed to move from the third position to the fourth position, respectively, and acquiring a plurality of distances between the suspension device and the bed panel during the movement, respectively, and calculating the amounts of offset of the suspension device and the detection bed in the vertical direction based on the plurality of distance information. Specifically, the detection bed is first kept stationary, the suspension device is controlled to move up or down to obtain a plurality of distance information, then the suspension device is kept stationary, the detection bed is controlled to move up or down to obtain a plurality of distance information, and the offset of the suspension device in the vertical direction and the offset of the detection bed in the vertical direction are respectively obtained according to the plurality of distance information obtained by moving twice, and of course, the relative offset between the suspension device and the detection bed can also be calculated according to the offset of the suspension device and the detection bed in the vertical direction respectively.
In some embodiments, the suspension device is moved at a preset interval to acquire the distance of the ranging unit from the bed panel, for example, the distance is measured every 10cm of movement of the suspension device, and the offset calculating unit can acquire the offset amount at the actually measured distance information and the preset interval of movement.
In some embodiments, the bed panel is provided with an indicator located at a central position 501 of the bed panel, and in particular, the indicator may be a "cross mark" or any other suitable mark, such as a two-dimensional code or bar code, etc. The indicator can be used to obtain a suspension device and to detect if the bed is offset in the vertical direction and in the horizontal direction. Specifically, when the ranging unit is a camera, the distance acquiring unit can acquire the distance between the ranging unit and the indication mark based on the distance information acquired by the camera and the optical image of the detection bed including the indication mark, and determine whether the horizontal distance between the ranging unit and the indication mark has an offset in the process that the suspension device moves along the vertical direction, so as to perform motion compensation for the offset.
To sum up, in order to acquire the relative offset between the suspension device and the detection bed, first, the suspension device is controlled to move from one end to the other end of the detection bed in the horizontal direction, then the suspension device is moved to the center of the bed panel, and then the detection bed and the suspension device are moved simultaneously or respectively from top to bottom or from bottom to top in the vertical direction, so that the relative offset between the suspension device and the detection bed can be acquired respectively. Also, the relative offset can be determined whether the threshold is exceeded, to choose to perform motion compensation or to alert the user that maintenance is needed.
In an actual shooting process, it is often necessary to align the X-ray source to the center of the couch top plate, i.e. the position of the index mark, and since the position of the index mark is known, and stored in the X-ray imaging system, the suspension device can be moved to a position aligned with the index mark, i.e. the X-ray source is considered to be aligned with the center of the couch top plate, but sometimes offset, the X-ray source is not fully aligned with the index mark (i.e. the center of the couch top plate). Thus, in some embodiments, the control unit of the present application can also be used to obtain an offset between the X-ray source and the center of the couch top for determining whether the X-ray source is aligned with the center of the couch top.
In particular, the distance acquisition unit can also be used to acquire the distance between the X-ray source and the index mark of the couch top, thereby enabling the offset calculation unit to calculate the offset between the X-ray source and the index mark. Specifically, FIG. 6 illustrates a schematic diagram of distance computation according to some embodiments of the invention. As shown in fig. 6, since the camera unit is mounted at the side of the X-ray source (or collimator) and the camera unit is fixed at a predetermined angle to the side of the collimator in order to enable the camera unit to be aligned with the center of the detector, there is a fixed angle α between the camera unit and the side of the collimator. The thickness information of the camera to the indication mark, which is obtained by the camera image, is dpp, the distance from the camera to the bed panel is dppcos (alpha), and according to the distance information of the camera to the bed panel and the position relationship between the camera and the X-ray source, the horizontal offset d offset between the X-ray source and the bed panel, namely the distance between the mapping point of the X-ray source on the bed panel and the indication mark, can be obtained by calculation. When the measured horizontal offset is zero, the X-ray source is aligned with the center of the detection bed, compensation or correction is not needed, and when the measured horizontal offset is not zero, the movement or positioning compensation of the X-ray source or maintenance prompt can be performed as the relative offset between the suspension device and the detection bed.
In some embodiments, instead of distance information acquisition by moving the suspension or detecting the couch, there may be other suitable ways, for example, the distance measuring unit is a wide-angle camera, which can acquire an optical image of the whole couch top, calculate distance information according to the couch top size and the position of the camera, etc.
Fig. 7 illustrates a schematic diagram of distance information acquisition for some embodiments. As shown in fig. 7, the distance calculating unit 210 is capable of controlling the suspension device and the column to move from the fifth position 710 to the sixth position 720 at the same time, and acquiring distance information between the suspension device and the detector at a plurality of positions during the movement, respectively, and the offset calculating unit 220 calculates a relative offset amount between the suspension device and the column based on the plurality of distance information.
In some embodiments, the fifth position 710 and the sixth position 720 are two positions of the probe on the upright, respectively, the fifth position 710 may be above the sixth position 720, and of course, the fifth position 710 may also be below the sixth position 720, that is, the distance calculating unit 210 may be capable of controlling to move the upright and the suspension device simultaneously, or may be capable of controlling to move the upright and the suspension device simultaneously, and the direction is not limited.
Specifically, the center of the detector also has an indication mark 701, and the indication mark 701 may be a cross mark, or any other type of mark, for example, a two-dimensional code or a bar code, etc. In the process that the suspension device and the upright post move up or down simultaneously, based on the change of the distance between the ranging unit and the detector, the relative offset between the suspension device and the upright post can be judged, and optionally, the offset of the upright post in the vertical direction can also be obtained according to the offset of the suspension device in the vertical direction.
Of course, the relative offset in the horizontal direction between the suspension and the column can also be calculated based on the distance of the X-ray source or the distance measuring unit from the indicator of the center of the detector. Furthermore, based on the distance between the X-ray source and the index mark, it may also be determined whether the X-ray source is aligned with the center of the detector. In particular, the distance measurement or acquisition method, the offset calculation method and/or the motion compensation method are identical to the methods described above for the bed panel section.
In addition, the suspension device can be controlled to be stationary, move the detection bed in the vertical direction to acquire the offset of the detection bed in the vertical direction, or move the suspension device to the ground between alignment scans, so that the distance measurement can measure the distance information thereof from the ground, to acquire the offset of the suspension device in the horizontal direction and/or the vertical direction, and the like.
Fig. 8 illustrates a flow chart of an offset detection method 800 of an X-ray imaging system according to some embodiments of the invention. As shown in fig. 8, the X-ray imaging method 800 includes a step 810 and a step 820.
In step 810, at least one distance information is obtained based on the ranging unit, the at least one distance information including a distance between the ranging unit and at least one location of the bed panel, and/or a distance between the ranging unit and the detector located at the at least one location.
Specifically, the ranging unit includes at least one of a camera, a ranging sensor, a millimeter wave sensor, and an infrared sensor. Preferably, the distance measuring unit is a camera capable of acquiring an optical image of at least one of the detection bed, the column and the detector.
Specifically, the ranging unit may be capable of sending out a detection signal and acquiring a distance between the ranging unit and the bed panel or the detector based on a signal reflected by a surface of the bed panel or the detector of the detection bed, for example, acquiring a distance between the ranging unit and the bed panel or the detector based on a time when the signal is sent out, a time when the reflected signal is received, and a speed of signal transmission, and for example, calculating a distance between the ranging unit and the bed panel or the detector based on a frequency difference between the transmission detection signal and the reception detection signal at the same time, and a linear increasing slope of a frequency of the transmission detection signal.
Specifically, moving at least one of the suspension device, the inspection bed, and the column to obtain at least one distance information is further included before step 810. Specifically, the moving includes moving the suspension device in a horizontal direction with respect to the detection bed while moving the suspension device and the detection bed in a vertical direction or back and forth, respectively, while moving at least one of the suspension device and the column in a vertical direction or back and forth, respectively.
Specifically, the suspension device can be controlled to move from the first position to the second position along the horizontal direction, and/or the suspension device and the detection bed can be controlled to simultaneously move from the third position to the fourth position along the vertical direction, a plurality of distance information between the suspension device and the bed surface plate can be respectively acquired at a plurality of positions in the moving process, and the relative offset of the suspension device and the detection bed can be calculated based on the plurality of distance information.
Specifically, the suspension device and the detection bed can be controlled to move from the third position to the fourth position respectively, a plurality of distance information between the suspension device and the bed panel is acquired in the moving process respectively, and the offset of the suspension device and the detection bed in the vertical direction is calculated based on the plurality of distance information.
Specifically, the bed panel is provided with an indication mark, the indication mark is located at the center of the bed panel, and acquiring at least one offset of the X-ray imaging system comprises acquiring the offset between the X-ray source and the indication mark based on distance information acquired by the camera and an optical image of the detection bed so as to judge whether the X-ray source and the indication mark are aligned.
In step 820, at least one offset of the X-ray imaging system is acquired based on the at least one distance information, the at least one offset including at least one of an offset of the column in a vertical direction, an offset of the suspension in a horizontal and/or vertical direction, an offset of the detection bed in a horizontal and/or vertical direction, an offset between the X-ray source and a center of the bed panel, a relative offset between the suspension and the column, and a relative offset between the suspension and the detection bed.
In some embodiments, after step 820, further comprising performing motion compensation during movement of the suspension device based on the at least one offset. In other embodiments, after step 820, an offset cue of at least one of the suspension device, the test bed, and the column is performed further based on the at least one offset.
Fig. 9 illustrates a flow chart of a method 900 of motion compensation for an X-ray imaging system in accordance with some embodiments of the invention. As shown in fig. 9, the X-ray imaging method 900 includes steps 910, 920 and 930.
In step 910, at least one distance information is obtained based on the ranging unit, the at least one distance information including a distance between the ranging unit and at least one location of the bed panel, and/or a distance between the ranging unit and the detector located at the at least one location.
In step 920, at least one offset of the X-ray imaging system is acquired based on the at least one distance information, the at least one offset including at least one of an offset of the upright in a vertical direction, an offset of the suspension in a horizontal and/or vertical direction, an offset of the detection couch in a horizontal and/or vertical direction, an offset between the X-ray source and a center of the couch top, a relative offset between the suspension and the upright, and a relative offset between the suspension and the detection couch.
In step 930, motion compensation is performed during movement of the suspension device based on the at least one offset such that the distance between the suspension device and the test bed, and between the suspension device and the column, remains unchanged.
The offset detection method can be used for detecting according to the needs of a user, for example, when the quality of a medical image is found to be problematic, the offset detection method can be used for detecting after the installation of the device, or can be used for detecting at fixed time, for example, before shooting is started every day, or detecting every week, etc., and the offset detection method can be set according to the preference of the user, and can be customized.
According to the X-ray imaging system, the offset detection method and the motion compensation method of the X-ray imaging system, which are provided by the embodiments of the invention, firstly, the relative offset between the components of the X-ray imaging system can be acquired according to the change of the distance between the suspension device and the detector and/or the upright post, the motion compensation can be selected according to the relative offset, and the maintenance can be also selected, so that the correction can be performed by utilizing the motion compensation when the offset is not large, the maintenance times and the maintenance cost can be reduced, and in addition, even if the maintenance is needed, the problem of which component is the bottom can be determined according to the offset, and the maintenance can be performed in a targeted manner. In addition, it is also possible to determine whether the X-ray source is aligned with the center of the couch or detector based on the offset between the X-ray source and the index mark (on the couch top or detector of the couch).
The present invention may also provide a non-transitory computer readable storage medium storing a set of instructions and/or a computer program which, when executed by a computer, cause the computer to perform the above-described image processing distribution method, where the computer executing the set of instructions and/or the computer program may be a computer of a medical imaging system or may be another device/module of the medical imaging system, and in an embodiment, the set of instructions and/or the computer program may be programmed into a processor/control device of the computer.
In particular, the set of instructions and/or the computer program, when executed by a computer, causes the computer to:
Acquiring at least one distance information based on the distance measuring unit, wherein the at least one distance information comprises a distance between the distance measuring unit and at least one position of the bed plate, and/or a distance between the distance measuring unit and the detector;
Based on the at least one distance information, at least one offset of the X-ray imaging system is acquired, the at least one offset including at least one of an offset of the upright in a vertical direction, an offset of the suspension in a horizontal and/or vertical direction, an offset of the detection bed in a horizontal and/or vertical direction, an offset between the X-ray source and a center of the bed panel, a relative offset between the suspension and the upright, and a relative offset between the suspension and the detection bed.
The instructions described above may be combined into one instruction for execution, and any one instruction may be split into a plurality of instructions for execution, and the order of execution of the instructions described above is not limited.
Exemplary embodiments of the present invention provide an X-ray imaging system.
As used herein, the term "computer" may include any processor-based or microprocessor-based system including systems using micro-control devices, reduced Instruction Set Computers (RISC), application Specific Integrated Circuits (ASICs), logic circuits, and any other circuits or processors capable of performing the functions described herein. The above examples are exemplary only, and are thus not intended to limit in any way the definition and/or meaning of the term "computer".
The instruction set may include various commands that instruct a computer or processor that is a processor to perform specific operations such as the methods and processes of the various embodiments. The set of instructions may take the form of a software program that may form part of one or more tangible, non-transitory computer-readable media. The software may take various forms, such as system software or application software. Furthermore, the software may take the form of an individual program or collection of modules, a program module within a larger program, or a portion of a program module. The software may also include modular programming in the form of object-oriented programming. The processing of the input data by a processor may be in response to an operator command, or in response to a previous processing result, or in response to a request made by another processor.
As used herein, the term "computer" may include any processor-based or microprocessor-based system including systems using micro-control devices, reduced Instruction Set Computers (RISC), application Specific Integrated Circuits (ASICs), logic circuits, and any other circuits or processors capable of performing the functions described herein. The above examples are exemplary only, and are thus not intended to limit in any way the definition and/or meaning of the term "computer".
Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques were performed in a different order and/or if components in the described systems, architectures, devices or circuits were combined in a different manner and/or replaced or supplemented by additional components or equivalents thereof. Accordingly, other embodiments are within the scope of the following claims.
Claims (11)
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