Method and device for adjusting X-ray imaging equipment to standard positive and lateral positions of spine centrum

Abstract

The invention discloses a method and a device for adjusting X-ray imaging equipment to standard positive and lateral positions of a spine centrum, and relates to the technical field of calibration of radiodiagnosis equipment. The method comprises the following steps: identifying key feature points and position information of the key feature points in the front and side bitmaps of the spine X-ray film through a trained neural network model; calculating parameter values of left-right rotation, clockwise rotation, anticlockwise rotation, up-down movement and / or left-right movement of the centrum relative to the standard normal position model of the X-ray film through the key feature points in the normal position map; calculating parameter values of up-down rotation, up-down movement and / or left-right movement of the centrum relative to the X-ray film standard lateral position model through the key feature points in the lateral position map; and adjusting the X-ray imaging equipment to the standard positive and lateral position of the spine centrum according to the calculated movement parameter value of the centrum relative to the standard positive and lateral position model of the X-ray film. According to the invention, the automatic and precise adjustment of the X-ray imaging equipment towards the standard positive and lateral positions of the centrum can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of calibration of radiological diagnostic equipment, and in particular to a method and device for adjusting X-ray imaging equipment to a standard anteroposterior position of a spinal vertebra. Background Art

[0002] In medical imaging, vertebral X-rays are crucial for the diagnosis of spinal diseases. Standard anteroposterior and lateral vertebral X-rays clearly demonstrate the vertebral morphology, structure, and relationships between adjacent tissues, providing physicians with an accurate basis for diagnosis. However, in practice, due to variations in patient positioning, operational errors in X-ray equipment, and complex imaging conditions, it is often difficult to obtain ideal, standard anteroposterior and lateral vertebral images in a single pass. This not only increases the workload for medical staff but can also lead to repeated imaging, increasing the patient's radiation exposure risk.

[0003] Traditional methods for obtaining anteroposterior and lateral vertebral X-rays rely primarily on the experience and manual operation of medical personnel. Medical personnel must manually adjust the position and angle of X-ray imaging equipment (such as a C-arm) based on the patient's specific condition to obtain images that are as close to standard anteroposterior and lateral views as possible. This method has several drawbacks: First, the accuracy of manual adjustment is limited, making it difficult to guarantee ideal images every time; second, differences in operating habits and experience among medical personnel can lead to inconsistent imaging results; and finally, in complex cases or emergency situations, manual adjustment is time-consuming and can affect diagnostic efficiency.

[0004] In recent years, with the development of computer vision and machine learning technologies, automated image processing methods have been gradually applied to medical imaging. However, relatively little research has been conducted on how to accurately calculate the angles and distances of rotation and movement of X-ray imaging equipment through image feature point recognition to automatically acquire standard anteroposterior and lateral vertebral positions. Therefore, providing a method that can calculate and adjust X-ray imaging equipment adjustment parameters is of great clinical significance for improving the quality and efficiency of vertebral X-ray imaging. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a method and apparatus for adjusting an X-ray imaging device to a standard anteroposterior position of a spinal vertebra, which can solve the technical problems raised in the background art.

[0006] One aspect of the present invention provides a method for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, comprising: Identify key feature points and their position information in the anteroposterior and lateral views of the spinal X-ray film using a trained neural network model, wherein the key feature points include: the left point of the narrowest lateral edge of the vertebral body in the anteroposterior view, the right point of the narrowest lateral edge of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view; Calculate the parameter values ​​of the vertebral body relative to the standard anteroposterior model of the X-ray film in terms of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement through the key feature points in the anteroposterior image; Calculate the parameter values ​​of the vertebral body's vertical rotation, vertical movement, and / or horizontal movement relative to the standard lateral model of the X-ray film through the key feature points in the lateral image; According to the calculated vertebral body movement parameter values ​​relative to the standard anteroposterior and lateral models of the X-ray film, the X-ray imaging device is adjusted to the standard anteroposterior and lateral positions of the spinal vertebrae.

[0007] Another aspect of the present invention provides a device for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, comprising: A key feature point recognition module is used to identify key feature points and their location information in the anteroposterior and lateral views of the spinal X-ray film through a trained neural network model, wherein the key feature points include: the left point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the right point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view; The anteroposterior image offset calculation module is used to calculate the parameter values ​​of the left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement of the vertebra relative to the standard anteroposterior model of the X-ray film through the key feature points in the anteroposterior image; A lateral image offset calculation module calculates the parameter values ​​of the vertebral body relative to the standard lateral model of the X-ray film by using key feature points in the lateral image; The X-ray machine posture adjustment module is used to adjust the X-ray imaging device to the standard anteroposterior and lateral positions of the spinal vertebrae according to the calculated movement parameter values ​​of the vertebrae relative to the standard anteroposterior and lateral models of the X-ray film.

[0008] The present invention provides a method and device for adjusting X-ray imaging equipment to the standard anteroposterior and lateral positions of spinal vertebrae. An artificial intelligence method is used to identify key feature points of the vertebrae in anteroposterior and lateral X-ray films, and then the offset parameters of the vertebrae in the X-ray films are accurately calculated based on these key feature points. Then, based on these offset parameters, the X-ray imaging equipment can be quickly adjusted to the standard anteroposterior and lateral positions of the vertebrae, thereby realizing automated and precise adjustment of the X-ray imaging equipment toward the standard anteroposterior and lateral positions of the vertebrae, and ultimately achieving multiple goals of improving image quality, ensuring patient safety, improving work efficiency, reducing operation difficulty, and ensuring consistency of results. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a schematic diagram of the offset direction of the vertebral posture in the X-ray anteroposterior and lateral views relative to the standard X-ray anteroposterior and lateral views provided by one embodiment of the present application; Figure 2 This is a flow chart of a method for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, provided by one embodiment of the present application; Figure 3 This is a schematic diagram of key characteristic points of a vertebral body in an X-ray anteroposterior and lateral views provided by one embodiment of the present application; Figure 4 This is a schematic diagram of calculating the clockwise or counterclockwise rotation angle of a vertebra in a current anteroposterior view relative to a standard anteroposterior model of an X-ray film, provided by one embodiment of the present application; Figure 5 This is a schematic diagram of calculating the left-right and up-down displacement of a vertebral body in a current anteroposterior view relative to a standard anteroposterior model of an X-ray film, provided by one embodiment of the present application; Figure 6 This is a schematic diagram of calculating the left-right rotation angle of a vertebra in a current anteroposterior view relative to a standard anteroposterior model of an X-ray film, provided by an embodiment of the present application; Figure 7 This is a schematic diagram of calculating the vertical rotation angle of a vertebra in a current lateral view relative to a standard lateral model of an X-ray film, provided by an embodiment of the present application; Figure 8 This is a schematic diagram of calculating the left-right and up-down displacement of a vertebra in a current lateral view relative to a standard lateral model of an X-ray film, provided by one embodiment of the present application; Figure 9 This is a structural schematic diagram of an apparatus for adjusting an X-ray imaging device to a standard anteroposterior position of a spinal vertebra, provided in one embodiment of the present application. DETAILED DESCRIPTION

[0010] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0011] The present application provides a method and apparatus for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra. The method and apparatus are used to calculate the offset of the vertebra in the X-ray anteroposterior and lateral images relative to the standard anteroposterior and lateral models, and to adjust the X-ray imaging device based on the offset. Therefore, it is necessary to provide a standardized description of the offset posture of the vertebra in the X-ray anteroposterior and lateral images relative to the standard anteroposterior and lateral models, so as to facilitate the subsequent calculation of offset parameters according to the standardized offset posture and avoid confusion in the calculation process under different offset postures.

[0012] See also Figure 1 In a standard anteroposterior X-ray model, the upper and lower end plates of the vertebra should be horizontally aligned, with the spinous process located on the centerline. In actual X-rays, the vertebrae typically rotate up and down, left and right, rotate clockwise or counterclockwise, and move up and down or left and right.

[0013] "Vertical rotation" refers to the rotation of the vertebral body around the horizontal axis (left-right direction). In X-rays, this rotation causes the upper and lower end plates of the vertebral body to no longer be horizontally aligned, but instead appear to be higher at one end and lower at the other.

[0014] "Left-right rotation" refers to the rotation of the vertebra around the vertical axis (upward and downward). In an X-ray, this rotation causes the spinous process of the vertebra to no longer lie on the center line, but to deviate to the left or right side of the image.

[0015] "Clockwise or counterclockwise rotation" refers to the rotation of the vertebra around its own axis (front-back direction). In X-rays, this rotation will cause the vertebral axis to appear tilted at a certain angle.

[0016] "Up and down or left and right movement" refers to the overall displacement of the vertebra in the vertical or horizontal direction. In X-rays, this movement will cause the image position of the entire vertebra to shift up and down or left and right.

[0017] Establish as Figure 1The coordinate system shown. Up and down rotation is rotation around the x-axis, left and right rotation is rotation around the y-axis, clockwise or counterclockwise rotation is rotation around the z-axis, up and down or left and right movement of the anteroposterior view is movement along the y and x-axis directions, and up and down or left and right movement of the lateral view is movement along the y and z-axis directions. In order to take standard anteroposterior and lateral X-rays, it is necessary to calculate the above-mentioned rotation and translation parameters, and then guide the adjustment of the X-ray imaging equipment. In the anteroposterior view of the X-ray film, the parameters of the left and right rotation, clockwise or counterclockwise rotation, up and down or left and right movement of the vertebral body can be calculated by identifying the key feature points, and the up and down rotation parameters can be calculated by the lateral view of the X-ray film.

[0018] See also Figure 2 One embodiment of the present application provides a method for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, comprising: Step S101, using a trained neural network model to identify key feature points and their location information in the anteroposterior and lateral views of a spinal X-ray film, wherein the key feature points include: the left point of the narrowest lateral margin of the vertebral body in the anteroposterior view, the right point of the narrowest lateral margin of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view.

[0019] Specifically, the first step of this embodiment requires identifying key feature points in the frontal and lateral views of the vertebral body X-ray film. These key feature points will be used in the subsequent offset calculation. Figure 3 These key feature points include: the left side point of the narrowest part of the lateral edge of the vertebral body in the frontal view , the right side point of the narrowest part of the lateral edge of the vertebral body in the frontal view , upper end point of the spinous process in the anteroposterior view , the lower end of the spinous process in the anteroposterior view , lateral view of the vertebral end plate , lateral view of the posterior end point of the vertebral end plate , lateral view of the vertebral body lower end plate anterior end point and posterior end point of the lower vertebral endplate in the lateral view .

[0020] This embodiment preferably utilizes artificial intelligence and image processing techniques to quickly and accurately identify vertebral key feature points. For example, a heatmap regression algorithm is used as the primary technical means to identify vertebral feature points. A convolutional neural network (CNN) model is constructed, taking anteroposterior and lateral vertebral X-ray images as input and outputting a heatmap of the location of each key feature point in the image. A heatmap is a two-dimensional matrix of the same size as the input image, where the value of each pixel represents the probability of that location being a feature point. By analyzing the heatmap, the coordinates of each key feature point can be precisely located. Typically, the coordinates of the key point are determined by searching for the point with the highest brightness within each channel of the heatmap. This requires that the number of heatmap channels be at least the same as the number of key points, which often fails to meet the practical requirement of accurately locating an uncertain number of key points. To accurately locate a class of key feature points within a channel, it is necessary to find the point with the highest brightness within the bright spot corresponding to each key feature point. Therefore, a simple search of the image is sufficient to find a point that is brighter than all points within a certain range surrounding it.

[0021] The steps for identifying key feature points are as follows: During the data preparation stage, a large number of vertebral anteroposterior and lateral X-ray images with key feature points marked are collected as training data.

[0022] During the model training phase, the convolutional neural network is trained using labeled data to optimize network parameters so that the model can accurately predict the heat map of feature points.

[0023] In the feature point extraction stage, the anteroposterior and lateral X-ray films to be processed are input into the trained convolutional neural network model to obtain the heat map and extract the precise position of the key feature points from the heat map through methods such as peak detection.

[0024] Although this embodiment preferably adopts the heat map regression method as the main technical means, other artificial intelligence methods, such as key point detection networks, can also realize the recognition of vertebral feature points, and this embodiment does not limit this.

[0025] Step S102 , calculating parameter values ​​of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement of the vertebra relative to the standard anteroposterior model of the X-ray film using key feature points in the anteroposterior image.

[0026] (1) The clockwise or counterclockwise rotation angle of the vertebral body in the anteroposterior view relative to the standard anteroposterior model of the X-ray image Clockwise or counterclockwise rotation of the cone through the key feature point 、 、 、 To calculate. See Figure 4 , key feature points 、 The angle between the line connecting the two and the horizontal direction of the positive image, or the key feature point 、 The angle between the line connecting the two and the vertical direction of the frontal view is the clockwise or counterclockwise rotation angle of the vertebral body.

[0027] Specifically, the clockwise or counterclockwise rotation angle of the vertebra in the current anteroposterior view relative to the standard anteroposterior model of the X-ray film is calculated by the following formula: : or in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view Point to the right side of the narrowest point of the lateral edge of the vertebral body in the frontal view vector of Represents a vector The model; A vector representing the horizontal direction of the positive bitmap; Represents a vector The model; Indicates the upper end point of the spinous process in the anteroposterior view Point to the lower end of the spinous process in the anteroposterior view vector of Represents a vector The model; A vector representing the vertical direction of the orthographic image; Represents a vector Model.

[0028] (2) The vertical and horizontal displacement of the vertebral body in the anteroposterior view relative to the standard anteroposterior model of the X-ray image For the up-down or left-right movement of the vertebra in the frontal view, the vertebral center can be found through the key feature points of the vertebra, and then the offset between the vertebral center and the frontal view center can be calculated.

[0029] like Figure 5 As shown, click 、 midpoint As the center of the vertebral body, let the center point of the X-ray image be , then the goal of adjustment is to make the midpoint The center point of the X-ray image Overlap. Set point 、 midpoint The center point of the X-ray image The horizontal and vertical offsets are and ,Right now , the width of the vertebra in the image is represented by a line segment To express (i.e. the width of the vertebra in the image), the actual width of the vertebra is (The actual vertebral width of different patients The average width of the vertebral body is used as the actual width of the vertebral body. ,Right now is a constant), then if the vertebral body is adjusted to the center of the X-ray image, the distance the X-ray imaging device needs to move in the horizontal and vertical directions is 、 They are: in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The horizontal offset from the center point of the positive image of the current X-ray film; Represents a line segment length; It represents the average actual width of the left point and the right point of the narrowest point of the vertebral body lateral edge; Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The vertical offset from the center point of the current X-ray image.

[0030] (3) The left and right rotation angle of the vertebral body in the anteroposterior view relative to the standard anteroposterior model of the X-ray image See also Figure 6 The right side view is a stereoscopic perspective of the non-anteroposterior view of the vertebra, which is used to more intuitively feel the entire calculation principle when the vertebra rotates left and right. The final calculation of the rotation angle still needs to return to the anteroposterior view on the left.

[0031] Specifically, from the right side view, we can see that the top point of the vertebral spinous process The offset distance is , the apex of the spinous process of the vertebra With straight line The angle between the vertical line and the vertical direction of the image It can be regarded as the left and right rotation angle of the vertebra. According to the sine and cosine calculation rules, we know that: = Among them, the apex of the vertebral spinous process With straight line The length of the perpendicular line connecting the , also known as the height of the vertebral body, due to the height of the human vertebral body and vertebral body width proportion Basically in a narrow range, so we will The value is a general value, that is, a constant. This constant can be calculated by statistically analyzing the height of the human vertebrae. and vertebral body width This can be obtained by ,Right now: = We can further infer that: Since we need to calculate in the positive map ,therefore 、 All dimensions should be in the correct image. Figure 6 As can be seen from the right side view, It is actually the apex of the vertebral spinous process With straight line The distance between the center points of on the horizontal axis. Therefore, the relationship is mapped to Figure 6 In the left side view (i.e., front view), it is preferred to place the straight line and straight lines The intersection of the vertebral spinous process , It should be a straight line in the positive diagram Center point and the apex of the vertebral spinous process The distance between . Preferably, the straight line Length As the vertebral width in the frontal view, that is: the vertebral width in the figure Corresponding to the actual vertebral width .

[0032] According to the above relationship, it can be inferred that: According to the above formula, the left and right rotation angle of the vertebra in the anteroposterior view relative to the standard anteroposterior model of the X-ray image can be calculated. .

[0033] Step S103 , calculating parameter values ​​of vertical rotation, vertical movement, and / or horizontal movement of the vertebra relative to the standard lateral model of the X-ray film using key feature points in the lateral image.

[0034] (1) The vertical rotation angle of the vertebral body in the lateral view relative to the standard lateral model of the X-ray image See also Figure 7 For the vertical rotation of the vertebral body in the lateral view, the key feature points in the lateral view can be used to 、 or 、 Specifically, the goal of the standard lateral image is to make the upper and lower end plates of the vertebra parallel to the horizontal direction of the image, so the angle between the upper and lower end plates and the horizontal direction can be calculated by the straight line in the figure or straight line The angle with the horizontal direction is calculated, but this calculation method must ensure that the upper and lower end plates of the vertebral body are intact, otherwise the calculation accuracy is inaccurate, so it is not suitable for patients with compression fractures.

[0035] In order to improve the calculation accuracy of the vertical rotation angle of the vertebral body relative to the standard lateral model of the X-ray image in the lateral view, especially to improve the calculation accuracy of the patients with compression fractures, this embodiment preferably adopts a straight line midpoint With straight line midpoint Connection The vector Vector horizontal to the image Angle As the angle of up and down rotation of the vertebral body relative to the standard lateral model of the X-ray.

[0036] Specifically, the angle of the vertebral body in the current lateral view relative to the standard lateral model of the X-ray film is calculated by the following formula: : in, Indicates the anterior end point of the vertebral end plate in the lateral view and the anterior end point of the vertebral end plate in the lateral view Connection midpoint; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint; Indicates a point point to vector of Represents a vector The model; A vector representing the horizontal direction of the lateral view; Represents a vector Model.

[0037] (2) The vertical and horizontal displacement of the vertebral body in the lateral view relative to the standard lateral model of the X-ray image To calculate the vertical or horizontal displacement of the vertebra in the lateral view, the vertebral center can be found through the key feature points of the vertebra, and then the offset between the vertebral center and the center of the frontal view can be calculated.

[0038] like Figure 8 As shown, click 、 midpoint As the center of the vertebral body, let the center point of the X-ray image be , then the goal of adjustment is to make the midpoint The center point of the X-ray image Overlap. Set point The center point of the X-ray image The horizontal and vertical offsets are and ,Right now The width of the lower end plate of the vertebral body in the image is represented by a line segment is represented by the width of the lower end plate of the vertebral body in the image, and the width of the upper end plate of the vertebral body is represented by the line segment To express (i.e. the width of the vertebral end plate in the image), the actual width of the upper and lower vertebral end plates is (The width of the upper and lower vertebral end plates of different patients The values ​​vary from each other, but are usually not much different from the general value of the vertebral body. Therefore, in this embodiment, the average width of the upper and lower end plates of the vertebral body is used as the actual width of the upper and lower end plates of the vertebral body. ,Right now is a constant), then if the vertebral body is adjusted to the center of the X-ray image, the distance the X-ray imaging device needs to move in the horizontal and vertical directions is 、 They are: , ; or , ; in, Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The horizontal offset from the center point of the lateral view of the current X-ray film; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The vertical offset from the center point of the lateral view of the current X-ray film; Indicates the anterior end point of the lower end plate of the vertebral body in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection length; It represents the average actual width of the anterior end point and the posterior end point of the vertebral end plate; Indicates the anterior end point of the vertebral end plate in the lateral view and posterior end point of the vertebral endplate in the lateral view The connection between length.

[0039] Step S104: adjusting the X-ray imaging device to the standard anteroposterior and lateral positions of the spinal vertebrae according to the calculated movement parameter values ​​of the vertebrae relative to the standard anteroposterior and lateral models of the X-ray film.

[0040] Since steps S102-S103 have all calculated the movement parameter values ​​of the vertebrae in the anteroposterior and lateral images relative to the standard anteroposterior and lateral models of the X-ray film, it is only necessary to adjust the X-ray imaging equipment to the standard anteroposterior and lateral positions of the spinal vertebrae according to the movement parameters, which will not be repeated here.

[0041] The above method of this embodiment can realize the automatic and precise adjustment of the X-ray imaging equipment toward the standard anteroposterior and lateral positions of the vertebrae, ultimately achieving the multiple goals of improving image quality, ensuring patient safety, improving work efficiency, reducing operation difficulty and ensuring consistency of results.

[0042] See also Figure 9 Another embodiment of the present invention further provides an apparatus 200 for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra, comprising a key feature point recognition module 201, an anteroposterior image offset calculation module 202, a lateral image offset calculation module 203, and an X-ray machine posture adjustment module 204. The apparatus 200 is capable of executing the method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra in the method embodiment.

[0043] Specifically, the apparatus 200 includes: The key feature point recognition module 201 is used to recognize key feature points and their position information in the anteroposterior and lateral views of the spinal X-ray film using a trained neural network model, wherein the key feature points include: the left point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the right point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view; The anteroposterior image offset calculation module 202 is used to calculate the parameter values ​​of the left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement of the vertebra relative to the standard anteroposterior model of the X-ray film based on the key feature points in the anteroposterior image; The lateral image offset calculation module 203 calculates the parameter values ​​of the vertical rotation, vertical movement and / or horizontal movement of the vertebra relative to the standard lateral model of the X-ray film through the key feature points in the lateral image; The X-ray machine posture adjustment module 204 is used to adjust the X-ray imaging device to the standard anteroposterior and lateral positions of the spinal vertebrae according to the calculated movement parameter values ​​of the vertebrae relative to the standard anteroposterior and lateral models of the X-ray film.

[0044] It should be noted that the device 200 provided in this embodiment for adjusting the X-ray imaging equipment to the standard anteroposterior and lateral positions of the spinal vertebrae corresponds to a technical solution that can be used to execute each method embodiment. Its implementation principle and technical effects are similar to the method and will not be repeated here.

[0045] The above description is merely a preferred embodiment of the present invention. Those skilled in the art should understand that the scope of the present invention is not limited to technical solutions formed by specific combinations of the above-mentioned technical features. It also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents, without departing from the above-mentioned disclosure. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, characterized in that: The steps include: Identify key feature points and their position information in the anteroposterior and lateral views of the spinal X-ray film using a trained neural network model, wherein the key feature points include: the left point of the narrowest lateral edge of the vertebral body in the anteroposterior view, the right point of the narrowest lateral edge of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view; Calculate the parameter values ​​of the vertebral body relative to the standard anteroposterior model of the X-ray film in terms of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement through the key feature points in the anteroposterior image; Calculate the parameter values ​​of the vertebral body's vertical rotation, vertical movement, and / or horizontal movement relative to the standard lateral model of the X-ray film through the key feature points in the lateral image; According to the calculated vertebral body movement parameter values ​​relative to the standard anteroposterior and lateral models of the X-ray film, the X-ray imaging device is adjusted to the standard anteroposterior and lateral positions of the spinal vertebrae.

2. A method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra according to claim 1, characterized in that: The step of calculating parameter values ​​of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement, and / or left-right movement of the vertebral body relative to the standard anteroposterior model of the X-ray film using key feature points in the anteroposterior image includes: The clockwise or counterclockwise rotation angle of the vertebra in the current anteroposterior image relative to the standard anteroposterior model of the X-ray film is calculated by the following formula : or in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view Point to the right side of the narrowest point of the lateral edge of the vertebral body in the frontal view vector of Represents a vector The model; A vector representing the horizontal direction of the positive bitmap; Represents a vector The model; Indicates the upper end point of the spinous process in the anteroposterior view Point to the lower end of the spinous process in the anteroposterior view vector of Represents a vector The model; A vector representing the vertical direction of the orthographic image; Represents a vector Model.

3. The method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra according to claim 2, characterized in that: The step of calculating parameter values ​​of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement, and / or left-right movement of the vertebral body relative to the standard anteroposterior model of the X-ray film using key feature points in the anteroposterior image includes: The following formula is used to calculate the displacement of the vertebral body in the current anteroposterior view relative to the standard anteroposterior model of the X-ray film. and the displacement of up and down movement : in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The horizontal offset from the center point of the positive image of the current X-ray film; Represents a line segment length; It represents the average actual width of the left point and the right point of the narrowest point of the vertebral body lateral edge; Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The vertical offset from the center point of the current X-ray image.

4. The method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra according to claim 3, characterized in that: The step of calculating parameter values ​​of left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement, and / or left-right movement of the vertebral body relative to the standard anteroposterior model of the X-ray film using key feature points in the anteroposterior image includes: The left and right rotation angle of the vertebra in the current anteroposterior view relative to the standard anteroposterior model of the X-ray film is calculated by the following formula : in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection The upper end of the spinous process in the anteroposterior view and the lower end of the spinous process in the anteroposterior view Connection The intersection of Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection midpoint; express and the distance between them; express and the distance between them; A constant representing the ratio of the height of the spinous process apex to the width of the vertebral body.

5. The method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra according to claim 4, characterized in that: The step of calculating parameter values ​​of vertical rotation, vertical movement, and / or horizontal movement of the vertebra relative to the standard lateral model of the X-ray film using key feature points in the lateral image includes: The angle of vertical rotation of the vertebra in the current lateral view relative to the standard lateral model of the X-ray film is calculated by the following formula : in, Indicates the anterior end point of the vertebral end plate in the lateral view and the anterior end point of the vertebral end plate in the lateral view Connection midpoint; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint; Indicates a point point to vector of Represents a vector The model; A vector representing the horizontal direction of the lateral view; Represents a vector Model.

6. The method for adjusting an X-ray imaging device to a standard anteroposterior and lateral position of a spinal vertebra according to claim 5, characterized in that: The step of calculating parameter values ​​of vertical rotation, vertical movement, and / or horizontal movement of the vertebra relative to the standard lateral model of the X-ray film using key feature points in the lateral image includes: The displacement of the vertebral body in the current lateral view relative to the standard lateral model of the X-ray film is calculated by the following formula and the displacement of up and down movement : ， ； or ， ； in, Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The horizontal offset from the center point of the lateral view of the current X-ray film; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The vertical offset from the center point of the lateral view of the current X-ray film; Indicates the anterior end point of the lower end plate of the vertebral body in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection length; It represents the average actual width of the anterior end point and the posterior end point of the vertebral end plate; Indicates the anterior end point of the vertebral end plate in the lateral view and posterior end point of the vertebral endplate in the lateral view The connection between length.

7. A device for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra, characterized in that: include: A key feature point recognition module is used to identify key feature points and their location information in the anteroposterior and lateral views of the spinal X-ray film through a trained neural network model, wherein the key feature points include: the left point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the right point at the narrowest point of the lateral margin of the vertebral body in the anteroposterior view, the upper end point of the spinous process in the anteroposterior view, the lower end point of the spinous process in the anteroposterior view, the front end point of the upper end plate of the vertebral body in the lateral view, the posterior end point of the upper end plate of the vertebral body in the lateral view, the front end point of the lower end plate of the vertebral body in the lateral view, and the posterior end point of the lower end plate of the vertebral body in the lateral view; The anteroposterior image offset calculation module is used to calculate the parameter values ​​of the left-right rotation, clockwise rotation, counterclockwise rotation, up-down movement and / or left-right movement of the vertebra relative to the standard anteroposterior model of the X-ray film through the key feature points in the anteroposterior image; A lateral image offset calculation module calculates the parameter values ​​of the vertebral body relative to the standard lateral model of the X-ray film by using key feature points in the lateral image; The X-ray machine posture adjustment module is used to adjust the X-ray imaging device to the standard anteroposterior and lateral positions of the spinal vertebrae according to the calculated movement parameter values ​​of the vertebrae relative to the standard anteroposterior and lateral models of the X-ray film.

8. The device for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra according to claim 7, characterized in that: The positive bitmap offset calculation module is further used for: The clockwise or counterclockwise rotation angle of the vertebra in the current anteroposterior image relative to the standard anteroposterior model of the X-ray film is calculated by the following formula : or in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view Point to the right side of the narrowest point of the lateral edge of the vertebral body in the frontal view vector of Represents a vector The model; A vector representing the horizontal direction of the positive bitmap; Represents a vector The model; Indicates the upper end point of the spinous process in the anteroposterior view Point to the lower end of the spinous process in the anteroposterior view vector of Represents a vector The model; A vector representing the vertical direction of the orthographic image; Represents a vector Model.

9. The device for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra according to claim 8, characterized in that: The positive bitmap offset calculation module is further used for: The following formula is used to calculate the displacement of the vertebral body in the current anteroposterior view relative to the standard anteroposterior model of the X-ray film. and the displacement of up and down movement : in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The horizontal offset from the center point of the positive image of the current X-ray film; Represents a line segment length; It represents the average actual width of the left point and the right point of the narrowest point of the vertebral body lateral edge; Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection Center point The vertical offset from the center point of the current X-ray image.

10. The device for adjusting an X-ray imaging device to a standard anteroposterior or lateral position of a spinal vertebra according to claim 9, characterized in that: The anteroposterior image offset calculation module is also used to calculate the left and right rotation angle of the vertebral body in the current anteroposterior image relative to the standard anteroposterior model of the X-ray film by the following formula : in, Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection The upper end of the spinous process in the anteroposterior view and the lower end of the spinous process in the anteroposterior view Connection The intersection of Indicates the left point of the narrowest lateral edge of the vertebral body in the frontal view and the right point of the narrowest part of the lateral edge of the vertebral body in the frontal view Connection midpoint; express and the distance between them; express and the distance between them; The constant representing the ratio of the height of the spinous process apex to the width of the vertebral body; The lateral image offset calculation module is also used to calculate the vertical rotation angle of the vertebral body in the current lateral image relative to the standard lateral model of the X-ray film by the following formula : in, Indicates the anterior end point of the vertebral end plate in the lateral view and the anterior end point of the vertebral end plate in the lateral view Connection midpoint; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint; Indicates a point point to vector of Represents a vector The model; A vector representing the horizontal direction of the lateral view; Represents a vector The model; The lateral image offset calculation module is also used to calculate the left-right displacement of the vertebral body in the current lateral image relative to the standard lateral model of the X-ray film by the following formula and the displacement of up and down movement : ， ； or ， ； in, Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The horizontal offset from the center point of the lateral view of the current X-ray film; Indicates the posterior end point of the vertebral end plate in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection midpoint The vertical offset from the center point of the lateral view of the current X-ray film; Indicates the anterior end point of the lower end plate of the vertebral body in the lateral view and posterior end point of the lower vertebral endplate in the lateral view Connection length; It represents the average actual width of the anterior end point and the posterior end point of the vertebral end plate; Indicates the anterior end point of the vertebral end plate in the lateral view and posterior end point of the vertebral endplate in the lateral view The connection between length.

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