X-ray imaging system and method

Abstract

The present application provides an X-ray imaging system and method, and a non-transitory computer-readable storage medium. The X-ray imaging system includes an X-ray source, a beam limiter, and a camera module, wherein the camera module includes a camera and is mounted on the side of the beam limiter, and the camera module is configured to rotate according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the region of interest of the detected object.

Description

Technical Field

[0001] The present invention relates to medical imaging technology, and more particularly to an X-ray imaging system and method, and a non-transitory computer-readable storage medium. Background Art

[0002] In an X-ray imaging system, radiation from an X-ray source is directed toward a subject, which is typically a patient in medical diagnostic applications. A portion of the radiation passes through the subject and strikes a detector, which is divided into a matrix of discrete elements (e.g., pixels). The detector elements are read out to produce an output signal based on the amount or intensity of radiation striking each pixel area. The signal can then be processed to produce a medical image that can be displayed for inspection, which can be displayed in a display device of the X-ray imaging system.

[0003] In an X-ray imaging system, a camera is usually set near the X-ray source to obtain the position or image of the detector, estimate or obtain the contour (or depth image) of the object to be detected to obtain the region of interest or determine the imaging conditions (or parameters), or adjust the position of the detector or beam limiter based on the depth information, for example. Figure 5 As shown, a camera 430 is arranged near the speed limiter 420. However, current cameras are all fixedly installed near the X-ray source 402 (or the beam limiter 420) at a fixed angle. When the X-ray source (or the tube) moves in the vertical direction, the image source distance SID between the X-ray source 402 and the detector 412 also changes accordingly, and the camera's field of view may not be able to cover the region of interest (or the detector imaging area) of the object to be detected. For example, when the image source distance is SID2 and SID3, the camera's field of view 431 can completely cover the region of interest (detector 412) of the object to be detected, and when the image source distance is SID1, it is found that the camera's field of view 431 cannot cover the region of interest (the entire detector 412 area) of the object to be detected. That is to say, when the image source distance is SID1, the camera's field of view cannot cover the entire detector area, which will cause a lot of inaccuracy in depth information or images determined based on the camera. Summary of the invention

[0004] The present invention provides an X-ray imaging system and method, as well as a non-transitory computer-readable storage medium. The imaging system includes a camera module installed on the side end of a beam limiter, and the camera module can rotate according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the area of ​​interest of the detected object, that is, the camera's field of view can completely cover the detected area (or the detector imaging area).

[0005] An exemplary embodiment of the present invention provides an X-ray imaging system, which includes an X-ray source, a beam limiter, and a camera module, wherein the camera module includes a camera and is installed at a side end of the beam limiter, and the camera module is configured to rotate according to a change in an image source distance SID so that the center of the camera's field of view is aligned with the center of an area of ​​interest of an object to be detected.

[0006] Specifically, the camera module further includes a driving unit for driving the camera to rotate and a fixing unit for fixing the camera and the driving unit. Specifically, the driving unit includes a first driving unit and a second driving unit to drive the camera to rotate along a first direction and a second direction respectively, and the first direction and the second direction are perpendicular.

[0007] Specifically, the X-ray imaging system further includes a control unit, which is used to control the driving unit according to the image source distance SID to drive the camera to rotate. Specifically, the camera includes a depth camera to obtain depth information of the detected object. Specifically, the control unit is further used to identify the center of the region of interest of the detected object; obtain the coordinate position of the center of the region of interest based on the depth information; and control the X-ray source to align with the center of the region of interest. Specifically, the control unit is used to identify the center of the region of interest of the detected object based on a trained learning network.

[0008] Specifically, the camera module further includes a position feedback unit, which is used to feed back the position information of the camera to the control unit, and the control unit determines whether to stop rotating the camera based on the received position information.

[0009] An exemplary embodiment of the present invention provides an X-ray imaging system, which includes an X-ray source, a beam limiter, a camera module and a control module. The camera module includes a camera and is installed on the side end of the beam limiter. The control module is used to control the rotation of the camera according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the area of ​​interest of the object being detected.

[0010] An exemplary embodiment of the present invention also provides an X-ray imaging method, wherein the X-ray imaging system includes an X-ray source, a beam limiter, and a camera module, wherein the camera module includes a camera and is mounted on a side end of the beam limiter, and the method includes controlling the rotation of the camera according to a change in an image source distance SID so that the center of the camera's field of view is aligned with the center of an area of ​​interest of an object to be detected.

[0011] Specifically, the method further includes identifying the center of the region of interest of the detected object; acquiring the coordinate position of the center of the region of interest based on the depth information of the detected object; and controlling the X-ray source to align with the center of the region of interest. Specifically, the camera module includes a driving unit and a fixing unit, and controlling the rotation of the camera according to the change of the image source distance SID includes controlling the driving unit based on the image source distance SID to drive the camera to rotate. Specifically, the driving unit includes a first driving unit and a second driving unit, and controlling the rotation of the camera according to the change of the image source distance SID includes controlling the first driving unit and the second driving unit based on the image source distance SID to drive the camera to rotate in a first direction and a second direction respectively, and the first direction and the second direction are perpendicular.

[0012] Specifically, the camera module further includes a position feedback unit, and controlling the rotation of the camera according to the change of the image source distance SID further includes feeding back the position information of the camera and determining whether to stop rotating the camera based on the received position information.

[0013] An exemplary embodiment of the present invention further provides a non-transitory computer-readable storage medium for storing a computer program, which, when executed by a computer, causes the computer to execute the above-mentioned instructions for the X-ray imaging method.

[0014] Other features and aspects will become apparent from the following detailed description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0016] Figure 1 is a schematic diagram of an X-ray imaging system according to some embodiments of the present invention;

[0017] Figure 2 is a schematic diagram of an X-ray imaging system according to some embodiments of the present invention;

[0018] Figure 3 is based on Figure 2 a perspective view of a camera module in the illustrated system;

[0019] Figure 4 is based on Figure 3 A front view of the camera module is shown;

[0020] Figure 5 It is a schematic diagram of a fixed installation camera at different image source distances;

[0021] Figure 6is a schematic diagram of a camera module according to some embodiments of the present invention at different image source distances;

[0022] Figure 7 is a flowchart of an X-ray imaging method according to some embodiments of the present invention; and

[0023] Figure 8 is based on Figure 7 The method shown is a flowchart of controlling the rotation of the camera according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the area of ​​interest of the detected object. DETAILED DESCRIPTION

[0024] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0025] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0026] It should be pointed out that, from the perspective of ordinary technicians in this field or related fields, such description should not be understood as limiting the present invention to digital X-ray imaging systems. In fact, the camera module described here can be reasonably applied to other imaging fields in medical and non-medical fields, such as CT systems, MR systems, PET systems, SPECT systems or any combination thereof.

[0027] Figure 1 FIG. 1 shows an X-ray imaging system 100 according to some embodiments of the present invention. Figure 1 As shown, the X-ray imaging system 100 includes an X-ray source 104, a detector 106, and a control subsystem 108. In some embodiments, the X-ray imaging system 100 may be a fixed X-ray imaging system disposed in a fixed X-ray imaging room, or may be a mobile X-ray imaging system.

[0028] The X-ray source 104 may project X-rays 114 toward a desired region of interest in the object 102. Specifically, the X-ray source 104 may be positioned adjacent to a beam limiter 116, which is used to direct the X-rays 114 toward the desired region of interest in the object 102. At least a portion of the X-rays 114 may be attenuated by the object 102 and may be incident on the detector 106.

[0029] The detector 106 includes a detector panel array, which includes a pixel array of light sensing photodiodes and switching thin film field effect transistors (FETs), which convert photons into electrical signals. The scintillator material deposited on the pixel array of photodiodes and FETs converts the incident X-ray radiation photons received on the surface of the scintillator material into photons of lower energy. As mentioned above, the pixel array of photodiodes and FETs converts photons into electrical signals. Alternatively, the detector panel array can directly convert X-ray photons into electrical signals. These electrical signals are provided by the detector panel array interface (which provides digital signals) to the computing device 120 to be converted into image data and reconstruct a medical image of the detected object 102. In some embodiments, the detector 106 can be configured to convert the incident X-ray 114 into electrical signals using optical conversion, direct conversion and / or any other appropriate detection technology. In some embodiments, the detector 106 includes a wireless communication interface for wireless communication with the communication link 112 and a wired communication interface for wireless and / or wired communication with the control subsystem 108, wherein the wireless communication interface can utilize any suitable wireless communication protocol, such as an ultra-wideband (UWB) communication standard, a Bluetooth communication standard, or any IEEE802.11 communication standard.

[0030] The detector 106 may also be configured to transmit unprocessed or partially processed image data to a workstation or portable detector control device via a wired or wireless connection or to transmit the processed X-ray image to a printer to generate a copy of the image. The portable detector control device may include a personal digital assistant (PDA), a palmtop computer, a laptop computer, a smart phone, a tablet computer such as an iPadTM, or any suitable general or dedicated portable interface device. The portable detector control device is configured to be held by a user and to communicate wirelessly with the detector 106. Note that the detector and the portable detector control device may utilize any suitable wireless communication protocol, such as the IEEE 802.15.4 protocol, the UWB communication standard, the Bluetooth communication standard, or any IEEE 802.11 communication standard. Alternatively, the portable detector control device may be configured to be tethered or detachably tethered to the detector 106 to communicate via a wired connection.

[0031] The control subsystem 108 includes a source controller (not shown in the figure) and a detector controller (not shown in the figure). The source controller is used to command the X-ray source 104 to emit X-rays 114 for image exposure. The detector controller is used to coordinate the control of various detector functions, for example, various signal processing and filtering functions can be performed, specifically, for initial adjustment of the dynamic range, interleaving of digital image data, etc. In some embodiments, the control subsystem 108 can provide power and timing signals for controlling the operation of the X-ray source 104 and the detector 106. Specifically, the control subsystem 108 can provide power and timing signals to the X-ray source 104 and / or the detector 106 by using a power supply 110 and one or more wired and / or wireless communication links 112, respectively, wherein the communication link 112 can correspond to a backplane bus, a local area network, a wide area network and / or the Internet, etc. In some embodiments, the power supply 110 includes one or more batteries. In addition, although Figure 1 It is shown that the power supply 110 is connected to the X-ray source 104 via a communication link, however, those skilled in the art will appreciate that the power supply 110 and the X-ray source 104 may also be directly coupled.

[0032] The control subsystem 108 can be configured and / or arranged to be used in different ways. For example, in some implementations, a single control subsystem 108 can be used; in other implementations, multiple control subsystems 108 are configured to work together (e.g., based on a distributed processing configuration) or individually, with each control subsystem 108 configured to handle specific aspects and / or functions, and / or process data used to generate models that are only used for specific medical imaging systems. In some implementations, the control subsystem 108 can be local (e.g., co-located with one or more X-ray imaging systems 100, such as within the same facility and / or the same local network); in other implementations, the control subsystem 108 can be remote and therefore can only be accessed via a remote connection (e.g., via the Internet or other available remote access technology). In a particular implementation, the control subsystem 108 can be configured in a cloud-like manner and can be accessed and / or used in a manner substantially similar to the way other cloud-based systems are accessed and used.

[0033] In some embodiments, the system 100 also includes a computing device 120, which can be configured to use the digitized signals to reconstruct one or more desired images and / or determine useful diagnostic information corresponding to the object being detected 102, wherein the computing device 120 may include one or more dedicated processors, graphics processing units, digital signal processors, microcomputers, microcontrollers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other appropriate processing devices.

[0034] In some embodiments, the system 100 further includes a storage device 122, and the computing device 120 can store the digitized signal in the storage device 122. For example, the storage device 122 can include a hard disk drive, a floppy disk drive, a compact disk read / write (CD-R / W) drive, a digital versatile disk (DVD) drive, a flash drive, and / or a solid-state storage device. The storage device is used to store a program that can be executed by the computer. When the computer executes the program, multiple components of the X-ray imaging system can perform operations corresponding to the above-mentioned imaging sequence. When the computer executes the program, a medical imaging method can also be executed to post-process the original image to obtain an optimized image after post-processing.

[0035] although Figure 1 The storage device 122, computing device 120, and control subsystem 108 are illustrated as separate devices, but in some embodiments, one or more of them may be combined into a single device to efficiently use floor space and / or meet anticipated imaging requirements.

[0036] In one embodiment, the system 100 further includes a display device 124 , which can be used to display the reconstructed image and / or diagnostic information, etc.

[0037] In one embodiment, the system 100 further includes an operator workstation 126, which allows a user to receive and evaluate the reconstructed image, and input control instructions (operation signals or control signals). The operator workstation 126 may include a user interface (or user input device), such as a keyboard, a mouse, a voice-activated controller, or any other suitable input device, and some form of operator interface, through which the operator can input operation signals / control signals to the control subsystem 108, such as one or more scanning parameters and / or request desired diagnostic information and / or images to evaluate the internal structure and / or function of the object 102 being examined.

[0038] Figure 2 An X-ray imaging system 200 according to some embodiments of the present invention is shown. Figure 2 As shown, the X-ray imaging system 200 is a retractable Overhead Tube Suspension (OTS) system, and the system 200 includes a guide rail 210 installed on the ceiling, a retractable tube 220, an X-ray source 230, an OTS console 240 and a beam limiter 250.

[0039] The telescopic cylinder 220 is connected to the X-ray source 230 and is telescopic in the vertical direction. A rotating part is provided at the lower end of the telescopic cylinder 220, and the rotating part can drive the X-ray source 230 to rotate.

[0040] The beam limiter 250 is usually installed below the X-ray source 230. The X-ray source 230 can emit X-rays, which are irradiated onto the object to be inspected through the opening of the beam limiter 250. The size of the opening of the beam limiter 250 determines the irradiation range of the X-rays, that is, the size of the exposure field of view (FOV). The lateral position of the X-ray source 230 and the beam limiter 250 determines the position of the exposure field of view FOV on the object to be inspected. It is well known that X-rays are harmful to the human body, so it is necessary to control the X-rays so that they only irradiate the part of the object to be inspected that needs to be inspected, that is, the region of interest (ROI).

[0041] The system 200 further includes a camera module 260, which includes a camera and is installed at the side end of the beam limiter 250. The camera module 260 is configured to rotate according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the region of interest ROI of the detected object.

[0042] although Figure 2The OTS imaging system is shown in the figure, however, those skilled in the art should understand that the camera module described in the present application is not limited to being installed in the OTS imaging system, but can also be set in any form of X-ray imaging system, such as a U-arm system.

[0043] Figure 3 Shows Figure 2 A perspective view of the camera module 260 (300) in the X-ray imaging system 200 is shown. Figure 4 Shows Figure 3 300 is a front view of the camera module 300 shown in FIG. Figure 3 As shown, the x-axis is defined along the length direction of the camera, the y-axis is defined along the width direction of the camera, and the z-axis is defined along the height direction of the camera. Figure 3-4 As shown, the camera module 300 includes a camera 310, which may include one or more cameras, such as a depth camera, an infrared camera, or an ultraviolet camera, such as a light imaging, detection, and ranging ("LIDAR"), and the depth camera may obtain depth information or a depth image of the detected object, and the depth information may be used to determine the coordinate position of the center of the region of interest of the detected object. Figure 3 One camera 310 is shown, but those skilled in the art will appreciate that the camera 310 may be a camera device including a plurality of cameras.

[0044] In some embodiments, the camera module 300 further includes a driving unit 320 and a fixing unit 330 .

[0045] The driving unit 320 is used to drive the camera 310 to rotate. Specifically, the driving unit 320 includes a first driving unit 321 and a second driving unit 322. The first driving unit 321 can drive the camera 310 to rotate (or rotate) around a first direction (x-axis direction), and the second driving unit 322 can drive the camera 310 to rotate (or rotate) around a second direction (y-axis direction). Specifically, the driving unit 320 includes a motor, a reducer, etc.

[0046] The fixing unit 330 is used to fix the camera 310 and the driving unit 320. Specifically, the fixing unit includes a base plate 331 for fixing the camera module 300 on the beam limiter, a first fixing bracket 332 for matching the first driving unit 321, a second fixing bracket 333 for matching the second driving unit 322, and a connector (e.g., a nut) for fixing each bracket and the base plate. In some embodiments, the driving unit 320 and the fixing unit 330 are connected by a key or a gear.

[0047] Specifically, the first driving unit 321 directly drives the first fixed bracket 332 to rotate around the x-axis direction, thereby driving the camera 310 to rotate. The second driving unit 322 can drive the second fixed bracket 333 to rotate around the y-axis direction, and drive the first fixed bracket 332 to drive the camera 310 to rotate.

[0048] The X-ray imaging system further includes a control unit (not shown in the figure), which is used to control the driving unit 320 according to the image source distance SID to drive the camera 310 to rotate. In some embodiments, the control unit is integrated in the Figure 2 In the OTS console 240 of the OTS imaging system shown in FIG. In other embodiments, the control unit may also be separately provided, for example, provided in a remote control device or a mobile control device. In other embodiments, the control unit may also be provided in the camera module 300.

[0049] Furthermore, the camera module 330 further includes position feedback units 341 and 342, which are used to feed back the position information of the camera 310 to the control unit, and the control unit determines whether to stop rotating the camera 310 based on the received position information. In some embodiments, the position feedback units 341 and 342 include encoders and potentiometers. Specifically, the position feedback unit 341 is positioned adjacent to the first drive unit 321 to obtain the rotation angle of the first drive unit 321, and the position feedback unit 342 is positioned adjacent to the second drive unit 322 to obtain the rotation angle of the second drive unit 322.

[0050] In some embodiments, since the center of the field of view of the camera 310 is always aligned with the center of the area of ​​interest of the detected object, that is to say, each determined image-source distance SID corresponds to a determined camera angle. In other words, each change in the determined image-source distance SID also corresponds to a determined angle that the camera needs to be rotated. The above-mentioned camera position information includes the current angle of the camera or the angle that the camera has been rotated, etc. For example, the position feedback unit can feed back the angle that the camera has been rotated to the control unit, and the control unit compares the real-time feedback information with the preset angle to determine whether the camera has been rotated by the preset angle to determine whether to stop rotating the camera.

[0051] When the control unit determines that the rotation of the camera needs to be stopped, the control unit controls the driving unit to stop rotating, which facilitates control and saves costs. However, since there is inertia in the rotation of the camera, in other embodiments, a braking module or a locking module can also be set in the camera module to lock the camera 310 or the driving unit 330 when the control unit determines that the rotation of the camera needs to be stopped.

[0052] Figure 6Schematic diagrams of camera modules of some embodiments of the present invention under different SIDs are shown, such as Figure 6 As shown, the control unit can be further used to implement the following functions:

[0053] First, identify the center of the region of interest of the detected object 411. In some embodiments, the control unit is used to identify the center of the region of interest of the detected object based on the trained learning network. In other embodiments, the control unit can be connected to an operator workstation, and the center of the region of interest of the detected object has been determined through the operator workstation. For example, a user (e.g., an operator) can manually select the center of the region of interest of the detected object through an input device.

[0054] Second, the coordinate position of the center 411 of the region of interest is obtained based on the depth information. In some embodiments, the coordinate position of the center of the region of interest can be obtained based on the depth image (or depth data) taken by the camera, wherein the origin of the coordinates is the center 413 of the detector. In some embodiments, if the camera is an ordinary camera (non-depth camera) and cannot obtain a depth image of the detected object, the coordinate position of the center 411 can be determined by performing image processing processes such as feature extraction and recognition based on the image taken by the camera.

[0055] Third, the X-ray source 402 is controlled to align with the center 411 of the region of interest. In some embodiments, the control unit controls the X-ray source 402 and the detector 412 to align with the center 411 of the region of interest at the same time, that is, the center of the X-ray source 402, the center 413 of the detector 412, and the center 411 of the region of interest are on the same straight line.

[0056] After the X-ray source 402 is aligned with the center 411 of the region of interest, the control unit can obtain the current SID and control the camera 530 to rotate according to the obtained SID (by controlling the driving unit), and determine whether to stop rotating the camera through the position information of the camera fed back by the position feedback unit. In addition, the control unit can also detect in real time whether the SID of the imaging system changes. If it changes, the camera is controlled to rotate in real time. For example, when the initial image source distance is SID2, the camera module 530 is controlled to rotate (or the initial default angle) so that the center of its field of view 532 can be just aligned with the detected object 410. The center 411 of the area of ​​interest. When the image source distance is reduced to SID1 at this time, the camera module 530 is controlled to rotate (corresponding to the angle of SID2-SID1) to form a field of view 531, wherein the center of the field of view 531 is also aligned with the center 411 of the area of ​​interest. If the image source distance is increased to SID2, the camera module 530 is controlled to rotate (corresponding to the angle of SID3-SID2) to form a field of view 533, wherein the center of the field of view 533 is also aligned with the center 411 of the area of ​​interest. Therefore, under different image source distances, it can be ensured that the camera's field of view completely covers the area of ​​interest of the detected object.

[0057] In the X-ray imaging system of some embodiments of the present invention, a camera module is installed on the side end of the beam limiter. The camera module can be rotated at any time so that the center of the camera's field of view can always be aligned with the center of the area of ​​interest of the object being inspected. Therefore, at any image source distance, the camera's field of view can always completely cover the area of ​​interest (or the detector imaging area).

[0058] Figure 7 The X-ray imaging method of some embodiments of the present invention is shown, such as Figure 7 As shown, the X-ray imaging method 600 includes step 601 .

[0059] In step 601, the camera is controlled to rotate according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the region of interest of the detected object. Specifically, the X-ray imaging system includes an X-ray source, a beam limiter, and a camera module, the camera module includes a camera, a driving unit, and a fixing unit, and the camera module is installed at the side end of the beam limiter.

[0060] In some embodiments, the X-ray imaging method further includes step 610 , step 620 , and step 630 .

[0061] In step 610, the center of the region of interest of the detected object is identified. In some embodiments, the center of the region of interest of the detected object can be identified based on a trained learning network. In other embodiments, the center of the region of interest of the detected object can also be manually selected or input by a user (e.g., an operator).

[0062] In step 620, the coordinate position of the center of the region of interest is obtained based on the depth information of the detected object. In some embodiments, the center of the detector is the coordinate origin, and the coordinate position of the center of the region of interest is obtained through the depth image (or depth data) taken by the camera.

[0063] In step 630, the X-ray source is controlled to be aligned with the center of the region of interest. In some embodiments, while the X-ray source is controlled to be aligned with the center of the region of interest, the detector is also controlled to be aligned with the center of the region of interest.

[0064] Figure 8 Shown according to Figure 7 The method shown in FIG. 1 is a flowchart of controlling the camera to rotate according to the change of the image source distance SID so that the center of the camera's field of view is aligned with the center of the region of interest of the detected object (step 601), as shown in FIG. Figure 8 As shown, step 601 includes the following steps.

[0065] In step 710, the image-source distance SID is obtained. In some embodiments, the current real-time image-source distance SID can be obtained at any time, and this information is also sent or stored in the control system of the X-ray imaging system (eg, OTS console).

[0066] In step 720, the camera is controlled to rotate so that the center of the camera's field of view is aligned with the center of the region of interest of the detected object. In some embodiments, the camera module includes a driving unit, and controlling the camera rotation includes controlling the driving unit based on the image source distance SID to drive the camera to rotate. Further, the driving unit includes a first driving unit and a second driving unit, and controlling the camera rotation includes controlling the first driving unit and the second driving unit based on the image source distance SID to drive the camera to rotate in a first direction and a second direction respectively, and the first direction and the second direction are perpendicular.

[0067] In step 730, the position information of the camera is fed back. In some embodiments, the position information of the camera includes the current angle of the camera or the angle at which the camera has rotated, etc. Specifically, the position information of the camera may be the angle at which the driving unit rotates.

[0068] In step 740, it is determined whether to stop rotating the camera based on the received position information. If it is determined that the camera should stop rotating, then proceed to step 750. If it is determined that the camera should not stop rotating, then return to step 720 until it is determined that the camera should stop rotating. In some embodiments, each determined image source distance SID corresponds to a determined camera angle. In other words, each change in the determined image source distance SID also corresponds to a determined angle that the camera needs to rotate. By comparing the received position information and the preset angle (the angle that the camera needs to rotate), it can be determined whether the camera has rotated the preset angle to determine whether to stop rotating the camera. When it is determined that the rotation of the camera needs to be stopped, on the one hand, the driving unit can be controlled to stop rotating, that is, the rotation can be stopped by software control. On the other hand, a brake module or a locking module can also be set in the camera module to lock the camera or the driving unit.

[0069] In step 750, it is determined whether the SID has changed. If the SID has changed, the process returns to step 710, and if the SID has not changed, the process ends.

[0070] although Figure 8 It is shown that the SID change is determined after determining whether to stop rotating the camera. However, those skilled in the art should understand that the description should not limit the determination of whether the SID changes to after determining whether to stop rotating the camera. In other words, the determination of whether the SID changes can be performed at any time, that is, the SID can be monitored in real time. When the SID changes, the camera module can be controlled to rotate with higher accuracy.

[0071] The present invention may also provide a non-transitory computer-readable storage medium for storing an instruction set and / or a computer program. When the instruction set and / or the computer program are executed by a computer, the computer executes the above-mentioned medical imaging method. The computer that executes the instruction set and / or the computer program may be a computer of an X-ray imaging system or other device / module of the X-ray imaging system. In one embodiment, the instruction set and / or the computer program may be compiled in a processor / controller of the computer.

[0072] Specifically, the set of instructions and / or computer program, when executed by a computer, causes the computer to:

[0073] The camera is controlled to rotate according to the change of the image source distance SID, so that the center of the camera's field of view is aligned with the center of the region of interest of the detected object.

[0074] The instructions described above may be combined into one instruction for execution, and any instruction may be split into multiple instructions for execution. In addition, the execution order of the instructions described above is not limited to the above order.

[0075] In some embodiments, before controlling the camera to rotate according to the change of the image source distance SID, the method further includes:

[0076] Identify the center of the region of interest of the inspected object;

[0077] Acquire the coordinate position of the center of the region of interest based on the depth information of the detected object; and

[0078] The X-ray source is controlled to be aligned with the center of the region of interest.

[0079] In some embodiments, controlling the rotation of the camera according to the change of the image-source distance SID includes controlling the driving unit to drive the rotation of the camera based on the image-source distance SID.

[0080] In some embodiments, controlling the camera rotation according to the change of the image source distance SID includes controlling the horizontal driving unit and the vertical driving unit respectively based on the image source distance SID to drive the camera to rotate in the horizontal direction and the vertical direction respectively.

[0081] In some embodiments, controlling the rotation of the camera according to the change of the image source distance SID further includes feeding back the position information of the camera; and determining whether to stop rotating the camera based on the received position information.

[0082] As used herein, the term "computer" may include any processor-based or microprocessor-based system, including systems using microcontrollers, 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 the definition and / or meaning of the term "computer" in any way.

[0083] The instruction set may include various commands that instruct a computer or processor as a processing machine to perform specific operations, such as the methods and processes of various embodiments. The instruction set 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. In addition, the software may take the form of a collection of independent programs or 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 input data by the processing machine may be in response to operator commands, or in response to previous processing results, or in response to a request made by another processing machine.

[0084] Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, if the described techniques are performed in a different order and / or if the components in the described systems, architectures, devices, or circuits are combined in different ways and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Accordingly, other implementations also fall within the scope of protection of the claims.

Claims

1. An X-ray imaging system, comprising: X-ray source, Beam limiter, and a camera module, the camera module comprising a camera and mounted at a side end of the beam limiter, the camera module being configured to rotate according to a change in the image source distance SID, so that as the image source distance SID changes, the center of the camera's field of view is always aligned with the center of the region of interest of the detected object, and a control unit, which is used to control the rotation of the camera according to the image source distance SID, The camera module further comprises: A position feedback unit is used to feed back the position information of the camera to the control unit, and the control unit determines whether to stop rotating the camera based on the received position information.

2. The X-ray imaging system of claim 1, wherein: The camera module further comprises: a driving unit, configured to drive the camera to rotate; and A fixing unit is used to fix the camera and the driving unit.

3. The X-ray imaging system of claim 2, wherein: The driving unit includes a first driving unit and a second driving unit to respectively drive the camera to rotate along a first direction and a second direction, and the first direction is perpendicular to the second direction.

4. The X-ray imaging system of claim 1, wherein: The camera includes a depth camera to obtain depth information of the detected object.

5. The X-ray imaging system of claim 4, wherein: The control unit is further configured to: Identify the center of the region of interest of the object being inspected; Acquire the coordinate position of the center of the region of interest based on the depth information; and The X-ray source is controlled to be aligned with the center of the region of interest.

6. The X-ray imaging system of claim 5, wherein: The control unit is used to identify the center of the region of interest of the detected object based on the trained learning network.

7. An X-ray imaging method, wherein the X-ray imaging system comprises an X-ray source, a beam limiter, and a camera module, wherein the camera module comprises a camera and is mounted on a side end of the beam limiter, and the imaging method comprises: The camera is controlled to rotate according to the change of the image-source distance SID, so that as the image-source distance SID changes, the center of the camera's field of view is always aligned with the center of the region of interest of the detected object, Controlling the camera rotation according to the change of the image-source distance SID includes: controlling the camera rotation based on the image-source distance SID, The camera module further includes a position feedback unit, and controlling the camera rotation according to the change of the image source distance SID further includes: Feedback the position information of the camera; and It is determined whether to stop rotating the camera based on the received position information.

8. The X-ray imaging method according to claim 7, wherein: Further including: Identify the center of the region of interest of the inspected object; Acquire the coordinate position of the center of the region of interest based on the depth information of the detected object; as well as The X-ray source is controlled to be aligned with the center of the region of interest.

9. The X-ray imaging method according to claim 8, wherein: The camera module includes a driving unit and a fixing unit.

10. The X-ray imaging method according to claim 9, wherein: The driving unit includes a first driving unit and a second driving unit, and controlling the camera to rotate according to a change in the image source distance SID includes: Based on the image-source distance SID, the first driving unit and the second driving unit are controlled to drive the camera to rotate along a first direction and a second direction respectively, and the first direction is perpendicular to the second direction.

11. A non-transitory computer-readable storage medium for storing a computer program, wherein when the computer program is executed by a computer, the computer executes the X-ray imaging method according to any one of claims 7 to 10.

Images