Angle deviation detection and adjustment method, device, computer equipment and storage medium

Abstract

The present application relates to an angle deviation detection and adjustment method, device, computer equipment and storage medium. The angle deviation detection angle deviation detection method includes: when the examination bed moves to at least two different scanning positions along the system axis direction, the target object is scanned respectively to collect the scanning data of the target object; the scanning data of different scanning positions are processed to obtain the position difference of the target object in at least two target directions; the angle deviation in the target direction is calculated according to the position difference in the target direction. The angle adjustment method includes: according to the angle deviation detection angle deviation detection method, the angle deviation in at least two target directions is obtained; according to the angle deviation calculation, the adjustment amplitude of the examination bed in at least two target directions is obtained. The present angle deviation detection and adjustment method can obtain the position difference in at least two target directions at one time, thereby improving the processing efficiency.

Description

Technical Field

[0001] The present application relates to the field of medical imaging technology, and in particular to a method, device, computer equipment and storage medium for detecting and adjusting angle deviation. Background Art

[0002] During medical imaging scans, the bed will move with the scanned area. In order to reconstruct the image without artifacts, the bed and the gantry need to maintain a precise relative position. In the vertical direction, when the gantry is tilted, the angle between it and the horizontal plane of the bed should be the same as the set tilt angle; in the horizontal direction, the movement direction of the bed itself should be consistent with the set in and out direction of the bed, so that accurate angle and position information of the object can be provided during image reconstruction to prevent the generation of image artifacts.

[0003] Due to reasons such as the horizontality of the site and the error in the assembly of the bed, there will be some error in the relative angle between the bed and the frame in the vertical direction. There will also be differences between the movement direction of the bed in the horizontal direction and the preset direction. Therefore, the bed and the frame need to be calibrated in these two directions.

[0004] In the traditional technology, scanning data is obtained by scanning at different positions, and then the scanning data is reconstructed into a three-dimensional image, and then it is determined whether the reconstructed three-dimensional image is continuous on any surface. If there is a misalignment, it means that the angle between the frame and the bed is different from the reconstructed angle, so the deviation angle can be obtained according to the misalignment. For the deviation in different directions, the above method is respectively executed to obtain the corresponding deviation angle.

[0005] However, the method of obtaining the corresponding deviation angle by executing the above method multiple times has a complicated process and low efficiency. Summary of the invention

[0006] Based on this, it is necessary to provide an angle deviation detection and adjustment method, device, computer equipment and storage medium that can improve processing efficiency in response to the above technical problems.

[0007] An angle deviation detection method is used for angle deviation detection of medical imaging equipment, and the angle deviation detection method comprises:

[0008] When the examination bed moves to at least two different scanning positions along the system axis direction, the target object is scanned respectively to collect the scanning data of the target object;

[0009] Processing the scan data of the different scan positions to obtain a position difference of the target object in at least two target directions;

[0010] The angular deviation in the target direction is obtained by calculating the position difference in the target direction respectively.

[0011] In one embodiment, the processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes:

[0012] acquiring the pre-stored relative position of the target object in at least two different scanning positions,

[0013] The scan data of the different scan positions are processed based on the relative position to obtain the position difference of the target object in at least two target directions.

[0014] In one embodiment, the processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes:

[0015] Based on the actual position of the target object at one of the at least two different scanning positions, fitting is performed to obtain a standard position of the target object at another position of the at least two different scanning positions;

[0016] The position difference of the target object in at least two directions is calculated according to the actual position and the standard position.

[0017] In one embodiment, the processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes:

[0018] Processing the scan data at the different scan positions to obtain the boundary of the target object;

[0019] According to the boundary of the target object, respectively obtain the target position of the target object in at least two target directions corresponding to each scanning position;

[0020] A position difference of the target object in at least two target directions is calculated according to the target positions of the target object in at least two target directions corresponding to the different scanning positions.

[0021] In one embodiment, the target position of the target object in at least two target directions corresponding to each scanning position is obtained according to the boundary of the target object, including:

[0022] Processing a plurality of groups of boundaries of the target object obtained by processing a plurality of groups of scanning data corresponding to each scanning position to obtain an initial position of each group of scanning data in at least two target directions;

[0023] Fitting the corresponding initial positions to obtain the target position of the target object in at least two target directions corresponding to each scanning position;

[0024] The calculating the position difference of the target object in at least two target directions according to the target positions of the target object in at least two target directions corresponding to the different scanning positions includes:

[0025] Processing the target positions of the target object corresponding to the different scanning positions in at least two target directions according to the relative positions;

[0026] The position difference of the target object in at least two target directions is calculated according to the processed target positions of the target object in at least two target directions corresponding to the different scanning positions.

[0027] In one embodiment, the calculating the angle deviation in the target direction according to the position difference in the target direction respectively includes:

[0028] The angle deviation in the target direction is calculated according to the position difference in the target direction according to the following formula:

[0029] α=arctan(I / D)

[0030] Among them, α is the angle deviation, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

[0031] In one embodiment, the processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes:

[0032] Reconstructing the scan data of the different scan positions to obtain a tomographic image including at least two target directions;

[0033] The tomographic image is processed to obtain a position difference of the target object in at least two target directions.

[0034] An angle adjustment method, the angle adjustment method comprising:

[0035] Acquire the angle deviation in at least two target directions according to the above-mentioned angle deviation detection method;

[0036] The adjustment amplitude of the examination bed in the at least two target directions is calculated according to the angle deviation.

[0037] In one embodiment, the step of calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation includes:

[0038] The adjustment range of the examination bed in the at least two target directions is obtained by calculating the angle deviation according to the following formula:

[0039] M=L*tanα

[0040] Wherein, M is the adjustment range, L is the length of the examination bed, and α is the angle deviation.

[0041] In one embodiment, after calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation, the method includes:

[0042] The examination bed or a frame corresponding to the examination bed is adjusted according to the adjustment range.

[0043] An angle deviation detection device, the angle deviation detection device comprising:

[0044] A scanning module, used to scan the target object and collect scanning data of the target object respectively when the examination bed moves to at least two different scanning positions along the system axis direction;

[0045] a position difference determination module, configured to process the scan data of the different scan positions to obtain a position difference of the target object in at least two target directions;

[0046] The angle deviation determination module is used to calculate the angle deviation in the target direction according to the position difference in the target direction.

[0047] An angle adjustment device, comprising:

[0048] An angle deviation calculation module, used to obtain the angle deviation in at least two target directions according to the above-mentioned angle deviation detection device;

[0049] The adjustment amplitude determination module is used to calculate the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation.

[0050] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0051] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of the above embodiments.

[0052] The above-mentioned angle deviation detection and adjustment method, device, computer equipment and storage medium scan the target object respectively when the examination bed moves to at least two different scanning positions along the system axis direction, and obtains the position difference of the target object in at least two target directions at one time based on the scanning data, and then calculates the angle deviation in the target direction based on the position difference in the target direction. The position difference in at least two target directions can be obtained at one time, so as to process at least two directions at the same time, thereby improving the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 An application environment diagram of an angle deviation detection method and an angle adjustment method in one embodiment;

[0054] Figure 2 Schematic diagram of the process of angle deviation detection and angle deviation detection method in one embodiment;

[0055] Figure 3 is a schematic diagram of a scanning position in one embodiment;

[0056] Figure 4 A schematic diagram of fitting a target object of a rule in one embodiment;

[0057] Figure 5 A schematic diagram of fitting an irregular target object in one embodiment;

[0058] Figure 6 is a schematic diagram of an XY tomographic image in one embodiment;

[0059] Figure 7 is a schematic diagram of a YZ tomographic image in one embodiment;

[0060] Figure 8 is a schematic diagram of an angle deviation detection method in an embodiment;

[0061] Fig. 9 A schematic diagram of a flow chart of an angle adjustment method in one embodiment;

[0062] Fig.10 is a structural block diagram of an angle deviation detection device in one embodiment;

[0063] Fig.11 is a structural block diagram of an angle adjustment device in one embodiment;

[0064] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The angle deviation detection method and angle adjustment method provided in this application can be applied to Figure 1 In the application environment shown. The processor 102 communicates with the medical imaging device 104 through a network. A target object is placed on the examination bed in the medical imaging device 104. When the examination bed moves to at least two different scanning positions along the system axis direction, the medical imaging device 104 scans the target object respectively, collects the scanning data of the target object, and sends the scanning data to the processor 102. The processor 102 obtains the relative position of the target object in at least two different scanning positions; and processes the scanning data of different scanning positions based on the relative position to obtain the position difference of the target object in at least two target directions; and calculates the angular deviation in the target direction according to the position difference in the target direction. In this way, the position difference in at least two target directions can be obtained at one time, so that at least two directions can be processed at the same time, thereby improving the processing efficiency.

[0067] The processor 102 may be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, portable wearable devices, and functional modules and dedicated circuits of the medical imaging device itself. In this embodiment, the processor 102 may include a mobile processor device of the patient and / or a mobile processor device of the medical operator. The medical imaging device 104 includes, but is not limited to, various imaging devices, such as CT imaging devices (CT: Computed Tomography, which uses a precisely collimated X-ray beam and a highly sensitive detector to perform a series of cross-sectional scans around a certain part of the human body, and through CT scanning, an accurate three-dimensional position image of a tumor, etc. can be reconstructed), magnetic resonance equipment (which is a type of tomography, which uses magnetic resonance phenomena to obtain electromagnetic signals from the human body and reconstruct human body information images), positron emission computed tomography (Positron Emission Computed Tomography) equipment, positron emission magnetic resonance imaging system (PET / MR), etc.

[0068] In one embodiment, Figure 2 As shown, a method for detecting an angle deviation is provided, and the method is applied to Figure 1 The processor in the example is used to illustrate, including the following steps:

[0069] S202: When the examination bed moves to at least two different scanning positions along the system axis direction, the target object is scanned respectively to collect scanning data of the target object.

[0070] Specifically, the target object can be a phantom located on the examination bed, such as a phantom with a regular shape and a smooth surface, and preferably can be a metal wire, such as a tungsten wire. In other embodiments, the target object can also be the examination bed itself. The target object is preferably placed at the center of the examination bed.

[0071] Specifically, the system axis direction refers to the system axis direction of the medical imaging device, and specifically refers to the movement direction of the examination bed, that is, the longitudinal direction of the examination bed.

[0072] Different scanning positions can be set according to the collimation width of the medical imaging device. For example, each movement of the examination bed along the system axis by at least one collimation width is defined as a scanning position, wherein each movement of the examination bed along the system axis by one collimation width is called a shot, and within a shot, the frame of the medical imaging device continuously scans around the examination bed. Optionally, different scanning positions can be separated by one collimation width or other integer collimation widths, which is not specifically limited here.

[0073] In this embodiment, the tube is always in a state of radiating rays during the movement of the examination bed. When the examination bed moves to at least two different scanning positions along the system axis, scanning data of the target object moving to at least two positions are collected.

[0074] Specifically, see Figure 3 As shown, one shot is a scanning position, the inspection bed moves along the direction of the system axis, each scanning position corresponds to a collimation width d, the length of the inspection bed is L, and each shot is scanned to obtain scanning data containing the target object.

[0075] In actual use, the scanning data corresponding to two different scanning positions can be obtained, or the scanning data corresponding to more scanning positions can be obtained to improve the accuracy of the calculation results, such as Figure 3 As shown, the phantom on the examination bed is axially scanned for multiple shots with a collimation width d.

[0076] S204: Processing the scan data at different scan positions to obtain a position difference of the target object in at least two target directions.

[0077] Specifically, the scan data here is data that includes positions in at least two target directions at the same time. The target direction can be a direction preset by the user, for example, the system axis is taken as the Z axis, the horizontal direction perpendicular to the Z axis is taken as the X axis, and the vertical direction perpendicular to the Z axis is taken as the Y axis, then the X axis and the Y axis are the target directions, and the scan data includes the scan data in these two directions at the same time.

[0078] In this way, the processor can calculate the position of the target object in the X-axis and Y-axis directions in the scanning data corresponding to different scanning positions based on the scanning data. Then, the position difference can be obtained based on the position of the target object in the X-axis and Y-axis directions in adjacent or non-adjacent scanning positions, thereby obtaining the position difference corresponding to multiple scanning positions.

[0079] Specifically, different scanning positions can select any two adjacent scanning positions, and the two boundaries of the target object scanned by the two adjacent scanning positions are also two adjacent boundaries. The angle deviation between the gantry and the examination bed and the angle deviation between the examination bed and the preset direction can be calculated by the distance between the adjacent scanning positions and the position difference of the target object. It can also be understood that different scanning positions can also be two scanning positions that are not adjacent in a continuous scanning distance.

[0080] Optionally, the processor may be divided into threads to calculate the position deviations in different target directions.

[0081] Optionally, the step of obtaining the position difference may be obtained by processing the scan data in the raw data domain, or by reconstructing the scan data to obtain a tomographic image including two target directions at the same time and then processing the tomographic image.

[0082] The processing of the scan data in the raw data domain may include: first determining the initial scan data corresponding to two directions from the scan data in the raw data domain, and then determining the target object and the background according to the values ​​in the initial scan data, such as the difference in CT values, so that the boundary of the target object, that is, the contour of the target object, that is, the position of the boundary value can be calculated according to the determined target object, and then the position of the target object can be calculated according to the boundary of the target object and the boundary of the initial scan data in two target directions, and finally the position difference can be calculated according to the position of the target object in the target direction corresponding to different scanning positions.

[0083] After the scan data is reconstructed to obtain a tomographic image, processing the tomographic image may include: firstly reconstructing the scan data to obtain a tomographic image, specifically, the tomographic image includes data of the X-axis and the Y-axis, that is, the tomographic image, so that processing is performed on the tomographic images corresponding to different scanning positions to obtain the position of the target object in the horizontal and vertical directions, and then calculating the position difference according to the position of the target object.

[0084] It should be noted that when only two scanning positions are collected, the position difference between the two scanning positions in the target direction can be directly obtained. When the number of scanning positions is greater than 2, the position difference in the target direction corresponding to the adjacent scanning positions can be calculated first, and then the position difference can be obtained by averaging, or only the position difference in the target direction corresponding to the two scanning positions with the farthest distance can be calculated, or the required scanning position can be determined according to the needs, and then the position difference can be obtained by calculation, and no specific limitation is made here.

[0085] S206: Calculate the angle deviation in the target direction according to the position difference in the target direction.

[0086] Specifically, the processor calculates the position deviations in different target directions respectively, and then calculates the angle deviations in different target directions respectively according to the position deviations in different target directions. Optionally, this step can also be calculated by threads, that is, one target direction corresponds to one thread.

[0087] The processor may calculate the angle deviation based on the distance between the two scanning positions of the calculated position difference in the system axis direction and the corresponding position difference.

[0088] The above-mentioned angle deviation detection angle deviation detection method scans the target object respectively when the examination bed moves to at least two different scanning positions along the system axis direction, and obtains the position difference of the target object in at least two target directions at one time according to the scanning data, and then calculates the angle deviation in the target direction according to the position difference in the target direction. The position difference in at least two target directions can be obtained at one time, so as to process at least two directions at the same time, which simplifies the process, saves costs and improves processing efficiency.

[0089] In one of the embodiments, scanning data of different scanning positions are processed to obtain a position difference of a target object in at least two target directions, including: obtaining a pre-stored relative position of the target object in at least two different scanning positions, and processing the scanning data of the different scanning positions based on the relative position to obtain a position difference of the target object in at least two target directions.

[0090] Specifically, the relative position is the difference in the position of the target object at different scanning positions. For example, when a phantom with a regular shape and a smooth surface, such as a tungsten wire, is placed on the examination bed parallel to the system axis, the relative position of its various parts remains unchanged at each different scanning position, that is, there is no difference in the position of the target object at different scanning positions. For another example, for other phantoms with irregular shapes or phantoms with regular shapes but irregular placement, since there are position differences in their parts at different scanning positions, it is necessary to obtain the position differences first to avoid the position differences affecting the accuracy of subsequent calculations.

[0091] In order to enable those skilled in the art to fully understand the meaning of the relative position, the method for obtaining the relative position is defined in detail below. In this embodiment, the relative position is stored in advance.

[0092] The pre-storage method includes: after the target object is placed on the bed, the processor can determine the position of the target object in each scanning position, combined with Figure 3 , the position of the target object at each scanning position in the bed coordinate system is determined, and if the bed is installed in accordance with the requirements, that is, there is no angle deviation, there is a corresponding relationship between the bed coordinate system and the image coordinate system, and the corresponding relationship can also be obtained in advance. The processor calculates the position of the target object at each scanning position in the image coordinate system according to the corresponding relationship between the bed coordinate system and the image coordinate system, so that the position of the target object at each scanning position in the image coordinate system is obtained. The difference in the position of the target object at different scanning positions in the image coordinate system is the relative position. Further, the relative position includes a relative position relationship in at least two directions, such as a first direction and a second direction on a plane perpendicular to the system axis direction, and preferably the first direction and the second direction are also perpendicular to each other.

[0093] Specifically, the user can determine the relative position of the target object in each scanning position in advance according to the placement position of the target object. Assuming that there are two scanning positions, the user pre-calculates the position difference of the center of the corresponding scanning position or other corresponding points as the relative position of the target object at different scanning positions. In this way, when calculating the position difference in at least two target directions later, the relative position can be subtracted first to avoid calculation errors caused by the relative position. Specifically, the first part of the target object is scanned at the first scanning position to obtain a first image, and the second part is scanned at the second scanning position to obtain a second image, wherein point A on the first part corresponds to A' in the first image, and after one or more Shot translations, point B on the second part is exactly located at the position where point A of the first part was imaged before, and it is imaged as B' in the second image. Therefore, there may be a position difference between A' and B' in the two images, which is caused by the position difference of B relative to A in the bed coordinate system on the one hand, and the error of the bed relative to the CT device in the system coordinate system on the other hand. Among them, the position difference of B relative to A in the bed coordinate system is also the relative position mentioned above.

[0094] In one of the embodiments, scanning data at different scanning positions are processed to obtain a position difference of a target object in at least two target directions, including: fitting based on an actual position of a target object at one of the at least two different scanning positions to obtain a standard position of the target object at other positions of the at least two different scanning positions; and calculating the position difference of the target object in at least two directions based on the actual position and the standard position.

[0095] Specifically combined Figure 4 and Figure 5 As shown, based on the scan data of the target object at different scan positions, the boundary of the target object is obtained; based on the boundary of the target object at each scan position, the actual position of the target object at the scan position in at least two target directions is obtained, which at least includes the actual position of the target object at the first and second scan positions in at least two target directions. Specifically, the boundaries of multiple groups of target objects obtained by processing multiple groups of scan data corresponding to each scan position are processed to obtain the initial position of each group of scan data in at least two target directions; the initial position corresponding to each scan position is fitted to obtain the actual position of the target object at each scan position in at least two target directions, which at least includes the actual position of the target object at the first and second scan positions in at least two directions.

[0096] Then, according to the boundaries of the target object at the first scanning position and the second scanning position, the standard position of the target object in at least two directions at the second scanning position is obtained. Specifically, the corresponding target object at the first scanning position is fitted to obtain the actual position of the target object in at least two target directions at the second scanning position.

[0097] Finally, according to the actual position of the target object in at least two target directions and the standard position of the target object at the second scanning position, the position difference of the target object in at least two target directions is calculated.

[0098] The actual position refers to the actual imaging position of the target object in the image coordinate system; the standard position refers to the standard imaging position of the target object in the image coordinate system if there is no system deviation, that is, the position where the target object should appear.

[0099] Specifically, the position of the phantom at the first position is fitted to obtain the boundaries of each point of the phantom, and the fitting can continue to be performed at the next position. Move a distance of the collimation width d along the bed entry direction to the second position. If there is no angle deviation, the phantom can be fitted according to the boundary of the previous position to obtain the standard position of the phantom at the second position; if there is an angle deviation, the phantom can be fitted according to the boundary of the previous position, and then moved along the bed entry direction by the collimation width d to obtain the standard position of the phantom at the second position.

[0100] Specifically, for fitting, if it is a tungsten wire phantom, the fitting method is linear fitting, such as Figure 4 As shown, if the model has other shapes, other fitting methods need to be used according to the properties of the model, such as Figure 5 As shown. The simple linear fitting method is only applicable to the case where the phantom parts scanned by the two shots are consistent. When using other types of phantoms, the phantom boundary is linearly fitted in the first shot, and then the standard position of the second shot is nonlinearly fitted based on the fitted boundary of the first shot, and then compared with the actual position of the second shot to obtain the position difference.

[0101] Among them combined Figure 4, P is the actual position of the target object at the first scanning position, Q is the actual position of the target object at the second scanning position, and the boundary of the target object can be obtained by fitting according to the actual position P of the target object at the first scanning position, and then the standard position Q' at the second scanning position can be obtained by fitting based on the boundary. For example, if the distance of a collimation width d is moved along the bed entry direction to the second position, if there is no angle deviation, the standard position of the phantom at the second position can be obtained by continuing to fit according to the boundary of the previous position. If there is an angle deviation, the standard position of the phantom at the second position can be obtained by fitting according to the boundary of the previous position and moving the distance of a collimation width d along the bed entry direction. In this way, the position difference can be obtained according to the standard position Q' and the actual position Q.

[0102] Combination Figure 5 When the target object, that is, the phantom, is an irregular shape, such as a circular phantom, the fitting method of the standard position is adjusted to determine the standard position of the target object at the second scanning position, so that the position difference can be obtained according to the standard position Q' and the actual position Q.

[0103] In one embodiment, scanning data from different scanning positions are processed to obtain a position difference of a target object in at least two target directions, including: processing scanning data from different scanning positions to obtain a boundary of the target object; obtaining, based on the boundary of the target object, a target position of the target object in at least two target directions corresponding to each scanning position; and calculating a position difference of the target object in at least two target directions based on the target positions of the target object in at least two target directions corresponding to different scanning positions.

[0104] Specifically, the boundary of the target object refers to the outer contour of the target object, that is, the interface between the outer contour of the target object and the air, wherein the processor can determine the target object and the background according to the difference in numerical values ​​in the scanning data, thereby obtaining the boundary of the target object.

[0105] After acquiring the boundary of the target object, the processor calibrates its corresponding position in the two target directions. For example, the distance between the boundary of the target object and the boundary of the acquired scan data can be calculated in the form of relative coordinates, that is, the relative distance in the three-dimensional image. It should be noted that the processor needs to process the scan data acquired at each scanning position to obtain the target position of the target object corresponding to each scanning position in at least two target directions.

[0106] In this way, after obtaining the target position of the target object corresponding to each scanning position in at least two target directions, the processor can determine the scanning positions involved in calculating the position difference, and then calculate the position difference according to the preset scanning position grouping, for example, adjacent scanning positions can be grouped together, or can be set as needed.

[0107] The processor calculates the position difference according to the target position in the target direction corresponding to the scanning position in the matching group. For example, taking two scanning positions as an example, the target position in the X-axis direction obtained by the first scanning position is X1, and the target position in the Y-axis direction is Y1. Similarly, the target position in the X-axis direction obtained by the second scanning position is X2, and the target position in the Y-axis direction is Y2. And the relative position of the target object in the matching group in the at least two target directions is XD1 and YD1. In this way, the position differences X1-X2-XD1 and Y1-Y2-YD1 in the two directions can be obtained respectively, where the absolute value can be taken for the convenience of calculation. When the target object is a tungsten wire phantom or a square phantom, and is placed on the examination bed along the system axis direction, it can be known that the relative positions XD1 and YD1 of the tungsten wire of the tungsten wire phantom or the water-air interface along the longitudinal axis in the square phantom relative to the X-axis and Y-axis directions in the examination bed coordinate system are 0. In the above embodiment, the boundary of the target object is first identified, and then the position of the target object is calibrated according to the boundary, so that the position difference corresponding to different scanning positions can be obtained.

[0108] In one embodiment, the target position of the target object in at least two target directions corresponding to each scanning position is obtained according to the boundary of the target object, including: processing multiple groups of boundaries of the target object obtained by processing multiple groups of scanning data corresponding to each scanning position to obtain the initial position of each group of scanning data in at least two target directions; fitting the corresponding initial positions to obtain the target position of the target object in at least two target directions corresponding to each scanning position. According to the target positions of the target object in at least two target directions corresponding to different scanning positions, the position difference of the target object in at least two target directions is calculated, including: processing the target positions of the target object in at least two target directions corresponding to the different scanning positions; according to the processed target positions of the target object in at least two target directions corresponding to the different scanning positions, the position difference of the target object in at least two target directions is calculated.

[0109] Specifically, each scanning position corresponds to multiple sets of scanning data, that is, the tube is always in a state of radiating rays, and it orbits the examination bed once to obtain scanning data corresponding to a scanning position. In this way, multiple sets of scanning data can be processed separately at each scanning position, and the initial position of the target object obtained according to each set of scanning data can be fitted to obtain the target position of the target object in at least two target directions.

[0110] For example, each scanning position, that is, a single shot, can correspond to reconstructing multiple tomographic images, and then the position of the target object in the tomographic image in the target direction is calculated separately, that is, first identifying the boundary of the target object, and then obtaining the position of the target object in the target direction based on the boundary, and finally, fitting multiple positions corresponding to the same target direction in a shot to obtain the target position in the target direction corresponding to the scanning position.

[0111] In addition, after determining the target position in each shot, the processor first processes the target position according to the target position, and then calculates the position difference of the target object in at least two target directions according to the target positions corresponding to the different scan positions after processing, that is, X1-X2-XD1 and Y1-Y2-YD1 in the above example.

[0112] In the above embodiment, the accuracy of the target position is ensured by performing fitting processing on multiple groups of scanning data corresponding to one scanning position.

[0113] In one embodiment, calculating the angular deviation in the target direction according to the position difference in the target direction includes: calculating the angular deviation in the target direction according to the position difference in the target direction according to the following formula:

[0114] α=arctan(I / D)

[0115] Wherein, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

[0116] Specifically, combined Figure 6 and Figure 7 As shown ( Figure 6 and Figure 7 For the case where the relative positions XD1 and YD1 are 0), Figure 6 is a schematic diagram of an XY tomographic image in an embodiment, Figure 7 Schematic diagram of a YZ tomographic image in an embodiment. In this embodiment, the introduction Figure 6 and Figure 7 This is only for the convenience of explaining the calculation of the difference angle. In actual applications, it is not necessary to obtain the YZ tomographic image.

[0117] Specifically, the processor simultaneously obtains the position difference of the target object on the X and Y axes, and then converts the difference into an angular deviation in the target direction, wherein the YZ tomographic image is taken as an example, that is, the angular deviation between the frame and the examination bed is used as an example for explanation, and in other embodiments, the XZ tomographic image can also be taken as an example, that is, the angular deviation between the examination bed and the preset direction is used as an example for explanation.

[0118] Among them, the collimation width is D, that is, the distance on the Z axis is D, I is the position difference on the X axis, and α is the angle deviation. Therefore, the angle deviation can be expressed as:

[0119] α = arctan(I / D).

[0120] Optionally, the processor converts the position difference into the difference in angle between the examination bed and the rack in different directions and the angular deviation between the examination bed and a preset direction; according to the system parameters, the calculated position difference values ​​between the multiple shots are converted into the angular deviation values ​​between the bed and the rack and the angular deviation between the examination bed and the preset direction, thereby simultaneously acquiring the angular deviations in different target directions and completing the angle deviation detection.

[0121] In one of the embodiments, scanning data from different scanning positions are processed to obtain position differences of a target object in at least two target directions, including: reconstructing scanning data from different scanning positions to obtain a tomographic image including at least two target directions; and processing the tomographic image to obtain position differences of a target object in at least two target directions.

[0122] Specifically, combined Figure 8 As shown, Figure 8 Schematic diagram of angle deviation detection method in one embodiment. In this embodiment, the tungsten wire is first placed at the center of the examination bed and parallel to the direction of the system axis, so that the relative position of the corresponding point of the tungsten wire in the image coordinate system in each shot is 0. And the collimation width is set, so that the medical imaging device can be started to scan multiple consecutive shots, such as Figure 3 As shown, to obtain the scanning data corresponding to the target object. In the actual calibration process, it is necessary to obtain at least two shots of the target object's scanning data, and more shots of three-dimensional scanning data can also be obtained to obtain a higher accuracy of the calculation result. Figure 3 As shown, the target object on the examination bed is scanned with multiple shots with a collimation width D.

[0123] Secondly, the processor reconstructs the scanned data to obtain a tomographic image including at least two target directions. Figure 3Taking the coordinate system in as an example, a tomographic image is obtained, which includes two target directions, the X direction and the Y direction, and involves two directions, the horizontal direction perpendicular to the system axis Z direction and the vertical direction perpendicular to the system axis direction.

[0124] Third, the target position of the target object in the horizontal and vertical directions is obtained on the obtained multiple tomographic images. For example, the boundary of the target object is first obtained according to the CT value, that is, the outer contour of the target object, where the outer contour is three-dimensional, and then the corresponding position in the horizontal and vertical directions is calibrated, that is, the position of the target object on the X and Y axes is calibrated. For multiple shots, that is, data at multiple scanning positions, it is necessary to calibrate the target position of the target object in all tomographic images in each shot.

[0125] Fourth, for multiple tomographic images in each shot, it is necessary to fit the target position, that is, after obtaining the position of the tungsten wire phantom on each image, fit the positions of the target objects in multiple tomographic images in a single shot in two directions, for example, linear fitting can be used. For example, the target position refers to a predetermined point in shot 1, and the point corresponding to the predetermined point in shot 2-shot 5. Therefore, the target position of the target object in multiple tomographic images taken by multiple shots is fitted in two directions.

[0126] Finally, the processor obtains multiple shots, that is, the position differences under multiple scanning positions, to calculate the differences in the horizontal and vertical directions; after the fitting is completed, the position differences of the target objects in adjacent shots are calculated to obtain the difference values ​​of the target positions of multiple shots.

[0127] The processor converts the position difference into the difference in angle between the examination bed and the rack in different directions and the angle deviation between the examination bed and the preset direction; according to the system parameters, the calculated position difference values ​​between multiple shots are converted into the angle deviation values ​​between the bed and the rack and the angle deviation between the examination bed and the preset direction, so as to simultaneously obtain the angle deviation in different target directions and complete the angle deviation detection.

[0128] In the above embodiment, the angular deviations in different directions can be obtained at the same time. Only one phantom needs to be prepared when calibrating the examination bed and the frame, which simplifies the process and saves production costs. During calibration, the angular deviations of the bed in the horizontal and vertical directions are calculated at one time according to the position of the target object in each image, and converted into the adjustment amplitude of the examination bed through geometric relationships.

[0129] In one embodiment, Fig. 9 As shown, a method for adjusting the angle is provided. Figure 1 The processor in the example is used to illustrate, including the following steps:

[0130] S702: Acquire angle deviations in at least two target directions according to an angle deviation detection method in any of the above embodiments.

[0131] Specifically, the specific method for obtaining the angle deviation can be found above and will not be repeated here.

[0132] S704: Calculate the adjustment range of the examination bed in at least two target directions according to the angle deviation.

[0133] Specifically, the processor converts the angle deviation value into the adjustment amplitude of the gantry relative to the examination bed or the examination bed relative to the gantry or both when both are adjusted. In one example, according to the system geometry, the calculated angle deviation value between the examination bed and the gantry is converted into the adjustment amplitude of the examination bed, that is, the adjustment amplitude of the examination bed in at least two target directions is obtained by calculating the angle deviation according to the following formula:

[0134] M=L*tanα

[0135] Wherein, M is the adjustment range, L is the length of the examination bed, and α is the angle deviation.

[0136] After the adjustment range is calculated, adjustments are made according to the adjustment range to calibrate the examination bed and the frame.

[0137] Optionally, after obtaining the angle deviation, the processor may first determine whether the angle deviation meets a set threshold. If so, no adjustment is required. Otherwise, the above step S704 is continued to calculate the adjustment range so that the user can adjust the bed or the frame corresponding to the bed according to the adjustment range.

[0138] The above angle adjustment method scans the target object respectively when the examination bed moves to at least two different scanning positions along the system axis direction, and obtains the position difference of the target object in at least two target directions at one time according to the scanning data, and then calculates the angle deviation in the target direction according to the position difference in the target direction. The position difference in at least two target directions can be obtained at one time, so as to process at least two directions at the same time, simplifying the process, saving costs and improving processing efficiency.

[0139] It should be understood that although Figure 2 , Figure 6 as well as Figure 7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 , Figure 6 as well as Figure 7 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0140] In one embodiment, Figure 8 As shown, an angle deviation detection device is provided, including: a scanning module 802, a position difference determination module 804 and an angle deviation determination module 806, wherein:

[0141] The scanning module 802 is used to scan the target object and collect scanning data of the target object when the examination bed moves to at least two different scanning positions along the system axis direction;

[0142] A position difference determination module 804 is used to process the scan data at different scan positions to obtain the position difference of the target object in at least two target directions;

[0143] The angle deviation determination module 806 is used to calculate the angle deviation in the target direction according to the position difference in the target direction.

[0144] In one embodiment, the position difference determination module 804 includes:

[0145] a relative position acquisition unit, configured to acquire the pre-stored relative position of the target object in at least two different scanning positions,

[0146] The first position difference determining unit is used to process the scan data of different scan positions based on the relative position to obtain the position difference of the target object in at least two target directions.

[0147] In one embodiment, the position difference determination module 804 includes:

[0148] A standard position acquisition unit, configured to obtain a standard position of the target object at another position in the at least two different scanning positions by fitting based on the actual position of the target object in one of the at least two different scanning positions;

[0149] The second position difference determining unit is used to calculate the position difference of the target object in at least two directions according to the actual position and the standard position.

[0150] In one embodiment, the position difference determination module 804 includes:

[0151] A boundary acquisition unit, used for processing the scan data at different scan positions to obtain the boundary of the target object;

[0152] A target position determination unit, configured to obtain, according to the boundary of the target object, the target position of the target object corresponding to each scanning position in at least two target directions;

[0153] The position difference determining unit is used to calculate the position difference of the target object in at least two target directions according to the target positions of the target object in at least two target directions corresponding to different scanning positions.

[0154] In one embodiment, the target position determination unit includes:

[0155] An acquisition subunit, used for processing a plurality of groups of boundaries of the target object obtained by processing a plurality of groups of scanning data corresponding to each scanning position, so as to obtain an initial position of each group of scanning data in at least two target directions;

[0156] A fitting subunit, used to fit the corresponding initial positions to obtain the target position of the target object corresponding to each scanning position in at least two target directions;

[0157] The above-mentioned position difference determination unit is used to process the target positions of the target object corresponding to the different scanning positions in at least two target directions; based on the processed target positions of the target object corresponding to the different scanning positions in at least two target directions, the position difference of the target object in at least two target directions is calculated.

[0158] In one embodiment, the angle deviation determination module 806 is used to calculate the angle deviation in the target direction according to the position difference in the target direction according to the following formula:

[0159] α=arctan(I / D)

[0160] Among them, α is the angle deviation, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

[0161] In one embodiment, the position difference determination module 804 includes:

[0162] A reconstruction unit, used for reconstructing the scan data at different scan positions to obtain a tomographic image including at least two target directions;

[0163] The position difference calculation unit is used to process the tomographic image to obtain the position difference of the target object in at least two target directions.

[0164] In one embodiment, Fig. 9As shown, an angle adjustment device is provided, including: an angle deviation calculation module 902 and an adjustment amplitude determination module 904, wherein:

[0165] An angle deviation calculation module 902, used to obtain angle deviations in at least two target directions according to the above-mentioned angle deviation detection device;

[0166] The adjustment range determination module 904 is used to calculate the adjustment range of the examination bed in at least two target directions according to the angle deviation.

[0167] In one embodiment, the adjustment range determination module 904 is used to calculate the adjustment range of the examination bed in at least two target directions based on the angle deviation according to the following formula:

[0168] M=L*tanα

[0169] Wherein, M is the adjustment range, L is the length of the examination bed, and α is the angle deviation.

[0170] In one embodiment, the angle adjustment device further comprises:

[0171] The adjustment module is used to adjust the examination bed or the frame corresponding to the examination bed according to the adjustment range.

[0172] For the specific limitations of the angle deviation detection device and the angle adjustment device, please refer to the limitations of the angle deviation detection method and the angle adjustment method mentioned above, which will not be repeated here. The various modules in the above-mentioned angle deviation detection device and angle adjustment device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0173] In one embodiment, a computer device is provided. The computer device may be a processor, and its internal structure diagram may be as follows: Fig.10As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external processor in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an angle deviation detection method and an angle adjustment method are implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0174] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0175] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: when an examination bed moves to at least two different scanning positions along a system axis direction, scanning a target object respectively and collecting scanning data of the target object; processing the scanning data at different scanning positions to obtain a position difference of the target object in at least two target directions; and calculating an angular deviation in the target direction according to the position difference in the target direction.

[0176] In one embodiment, the processing of the scan data of the different scan positions to obtain the position difference of the target object in at least two target directions implemented by the processor when executing the computer program also includes: obtaining the pre-stored relative position of the target object in at least two different scan positions, and processing the scan data of the different scan positions based on the relative position to obtain the position difference of the target object in at least two target directions.

[0177] In one embodiment, the processing of the scan data of the different scanning positions implemented when the processor executes the computer program to obtain the position difference of the target object in at least two target directions includes: fitting based on the actual position of the target object at one of the at least two different scanning positions to obtain the standard position of the target object at other positions of the at least two different scanning positions; and calculating the position difference of the target object in at least two directions based on the actual position and the standard position.

[0178] In one embodiment, the processing of scan data from different scan positions implemented when a processor executes a computer program to obtain a position difference of a target object in at least two target directions includes: processing scan data from different scan positions to obtain a boundary of the target object; obtaining, based on the boundary of the target object, a target position of the target object in at least two target directions corresponding to each scan position; and calculating, based on the target positions of the target object in at least two target directions corresponding to different scan positions, a position difference of the target object in at least two target directions.

[0179] In one embodiment, the processor executes a computer program to obtain the target position of the target object in at least two target directions corresponding to each scanning position according to the boundary of the target object, including: processing multiple groups of boundaries of the target object obtained by processing multiple groups of scanning data corresponding to each scanning position to obtain the initial position of each group of scanning data in at least two target directions; fitting the corresponding initial positions to obtain the target position of the target object in at least two target directions corresponding to each scanning position. The processor executes a computer program to calculate the position difference of the target object in at least two target directions according to the target positions of the target object in at least two target directions corresponding to different scanning positions, including: processing the target positions of the target object in at least two target directions corresponding to the different scanning positions; calculating the position difference of the target object in at least two target directions according to the processed target positions of the target object in at least two target directions corresponding to the different scanning positions.

[0180] In one embodiment, the processor executing the computer program calculates the angle deviation in the target direction according to the position difference in the target direction, including: calculating the angle deviation in the target direction according to the position difference in the target direction according to the following formula:

[0181] α=arctan(I / D)

[0182] Among them, α is the angle deviation, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

[0183] In one embodiment, the processing of scan data from different scan positions implemented when the processor executes a computer program to obtain a position difference of a target object in at least two target directions includes: reconstructing the scan data from different scan positions to obtain a tomographic image including at least two target directions; and processing the tomographic image to obtain a position difference of the target object in at least two target directions.

[0184] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: obtaining an angle deviation in at least two target directions according to an angle deviation detection method in any of the above embodiments; and obtaining an adjustment amplitude of an examination bed in at least two target directions according to the angle deviation calculation.

[0185] In one embodiment, the method of calculating the adjustment range of the examination bed in at least two target directions according to the angle deviation implemented by the processor when executing the computer program includes: calculating the adjustment range of the examination bed in at least two target directions according to the angle deviation according to the following formula:

[0186] M=L*tanα

[0187] Wherein, M is the adjustment range, L is the length of the examination bed, and α is the angle deviation.

[0188] In one embodiment, after calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation, the processor executing the computer program may further include: adjusting the examination bed or a frame corresponding to the examination bed according to the adjustment amplitude.

[0189] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: when the examination bed moves to at least two different scanning positions along the system axis direction, the target object is scanned respectively to collect scanning data of the target object; the scanning data at different scanning positions are processed to obtain the position difference of the target object in at least two target directions; and the angular deviation in the target direction is calculated according to the position difference in the target direction.

[0190] In one embodiment, the computer program implemented when executed by the processor processes the scan data of the different scan positions to obtain the position difference of the target object in at least two target directions, and also includes: obtaining the pre-stored relative position of the target object in at least two different scan positions, and processing the scan data of the different scan positions based on the relative position to obtain the position difference of the target object in at least two target directions.

[0191] In one embodiment, the computer program implemented when executed by the processor processes the scan data of the different scanning positions to obtain the position difference of the target object in at least two target directions, including: fitting based on the actual position of the target object at one of the at least two different scanning positions to obtain the standard position of the target object at other positions of the at least two different scanning positions; and calculating the position difference of the target object in at least two directions based on the actual position and the standard position.

[0192] In one embodiment, the computer program implemented when executed by a processor processes scan data from different scan positions to obtain a position difference of a target object in at least two target directions, including: processing scan data from different scan positions to obtain a boundary of the target object; obtaining, based on the boundary of the target object, a target position of the target object in at least two target directions corresponding to each scan position; and calculating, based on the target positions of the target object in at least two target directions corresponding to different scan positions, a position difference of the target object in at least two target directions.

[0193] In one embodiment, the computer program implemented when executed by the processor obtains the target position of the target object in at least two target directions corresponding to each scanning position according to the boundary of the target object, including: processing the multiple groups of boundaries of the target object obtained by processing the multiple groups of scanning data corresponding to each scanning position to obtain the initial position of each group of scanning data in at least two target directions; fitting the corresponding initial positions to obtain the target position of the target object in at least two target directions corresponding to each scanning position. The computer program implemented when executed by the processor calculates the position difference of the target object in at least two target directions according to the target positions of the target object in at least two target directions corresponding to different scanning positions, including: processing the target positions of the target object in at least two target directions corresponding to the different scanning positions; calculating the position difference of the target object in at least two target directions according to the processed target positions of the target object in at least two target directions corresponding to the different scanning positions.

[0194] In one embodiment, the computer program is executed by a processor to calculate the angle deviation in the target direction according to the position difference in the target direction, including: calculating the angle deviation in the target direction according to the position difference in the target direction according to the following formula:

[0195] α=arctan(I / D)

[0196] Among them, α is the angle deviation, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

[0197] In one embodiment, the computer program implemented when executed by a processor processes scan data of different scan positions based on relative position to obtain position differences of a target object in at least two target directions, including: reconstructing scan data of different scan positions to obtain a tomographic image including at least two target directions; and processing the tomographic image based on relative position to obtain position differences of a target object in at least two target directions.

[0198] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining the angle deviation in at least two target directions according to the angle deviation detection method in any of the above embodiments; and obtaining the adjustment amplitude of the examination bed in at least two target directions according to the angle deviation calculation.

[0199] In one embodiment, the method implemented by the processor when executing the computer program to calculate the adjustment range of the examination bed in at least two target directions according to the angle deviation includes: calculating the adjustment range of the examination bed in at least two target directions according to the angle deviation according to the following formula:

[0200] M=L*tanα

[0201] Wherein, M is the adjustment range, L is the length of the examination bed, and α is the angle deviation.

[0202] In one embodiment, after calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation, the computer program implemented when executed by the processor includes: adjusting the examination bed or a frame corresponding to the examination bed according to the adjustment amplitude.

[0203] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0204] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0205] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for detecting angle deviation of medical imaging equipment, characterized in that: The angle deviation detection method comprises: When the examination bed moves to at least two different scanning positions along the system axis direction, the target object is scanned respectively to collect the scanning data of the target object; Processing the scan data of the different scan positions to obtain a position difference of the target object in at least two target directions; The angular deviation in the target direction is obtained by calculating the position difference in the target direction respectively.

2. The angle deviation detection method according to claim 1, characterized in that: The processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes: acquiring the pre-stored relative position of the target object in at least two different scanning positions, The scan data of the different scan positions are processed based on the relative position to obtain the position difference of the target object in at least two target directions.

3. The angle deviation detection method according to claim 1, characterized in that: The processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes: Based on the actual position of the target object at one of the at least two different scanning positions, fitting is performed to obtain a standard position of the target object at another position of the at least two different scanning positions; The position difference of the target object in at least two directions is calculated according to the target position and the standard position.

4. The angle deviation detection method according to any one of claims 1 to 3, characterized in that: The processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes: Processing the scan data at the different scan positions to obtain the boundary of the target object; According to the boundary of the target object, respectively obtain the target position of the target object in at least two target directions corresponding to each scanning position; A position difference of the target object in at least two target directions is calculated according to the target positions of the target object in at least two target directions corresponding to the different scanning positions.

5. The angle deviation detection method according to claim 4, characterized in that: The target position of the target object in at least two target directions corresponding to each scanning position is obtained according to the boundary of the target object, including: Processing a plurality of groups of boundaries of the target object obtained by processing a plurality of groups of scanning data corresponding to each scanning position to obtain an initial position of each group of scanning data in at least two target directions; Fitting the corresponding initial positions to obtain the target position of the target object in at least two target directions corresponding to each scanning position; The calculating the position difference of the target object in at least two target directions according to the target positions of the target object in at least two target directions corresponding to the different scanning positions includes: According to the pre-stored relative positions of the target object in at least two different scanning positions, processing the target positions of the target object in at least two target directions corresponding to the different scanning positions; The position difference of the target object in at least two target directions is calculated according to the processed target positions of the target object in at least two target directions corresponding to the different scanning positions.

6. The angle deviation detection method according to claim 1, characterized in that: The calculating the angle deviation in the target direction according to the position difference in the target direction respectively includes: The angle deviation in the target direction is calculated according to the position difference in the target direction according to the following formula: in, is the angle deviation, I is the position difference, and D is the distance difference between different scanning positions in the system axis direction.

7. The angle deviation detection method according to claim 1, characterized in that: The processing of the scan data at the different scan positions to obtain the position difference of the target object in at least two target directions includes: Reconstructing the scan data of the different scan positions to obtain a tomographic image including at least two target directions; The tomographic image is processed to obtain a position difference of the target object in at least two target directions.

8. An angle adjustment method, characterized in that: The angle adjustment method comprises: The angle deviation detection method according to any one of claims 1 to 7 obtains the angle deviation in at least two target directions; The adjustment amplitude of the examination bed in the at least two target directions is calculated according to the angle deviation.

9. The method according to claim 8, characterized in that The step of calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation includes: The adjustment range of the examination bed in the at least two target directions is obtained by calculating the angle deviation according to the following formula: Among them, M is the adjustment range, L is the length of the examination bed, is the angle deviation.

10. The angle adjustment method according to claim 8 or 9, characterized in that: After calculating the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation, the method includes: The examination bed or a frame corresponding to the examination bed is adjusted according to the adjustment range.

11. An angle deviation detection device, characterized in that: The angle deviation detection device comprises: A scanning module, used to scan the target object and collect scanning data of the target object respectively when the examination bed moves to at least two different scanning positions along the system axis direction; a position difference determination module, configured to process the scan data of the different scan positions to obtain a position difference of the target object in at least two target directions; The angle deviation determination module is used to calculate the angle deviation in the target direction according to the position difference in the target direction.

12. An angle adjustment device, characterized in that: The angle adjustment device comprises: An angle deviation calculation module, used for obtaining the angle deviation in at least two target directions according to the angle deviation detection device according to claim 9; The adjustment amplitude determination module is used to calculate the adjustment amplitude of the examination bed in the at least two target directions according to the angle deviation.

13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 or 8 to 10 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 or 8 to 10 are implemented.

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