Auxiliary positioning method, device, storage medium and computer equipment

Abstract

The present invention discloses an auxiliary positioning method, device, storage medium and computer equipment. The method includes: obtaining the distance information between the ray source and the detector, and determining the coordinate position of the detector imaging area and the vertical distance from the ray source to the detector based on the distance information between the ray source and the detector; obtaining the opening size of the ray source, and determining the coordinate position of the irradiation field area based on the opening size of the ray source and the vertical distance from the ray source to the detector; obtaining a photographic image between the ray source and the detector, and converting the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image based on the vertical distance from the ray source to the detector; and superimposing and displaying the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image. The above method can improve positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of imaging technology, and in particular to an auxiliary positioning method, device, storage medium and computer equipment. Background Art

[0002] The mobile digital X-ray imaging system (abbreviated as mobile DR) is a digital imaging system that can be operated on the move. This imaging system can support multiple bedside imaging examinations, can effectively improve photography efficiency, and can ensure imaging quality. In the clinical use of mobile DR, the positioning of the detector and the radiation source is a key link. During the positioning process, the operator needs to ensure that the radiation can cover the human tissue that needs to be irradiated, and that the radiation is within the effective imaging range of the detector. Improper positioning will cause the loss of tissue that needs to be irradiated and a decrease in image quality, resulting in the production of waste films, requiring patients to be irradiated again and suffering more radiation damage.

[0003] Currently, the detector and radiation source of the mobile DR system are separated. During use, the operator needs to place the flat-panel detector behind the human tissue to be irradiated, and then adjust the angle and position of the radiation source to complete the positioning. During this process, the detector is sometimes blocked, and the operator can only rely on experience for positioning, and errors are inevitable.

[0004] In the prior art, electromagnetic signal transceivers can be used to assist with positioning. In this approach, multiple electromagnetic signal transmitters are typically installed on the mobile DR head assembly, and multiple signal receivers are installed around the grid fixture. The detector and grid are then secured together. During positioning, feedback signals are detected and the relative angle between the beam limiter and the detector plane is calculated to ensure the quality of images projected using the grid. However, while this method can address the issue of aligning the source and detector, it still cannot guarantee that the irradiated tissue will be within the imaging range when the detector is obscured. Therefore, the generated image still carries the risk of tissue loss. Furthermore, this method fails to provide feedback on the distance between the source and detector, requiring the operator to adjust exposure parameters based on experience, which can lead to excessive or insufficient radiation dose. Summary of the Invention

[0005] In view of this, the present application provides an auxiliary positioning method, device, storage medium and computer equipment, the main purpose of which is to solve the technical problems of inaccurate positioning of the radiation source and detector of the imaging system, low positioning efficiency and inaccurate exposure parameter settings.

[0006] According to a first aspect of the present invention, an auxiliary positioning method is provided. The method is applied to an imaging system, wherein the imaging system includes a radiation source and a detector, and the method includes:

[0007] Obtaining the distance information between the ray source and the detector, and determining the coordinate position of the detector imaging area and the vertical distance from the ray source to the detector based on the distance information between the ray source and the detector;

[0008] Obtaining the opening size of the radiation source, and determining the coordinate position of the irradiation field area according to the opening size of the radiation source and the vertical distance from the radiation source to the detector;

[0009] Acquire a photographic image between the radiation source and the detector, and convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance between the radiation source and the detector;

[0010] The photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image are superimposed and displayed.

[0011] According to a second aspect of the present invention, there is provided an auxiliary positioning device, the device comprising:

[0012] The detector positioning module is used to obtain the distance information between the ray source and the detector, and determine the coordinate position of the detector imaging area and the vertical distance from the ray source to the detector based on the distance information between the ray source and the detector;

[0013] The irradiation field positioning module is used to obtain the opening size of the ray source and determine the coordinate position of the irradiation field area according to the opening size of the ray source and the vertical distance from the ray source to the detector;

[0014] An image acquisition module is used to obtain photographic images from the radiation source to the detector;

[0015] An information fusion module is used to convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance between the ray source and the detector;

[0016] The information display module is used to superimpose and display the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image.

[0017] According to a third aspect of the present invention, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned auxiliary positioning method is implemented.

[0018] According to a fourth aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned auxiliary positioning method when executing the program.

[0019] The present invention provides an auxiliary positioning method, device, storage medium, and computer equipment. By determining the coordinate positions of the detector imaging area and the irradiation field area and converting them into coordinate positions in a photographic image, the method effectively indicates the positional relationship between the radiation source irradiation field area, the detector imaging area, and the irradiated area, thereby ensuring the accuracy of the positioning of the radiation source and detector and improving the positioning efficiency of the detector and radiation source. In addition, the above method can also adaptively adjust the exposure parameters by using the vertical distance from the radiation source to the detector as an intermediate variable, thereby reducing the workload of manually setting exposure parameters, improving work efficiency, and also reducing the problem of poor image quality caused by inappropriate exposure dose.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 A schematic diagram of a flow chart of an auxiliary positioning method provided by an embodiment of the present invention is shown;

[0023] Figure 2 A schematic structural diagram of a ray source provided by an embodiment of the present invention is shown;

[0024] Figure 3 A schematic structural diagram of a detector provided by an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram of a physical coordinate system provided by an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram showing the positions of a ray source and a detector provided by an embodiment of the present invention is shown;

[0027] Figure 6 A schematic diagram showing the position between a ray source and an imaging head provided by an embodiment of the present invention is shown;

[0028] Figure 7 A schematic diagram showing the display results of an auxiliary positioning method provided by an embodiment of the present invention;

[0029] Figure 8 A schematic structural diagram of an auxiliary positioning device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0031] In one embodiment, Figure 1 As shown, an auxiliary positioning method is provided, which is described by taking the application of the method to a computer device as an example, and includes the following steps:

[0032] 101. Obtain distance information between a ray source and a detector, and determine the coordinate position of an imaging area of ​​the detector and a vertical distance from the ray source to the detector based on the distance information between the ray source and the detector.

[0033] The ray source, also known as the source component, refers to the component that can emit rays. The detector, also known as the imaging detector or flat panel detector, refers to the component that can receive rays and form an image based on the ray reception situation. Figures 2 to 5 , Figure 2 A schematic diagram of the structure of the ray source of a mobile DR imaging system is provided. Figure 3 A schematic diagram of the structure of a detector of a mobile DR imaging system is provided. Figure 4 A schematic diagram of a physical coordinate system is provided. Figure 5 A schematic diagram of the relative positions of the ray source and detector of a mobile DR imaging system is provided. Figure 2 As shown, the radiation source includes a tube and a beam limiter. The tube and the beam limiter are fixed together. The center of the tube outlet is aligned with the center of the beam limiter, and this line is perpendicular to the plane where the beam limiter outlet is located. In addition, multiple positioning sensors are installed on the tube and the beam limiter of the radiation source. The multiple positioning sensors are located in different planes to improve the accuracy of positioning. Figure 3As shown, the detector includes an imaging area and a frame area. Multiple positioning sensors are also installed on the frame area, and the multiple positioners on the detector are located in the same plane and are used to locate the imaging area of ​​the detector. Furthermore, during the positioning of the mobile DR, the flat-panel detector can be placed first and then the radiation source can be adjusted so that the center of the radiation is at the center of the detector and perpendicular to the plane where the detector is located. In this embodiment, the distance information between the radiation source and the detector can be collected by installing multiple positioning sensors on the radiation source and the detector, where the distance information between the radiation source and the detector refers to the distance information between the multiple positioning points of the radiation source and the multiple positioning points of the detector.

[0034] Specifically, after obtaining distance information for multiple positioning points between the radiation source and the detector, the computer device can first establish a physical coordinate system at the spatial locations of the radiation source and the detector. Then, based on the distance information for the multiple positioning points between the radiation source and the detector, coordinate conversion can be performed to determine the coordinate position of each positioning point on the radiation source and the detector in the physical coordinate system. Furthermore, by converting the coordinate positions of each positioning point, the coordinate position of the detector imaging area can be determined. The coordinate position of the detector imaging area can be a set of coordinate values. For ease of calculation, the coordinate position of the detector imaging area can be the coordinate positions of the four vertices of the imaging area. Furthermore, after establishing the physical coordinate system, the distance between any two points can be determined based on the coordinate positions of each point on the radiation source and the detector. Specifically, after obtaining the coordinate position of the center of the tube and the coordinate position of the intersection of the tube center and the detector imaging area in the vertical direction, the distance between the two points can be calculated, thereby obtaining the vertical distance from the radiation source to the detector. In this embodiment, the vertical distance from the radiation source to the detector is also referred to as the Source Image Distance (SID). Using this intermediate variable, the computer device can adaptively adjust exposure parameters. For example, for X-rays, the exposure dose is inversely proportional to the square of the distance. That is, for human tissue of the same thickness, the dose required at a source image distance of 1.5 meters is 1.5 times 1.5 times the dose required at a source image distance of 1 meter. Using this correspondence, the computer device can adaptively adjust exposure parameters based on the current source image distance, thereby improving image quality.

[0035] 102. Obtain the opening size of the radiation source, and determine the coordinate position of the irradiation field area based on the opening size of the radiation source and the vertical distance from the radiation source to the detector.

[0036] Among them, the opening size of the ray source refers to the size of the ray emission area. For example, in a mobile DR imaging system, the opening size of the ray source is the opening size of the beam limiter, that is, the length and width of the beam limiter opening. Specifically, after obtaining the opening size of the beam limiter, the computer device can convert the coordinate position of the beam limiter opening area according to the distance from the center position of the tube to the edge of the beam limiter opening, and then calculate the coordinate position of the projection area of ​​the ray on the plane where the detector is located through the regional projection algorithm, that is, calculate the coordinate position of the irradiation field area. In this embodiment, refer to Figure 5 The plane where the detector is located refers to the plane parallel to the horizontal axis of the tube of the ray source and the distance between it and the center position of the ray source is the source-image distance. This plane is usually also called the target detector plane.

[0037] 103. Acquire a photographic image between the radiation source and the detector, and convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image based on the vertical distance from the radiation source to the detector.

[0038] In this embodiment, a camera installed between the radiation source and the detector can be used to collect photographic images from the radiation source to the detector, wherein the field of view of the camera needs to cover the irradiation range of the radiation, and the photographic image collected by the radiation head can be a single image or a video stream data composed of multiple frames of images. Figure 6 As shown, in the mobile DR imaging system, the ray head can be installed at the front end of the beam limiter, and considering the actual use distance of the camera, a camera with smaller radial distortion can be selected to obtain the photographic image, thereby overcoming the fisheye effect of the camera.

[0039] Specifically, the computer device can convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into a projection position in the image coordinate system based on the vertical distance from the ray source to the detector (i.e., the source-image distance SID). It is understandable that during the positioning process, the source-image distance changes, and therefore the size of the space represented by a pixel in the photographic image captured by the camera also changes. However, there is a certain nonlinear relationship between the pixel size in the photographic image and the physical size of the device. By calibrating the known source-image distance, a coordinate transformation relationship between the image coordinate system and the physical coordinate system can be established. Through this coordinate transformation relationship, the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the physical coordinate system can be converted to the image coordinate system.

[0040] 104. Superimpose and display the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image.

[0041] Specifically, the computer device can overlay and display the acquired photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image on a display. In this embodiment, the staff can switch the displayed images as needed. For example, the computer device can overlay and display the irradiated tissue and the detector imaging area in the image to assist in determining whether the tissue to be irradiated is within the effective imaging range. It can also overlay and display the irradiated tissue and the irradiation field area in the image to assist in determining whether the tissue to be projected is within the irradiation range of the irradiation. It can also overlay and display the irradiated tissue, the detector imaging area, and the irradiation field area in the image to assist in determining whether the tissue to be projected is within the effective imaging range and the irradiation range of the irradiation. In this way, the detector imaging area, the irradiation field area, and the irradiated tissue area can overlap with each other, which not only ensures the quality of image capture, but also does not miss the tissue to be irradiated, and can also effectively improve the positioning accuracy and positioning efficiency of the detector and the radiation source.

[0042] The assisted positioning method provided in this embodiment effectively indicates the positional relationship between the radiation source's radiation field, the detector's imaging area, and the irradiated area by determining the coordinate positions of the detector imaging area and the irradiated area, and converting these coordinate positions into coordinate positions in the photographic image. This ensures the accuracy of the radiation source and detector positioning and improves the efficiency of the detector and source positioning. Furthermore, this method utilizes the vertical distance from the radiation source to the detector as an intermediate variable to adaptively adjust exposure parameters, thereby reducing the workload of manually setting exposure parameters, improving work efficiency, and alleviating the problem of poor image quality caused by inappropriate exposure dose.

[0043] In one embodiment, the method for obtaining the distance information between the radiation source and the detector in step 101 may include the following steps: first, using a plurality of first positioning sensors installed on the radiation source and a plurality of second positioning sensors installed on the detector, collecting distance information between the plurality of first positioning sensors and the plurality of second positioning sensors; then, based on the distance information between the plurality of first positioning sensors and the plurality of second positioning sensors, measuring the distance information between each first positioning sensor and each second positioning sensor using a preset positioning algorithm, such as time of flight (TOF) and time difference of arrival (TDOA); and finally, obtaining the distance information between the radiation source and the detector based on the distance information between each first positioning sensor and each second positioning sensor. In this embodiment, the number of first positioning sensors is at least four, and the at least four first positioning sensors are located in different planes, wherein the at least four first positioning sensors can be used to determine a three-dimensional physical coordinate system in a three-dimensional space. Furthermore, the number of second positioning sensors is at least three, and the at least three second positioning sensors are located in the same plane, wherein the at least three second positioning sensors can be used to determine the coordinate position of the detector imaging area in the physical coordinate system. It should be noted that the first and second positioning sensors need to be capable of measuring single-point and multi-point distances, and the sensor types can be electromagnetic, Bluetooth, radio frequency, UWB, and so on. For example, the first positioning sensor can be a base station that receives signals, and the second positioning sensor can be a tag that transmits signals. Furthermore, ranging will have certain errors. Therefore, the ranging signal fed back by the sensor can be filtered to improve positioning accuracy. The filtering algorithm can be a Kalman filter or a median filter, etc., which is not specifically limited in this embodiment.

[0044] In the above embodiment, a wireless signal receiving sensor can be installed on the ray source and a wireless signal sending module can be installed on the detector, or a wireless signal sending sensor can be installed on the ray source and a wireless signal receiving module can be installed on the detector. Then, the computer device determines the relative position relationship between the ray source and the detector by obtaining the timing information of the wireless signal. For example, referring to Figure 2 and Figure 3, multiple positioning sensors, including A1, A2, A3 and A4, etc., can be installed in non-same planes of the ray source to receive wireless positioning signals. Among them, A1 and A2 can be installed on both sides of the tube, A3 and A4 can be installed on the plane where the beam limiter opening is located, and there can be a certain height difference between the two groups of sensors A1, A2 and A3, A4, so as to improve the stereo positioning accuracy. Furthermore, multiple signal sending sensors, including B1, B2, B3, etc., can be installed on the surface of the detector to transmit wireless positioning signals, among which B1, B2, B3 can be installed at the four vertices of the detector imaging area to facilitate the positioning of the coordinate position of the detector imaging area. Furthermore, through the ranging principle of the positioning sensor, the distance information from A1, A2, A3, A4 to B1, B2, B3 can be measured respectively, that is, the distance information between the ray source and the detector can be obtained.

[0045] In one embodiment, the method for determining the coordinate position of the detector imaging area and the vertical distance from the radiation source to the detector in step 101 may include the following steps: first, establishing a physical coordinate system at the coordinate positions of the radiation source and the detector; then, based on the distance information between the radiation source and the detector, obtaining a first coordinate position of the positioning point on the detector in the physical coordinate system through a preset spatial positioning algorithm; then, determining the coordinate position of the detector imaging area based on the first coordinate position of the positioning point on the detector in the physical coordinate system and the second coordinate position of the positioning point on the detector; finally, obtaining the vertical distance from the radiation source to the detector (i.e., the source-image distance SID) based on the vertical distance from the center position of the radiation source tube to the detector imaging area.

[0046] In the above embodiment, if Figure 2 and Figure 3 As shown, the sensors A1-A4 installed at the ray source end receive the signals fed back by the sensors B1-B3 at the detector end, and then the coordinates of points B1, B2, and B3 are determined by the spatial positioning algorithm to achieve the positioning of the detector. Figure 4As shown, we can first use the focus of the ray source tube as the origin coordinate, define the direction parallel to the horizontal axis of the tube as the X-axis, the direction perpendicular to it as the Y-axis, and the direction perpendicular to the XOY axis as the Z-axis. Define the coordinates of point A1 as (x1, y1, z1), the coordinates of point A2 as (x2, y2, z2), the coordinates of point A3 as (x3, y3, z3), and the coordinates of point A4 as (x4, y4, z4). Define the coordinates of point B1 as (xb1, yb1, zb1), the coordinates of point B2 as (xb2, yb2, zb2), and the coordinates of point B3 as (xb3, yb3, zb3). Using the sensor ranging principle, the distances from A1, A2, A3, and A4 to point B1 can be measured as d1, d2, d3, and d4, respectively. Using the spatial positioning algorithm, the coordinates of B1 can be calculated using the coordinates of A1, A2, A3, and A4. The calculation formula for the coordinates of point B1 is as follows:

[0047] (xb1-x1) 2 +(yb1-y1) 2 +(zb1-z1) 2 =d1 2

[0048] (xb1-x2) 2 +(yb1-y2) 2 +(zb1-z2) 2 =d2 2

[0049] (xb1-x3) 2 +(yb1-y3) 2 +(zb1-z3) 2 =d3 2

[0050] (xb1-x4) 2 +(yb1-y4) 2 +(zb1-z4) 2 =d4 2

[0051] By solving the equation, the polynomial is expanded as follows:

[0052] xb1 2 +x1 2 -2xb1*x1+yb1 2 +y1 2 -2yb1*y1+zb1 2 +z1 2 -2*zb1*z1=d1 2 (1)

[0053] xb1 2 +x2 2-2xb1*x2+yb1 2 +y2 2 -2yb1*y2+zb1 2 +z2 2 -2*zb1*z2=d2 2 (2)

[0054] xb1 2 +x3 2 -2xb1*x3+yb1 2 +y3 2 -2yb1*y3+zb1 2 +z3 2 -2*zb1*z3=d3 2 (3)

[0055] xb1 2 +x4 2 -2xb1*x4+yb1 2 +y4 2 -2yb1*y4+zb1 2 +z4 2 -2*zb1*z4=d4 2 (4)

[0056] Polynomials (2), (3), and (4) are subtracted from both sides of equation (1) as follows:

[0057] x2 2 -x1 2 -2xb1*(x1-x2)+y2 2 -y1 2 -2yb1*(y1-y2)+z2 2 -z1 2 -2*zb1*(z1-z2)=d2 2 -d1 2

[0058] x3 2 -x1 2 -2xb1*(x3-x2)+y3 2 -y1 2 -2yb1*(y1-y3)+z3 2 -z1 2 -2*zb1*(z1-z3)=d3 2 -d1 2

[0059] x4 2 -x1 2 -2xb1*(x1-x4)+y4 2 -y1 2-2yb1*(y1-y4)+z4 2 -z1 2 -2*zb1*(z1-z4)=d4 2 -d1 2

[0060] make,

[0061] S1=d2 2 -d1 2 +x1 2 -x2 2 +y1 2 -y2 2 +z1 2 -z2 2

[0062] S2=d3 2 -d1 2 +x1 2 -x3 2 +y1 2 -y3 2 +z1 2 -z3 2

[0063] S3=d4 2 -d1 2 +x1 2 -x4 2 +y1 2 -y4 2 +z1 2 -z4 2

[0064] So it can be expressed by the matrix as follows:

[0065]

[0066] Therefore, the coordinates of B1 (xb1, yb1, zb1) can be obtained by solving a linear equation. Similarly, the coordinates of B2 (xb2, yb2, zb2) and B3 (xb3, yb3, zb3) can be calculated using this method. Based on the principle of determining a plane using three points, the intersection of the ray center (z-axis) and the detector plane in the vertical direction can be calculated. For the plane passing through points B1, B2, and B3, the following equation is used:

[0067] A(x-xb1)+B(x-yb1)+C(z-zb1)=0

[0068] A(x-xb2)+B(x-yb2)+C(z-zb2)=0

[0069] A(x-xb3)+B(x-yb3)+C(z-zb3)=0

[0070] Solving the linear equation gives A, B, and C. With the plane equation, it's easy to get the value of z when x and y are both 0, thereby determining the coordinates of the intersection of the ray center and the detector plane. Figure 5 A schematic diagram of the XOZ plane is shown. The solid line perpendicularly pointing downward through the focal point O represents the ray direction, and the plane perpendicular to the ray direction is the focal plane. A focal point exists between the detector plane and the ray direction. We define this focal point and the plane perpendicular to the ray as the target detector plane. The distance from the focal point to this plane is the SID. A larger SID indicates better image geometry and sharper images. Placing the detector in this plane with the ray center passing through the detector center indicates good alignment and exposure guarantees image quality.

[0071] According to the distance relationship on the plane:

[0072]

[0073] S1′=ds2 2 -ds1 2 +xb1 2 -xb2 2 +yb1 2 -yb2 2 +zb1 2 -zb2 2

[0074] S2′=ds3 2 -ds1 2 +xb1 2 -xb3 2 +yb1 2 -yb3 2 +zb1 2 -zb3 2

[0075] S3′=A*xb1+B*yb1+C*zb1

[0076] Among them, ds1, ds2, ds3 represent the distances between B4 and B1, B2, and B3, respectively. The coordinates of B4 can be obtained by solving the equation. Since the coordinates of B1, B2, B3, and B4 can all be solved, and B1, B2, B3, and B4 are located at the four vertices of the detector, the coordinates of B1, B2, B3, and B4 can be used as the coordinate positions of the detector imaging area. It can be understood that when the multiple positioning points of the detector are not at the vertex positions of the imaging area, the coordinates of the four vertices of the detector imaging area can also be converted by the coordinates of the multiple positioning points to obtain the coordinate positions of the detector imaging area. In addition, when the coordinates of the ray center (origin) and the coordinates of the intersection of the ray center along the Z-axis direction with the detector plane are known, the vertical distance SID from the ray source to the detector can also be easily solved.

[0077] In one embodiment, the auxiliary positioning method may further include the following steps: first, taking the intersection position of the center position of the tube of the ray source and the detector imaging area in the vertical direction as the center position of the target detector, and taking the direction parallel to the horizontal axis of the tube of the ray source as the setting direction of the target detector, the coordinate position of the target detector imaging area is determined, and then, based on the vertical distance from the ray source to the detector, the coordinate position of the target detector imaging area is converted into the coordinate position of the target detector imaging area in the photographic image, and finally, the photographic image and the coordinate position of the detector imaging area in the photographic image and the coordinate position of the target detector imaging area are superimposed and displayed.

[0078] In the above embodiment, if Figure 5 As shown, the intersection of the ray center along the Z-axis direction and the detector plane is the center position of the target detector, and the direction parallel to the X-axis is the setting direction of the target detector. Through these two features, the coordinate position of the imaging area of ​​the target detector can be calculated. Furthermore, through the conversion formula between the physical coordinate system and the image coordinate system, the coordinate position of the imaging area of ​​the target detector in the photographic image can be obtained. It can be understood that when the detector is placed at the position of the target detector, it means that the ray source and the detector are well aligned, and the exposure can ensure the image quality. Further, as Figure 7 As shown, the computer device can superimpose the coordinate position of the detector imaging area and the coordinate position of the target detector imaging area in the photographic image to assist the operator in adjusting the displacement deviation and angle deviation of the detector at any time, and ultimately achieve accurate alignment of the radiation source and the detector.

[0079] In one embodiment, the auxiliary positioning method may further include the following steps: based on the coordinate position of the detector imaging area and the coordinate position of the target detector imaging area, converting the angle deviation value and the displacement deviation value between the detector imaging area and the target detector imaging area, and then displaying and / or broadcasting the angle deviation value and the displacement deviation value between the detector imaging area and the target detector imaging area. In this embodiment, after determining the coordinate position of the detector imaging area and the coordinate position of the target detector imaging area, the angle deviation value and the displacement deviation value between the detector and the target detector can be converted by a coordinate value comparison method, and then by displaying and / or broadcasting the angle deviation value and the displacement deviation value, the alignment accuracy and efficiency of the radiation source and the detector can be effectively improved.

[0080] In one embodiment, the method for determining the coordinate position of the irradiation field area in step 102 may include the following steps: first, according to the opening size of the ray source and the coordinate position of the center position of the ray source tube, the coordinate position of the ray source opening area is determined; then, according to the coordinate position of the ray source opening area and the vertical distance from the ray source to the detector, the coordinate position of the irradiation field area is obtained by a preset projection algorithm. In this embodiment, if Figure 5 As shown, the beam limiter assembly of the ray source needs to have feedback on the opening size, including the X-direction lead sheet opening size and the Y-direction lead sheet opening size. Knowing the distance from the tube focus to the X-direction lead sheet and the Y-direction lead sheet, the size of the projection area of ​​the ray on the plane where the target detector is located can be calculated, and then the coordinate position of the irradiation field area can be obtained.

[0081] In one embodiment, the method for performing coordinate conversion in step 103 may include the following steps: first, a coordinate conversion function between the physical coordinate system and the pixel coordinate system is established through a multi-point calibration method, and then, based on the vertical distance from the ray source to the detector, the coordinate position of the detector imaging area and the coordinate position of the irradiation field area are converted into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image through the coordinate conversion function.

[0082] In the above embodiment, there is a nonlinear relationship between the pixel size of the image captured by the camera and the physical size of the device. In this embodiment, by calibrating a target of known size, a correspondence between the image captured by the camera and the physical coordinate system of the device movement can be established. That is, in this embodiment, a correspondence between the image and the actual position can be established through the calibration position and pixel size. The specific steps are as follows:

[0083] (1) Adjust the distance between the radiation source and the detector to SID1 (known value), and place the radiation source and the detector in the ideal alignment state.

[0084] (2) The camera captures the image of the scene, selects the center point, upper and lower edges, and left and right edges of the detector in the image, and records the pixel coordinates. Based on the recorded information, the number of pixels corresponding to the length and width of the detector under SID1 is obtained, and the number of pixels corresponding to the unit physical size p1 can be obtained based on the physical size.

[0085] (3) Adjust the radiation source and detector to SID2 (known quantity) and repeat step (2).

[0086] (4) According to p1 and p2 as well as SID1 and SID2, the number of pixels p corresponding to the unit physical size under any SID is obtained by fitting according to p = fA*pow(SID, fB), where fA and fB are obtained according to the following formulas (5) and (6):

[0087] p1=fA*pow(SID1,fB) (5)

[0088] p2=fA*pow(SID2,fB) (6)

[0089] Based on the calibrated center point position, the coordinates of the four detector positions (B1, B2, B3, B4) in the image coordinate system can be converted using a proportional relationship, thereby obtaining the actual imaging area. Similarly, the coordinate information of the irradiation field and the target detector in the image can also be calculated. This embodiment achieves the transformation between physical coordinates and the image coordinate system through calibration and nonlinear correction, effectively reducing the requirements for consistency between the camera optical path and the ray optical path design.

[0090] Further, as Figures 1 to 7 The specific implementation of the method shown in this embodiment provides an auxiliary positioning device, such as Figure 8 As shown, the device includes: a detector positioning module 31, an irradiation field positioning module 32, an image acquisition module 33, an information fusion module 34 and an information display module 35, wherein:

[0091] The detector positioning module 31 can be used to obtain the distance information between the ray source and the detector, and determine the coordinate position of the detector imaging area and the vertical distance from the ray source to the detector based on the distance information between the ray source and the detector;

[0092] The irradiation field positioning module 32 can be used to obtain the opening size of the ray source and determine the coordinate position of the irradiation field area according to the opening size of the ray source and the vertical distance from the ray source to the detector;

[0093] The image acquisition module 33 can be used to obtain photographic images between the ray source and the detector;

[0094] The information fusion module 34 may be used to convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance between the ray source and the detector;

[0095] The information display module 35 can be used to superimpose and display the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image.

[0096] In a specific application scenario, the detector positioning module 31 can be used to obtain ranging information between multiple first positioning sensors mounted on the radiation source and multiple second positioning sensors mounted on the detector; based on the ranging information between the multiple first positioning sensors and the multiple second positioning sensors, a preset positioning algorithm is used to obtain the distance information between each first positioning sensor and each second positioning sensor; and based on the distance information between each first positioning sensor and each second positioning sensor, the distance information between the radiation source and the detector is obtained. The number of first positioning sensors is at least four, and the at least four first positioning sensors are located in different planes. The number of second positioning sensors is at least three, and the at least three second positioning sensors are located in the same plane.

[0097] In a specific application scenario, the detector positioning module 31 can be specifically used to establish a physical coordinate system at the coordinate positions of the ray source and the detector; based on the distance information between the ray source and the detector, a preset spatial positioning algorithm is used to obtain the first coordinate position of the positioning point on the detector in the physical coordinate system; based on the first coordinate position of the positioning point on the detector in the physical coordinate system and the second coordinate position of the positioning point on the detector, the coordinate position of the detector imaging area is determined; based on the vertical distance from the center position of the ray source tube to the detector imaging area, the vertical distance from the ray source to the detector is obtained.

[0098] In a specific application scenario, the detector positioning module 31 can also be used to determine the coordinate position of the target detector imaging area by taking the intersection position of the center position of the ray source tube to the detector imaging area in the vertical direction as the center position of the target detector, and taking the direction parallel to the horizontal axis of the ray source tube as the setting direction of the target detector; the information fusion module 34 can also be used to convert the coordinate position of the target detector imaging area into the coordinate position of the target detector imaging area in the photographic image based on the vertical distance from the ray source to the detector; the information display module 35 can also be used to superimpose and display the photographic image and the coordinate position of the detector imaging area in the photographic image and the coordinate position of the target detector imaging area.

[0099] In a specific application scenario, the detector positioning module 31 can also be used to determine the angle deviation value and displacement deviation value between the detector imaging area and the target detector imaging area based on the coordinate position of the detector imaging area and the coordinate position of the target detector imaging area; the information display module 35 can also be used to display and / or broadcast the angle deviation value and displacement deviation value between the detector imaging area and the target detector imaging area.

[0100] In a specific application scenario, the irradiation field positioning module 32 can be used to determine the coordinate position of the opening area of ​​the ray source based on the opening size of the ray source and the coordinate position of the center position of the ray source tube; based on the coordinate position of the opening area of ​​the ray source and the vertical distance from the ray source to the detector, the coordinate position of the irradiation field area is obtained through a preset projection algorithm.

[0101] In a specific application scenario, the information fusion module 34 can be used to establish a coordinate conversion function between the physical coordinate system and the image coordinate system through a multi-point calibration method; according to the vertical distance from the ray source to the detector, the coordinate position of the detector imaging area and the coordinate position of the irradiation field area are converted into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image through the coordinate conversion function.

[0102] It should be noted that for other corresponding descriptions of the functional units involved in the auxiliary positioning device provided in this embodiment, please refer to Figures 1 to 7 The corresponding description in will not be repeated here.

[0103] Based on the above Figures 1 to 7 The method shown in FIG. 1 is a method for performing the above-mentioned operation. Accordingly, this embodiment further provides a storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned Figures 1 to 7 The auxiliary positioning method shown.

[0104] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product. The software product to be identified can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0105] Based on the above Figures 1 to 7 The method shown, and Figure 8In order to achieve the above-mentioned purpose, the embodiment of the auxiliary positioning device shown in the figure further provides a physical device for auxiliary positioning, which can be a personal computer, a server, a smart phone, a tablet computer, a smart watch, or other network devices, etc. The physical device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figures 1 to 7 The method shown.

[0106] Optionally, the physical device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0107] Those skilled in the art will understand that the physical device structure for auxiliary positioning provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0108] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the physical device hardware and the software resources to be identified, supporting the execution of the information processing program and other software and / or programs to be identified. The network communication module is used to enable communication between components within the storage medium and with other hardware and software in the physical information processing device.

[0109] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform, or by hardware. By applying the technical solution of the present application, first, the distance information between the ray source and the detector is obtained, and based on the distance information between the ray source and the detector, the coordinate position of the detector imaging area and the vertical distance from the ray source to the detector are determined. Then, the opening size of the ray source is obtained, and based on the opening size of the ray source and the vertical distance from the ray source to the detector, the coordinate position of the irradiation field area is determined. Then, a photographic image between the ray source and the detector is obtained, and based on the vertical distance from the ray source to the detector, the coordinate position of the detector imaging area and the coordinate position of the irradiation field area are converted into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image. Finally, the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image are superimposed and displayed. Compared with the prior art, the above method can ensure the accuracy of the positioning of the ray source and the detector, improve the positioning efficiency of the detector and the ray source, and reduce the problem of poor image quality caused by inappropriate exposure dose.

[0110] Those skilled in the art will understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application. Those skilled in the art will understand that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules of the above-mentioned implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0111] The serial numbers of the above application are for descriptive purposes only and do not represent the advantages or disadvantages of the implementation scenarios. The above disclosure only discloses several specific implementation scenarios of the present application, but the present application is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present application.

Claims

1. An auxiliary positioning method, characterized in that: The auxiliary positioning method is applied to an imaging system, wherein the imaging system includes a ray source and a detector, and the method includes: Acquire distance information between a ray source and a detector, and determine the coordinate position of an imaging area of ​​the detector and a vertical distance from the ray source to the detector based on the distance information between the ray source and the detector; wherein, acquiring the distance information between the ray source and the detector comprises: acquiring ranging information between a plurality of first positioning sensors mounted on the ray source and a plurality of second positioning sensors mounted on the detector; obtaining distance information between each of the first locators and each of the second locators through a positioning algorithm based on the ranging information between the plurality of first locators and the plurality of second locators; obtaining distance information between the ray source and the detector based on the distance information between each of the first locators and each of the second locators; wherein, the number of the first positioning sensors is at least four, and the at least four first positioning sensors are located in different planes, and the number of the second positioning sensors is at least three, and the at least three second positioning sensors are located in the same plane; Obtaining the opening size of the ray source, and determining the coordinate position of the irradiation field area according to the opening size of the ray source and the vertical distance from the ray source to the detector; Acquire a photographic image between the radiation source and the detector, and convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance between the radiation source and the detector; The photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image are superimposed and displayed.

2. The method according to claim 1, characterized in that The step of determining the coordinate position of the imaging area of ​​the detector and the vertical distance from the ray source to the detector based on the distance information between the ray source and the detector includes: Establish a physical coordinate system at the spatial position of the ray source and the detector; According to the distance information between the ray source and the detector, a first coordinate position of the positioning point on the detector in the physical coordinate system is obtained by using a preset spatial positioning algorithm; Determining a coordinate position of an imaging area of ​​the detector according to a first coordinate position of a positioning point on the detector in a physical coordinate system and a second coordinate position of the positioning point on the detector; The vertical distance from the ray source to the detector is obtained according to the vertical distance from the center position of the ray tube of the ray source to the imaging area of ​​the detector.

3. The method according to claim 1, characterized in that The method further comprises: The coordinate position of the imaging area of ​​the target detector is determined by taking the intersection of the center position of the tube of the ray source and the imaging area of ​​the detector in the vertical direction as the center position of the target detector and the direction parallel to the horizontal axis of the tube of the ray source as the setting direction of the target detector; converting the coordinate position of the target detector imaging area into the coordinate position of the target detector imaging area in the photographic image according to the vertical distance from the ray source to the detector; The photographic image and the coordinate position of the detector imaging area in the photographic image and the coordinate position of the target detector imaging area are superimposed and displayed.

4. The method according to claim 3, characterized in that The method further comprises: Determining an angular deviation value and a displacement deviation value between the detector imaging area and the target detector imaging area according to the coordinate position of the detector imaging area and the coordinate position of the target detector imaging area; The angle deviation value and the displacement deviation value between the detector imaging area and the target detector imaging area are displayed and / or broadcasted.

5. The method according to claim 1, wherein The step of determining the coordinate position of the irradiation field area according to the opening size of the ray source and the vertical distance from the ray source to the detector includes: Determine the coordinate position of the opening area of ​​the ray source according to the opening size of the ray source and the coordinate position of the center position of the ray source tube; The coordinate position of the irradiation field area is obtained by a preset projection algorithm according to the coordinate position of the ray source opening area and the vertical distance from the ray source to the detector.

6. The method according to claim 1, characterized in that Before converting the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image, the method further includes: Through the multi-point calibration method, the coordinate conversion function between the physical coordinate system and the pixel coordinate system is established; Then, converting the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance from the ray source to the detector includes: According to the vertical distance from the ray source to the detector, the coordinate position of the detector imaging area and the coordinate position of the irradiation field area are converted into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image through the coordinate conversion function.

7. A positioning auxiliary device, characterized in that: The device comprises: A detector positioning module, configured to obtain distance information between a ray source and a detector, and determine the coordinate position of an imaging area of ​​the detector and a vertical distance from the ray source to the detector based on the distance information between the ray source and the detector; wherein obtaining the distance information between the ray source and the detector comprises: obtaining ranging information between a plurality of first positioning sensors mounted on the ray source and a plurality of second positioning sensors mounted on the detector; obtaining distance information between each of the first locators and each of the second locators through a positioning algorithm based on the ranging information between the plurality of first locators and the plurality of second locators; and obtaining distance information between the ray source and the detector based on the distance information between each of the first locators and each of the second locators; wherein the number of the first positioning sensors is at least four, and the at least four first positioning sensors are located in different planes, and the number of the second positioning sensors is at least three, and the at least three second positioning sensors are located in the same plane; An irradiation field positioning module is used to obtain the opening size of the ray source and determine the coordinate position of the irradiation field area according to the opening size of the ray source and the vertical distance from the ray source to the detector; An image acquisition module is used to obtain photographic images from the radiation source to the detector; an information fusion module, configured to convert the coordinate position of the detector imaging area and the coordinate position of the irradiation field area into the coordinate position of the detector imaging area and the coordinate position of the irradiation field area in the photographic image according to the vertical distance from the ray source to the detector; The information display module is used to superimpose and display the photographic image and the coordinate position of the detector imaging area and / or the coordinate position of the irradiation field area in the photographic image.

8. A 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 6 are implemented.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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