Image scanning method, apparatus, magnetic resonance device, and storage medium

Abstract

The application relates to an image scanning method and device, a magnetic resonance equipment and a storage medium. The method comprises the following steps: acquiring initial pose information and motion parameters of a to-be-scanned object at a current time in an image scanning process, and acquiring a preset time delay of a scanning device; correcting scanning parameters of the scanning device at a preset time according to the initial pose information, the motion parameters at the current time and the preset time delay, and generating corrected scanning parameters; and performing image scanning on the to-be-scanned object at the preset time based on the corrected scanning parameters, and generating an image scanning result of the to-be-scanned object. In the motion correction, the inherent time delay existing in the motion correction process is considered, so that the matching degree of the corrected scanning parameters and the actual motion change of the to-be-scanned object is higher, the accuracy and effect of the motion correction are improved, and the quality of the scanning image after the motion correction is improved, and motion artifacts are reduced.

Description

Technical Field

[0001] This application relates to the field of motion correction technology, and in particular to an image scanning method, apparatus, magnetic resonance device, and storage medium. Background Technology

[0002] In medical image scanning, the subject is typically required to remain stationary to obtain high-quality medical scan images. However, in actual scanning processes, the subject inevitably undergoes varying degrees of motion, leading to artifacts in the resulting medical scan images.

[0003] To improve the quality of medical scan images, it is necessary to eliminate artifacts. Typically, motion correction can be used to eliminate artifacts in scanned images. This process involves adjusting the scanning parameters of the scanning device based on the actual movement of the object during scanning, thereby achieving real-time motion correction and eliminating artifacts in the scanned image.

[0004] However, traditional image scanning methods are not very effective at motion correction of the scanned object during the scanning process, resulting in poor quality of the obtained medical scan images. Summary of the Invention

[0005] Therefore, it is necessary to provide an image scanning method, apparatus, magnetic resonance imaging device, computer-readable storage medium, and computer program product that can improve motion correction effects and thus improve the quality of medical scan images, in order to address the aforementioned technical problems.

[0006] In a first aspect, this application provides an image scanning method, the method comprising:

[0007] During image scanning, the initial pose information and motion parameters of the object to be scanned at the current moment are acquired;

[0008] The preset time delay of the scanning device is obtained, and the scanning parameters of the scanning device at the preset time are corrected based on the initial pose information and motion parameters at the current moment and the preset time delay, and the corrected scanning parameters are generated.

[0009] Based on the corrected scanning parameters, the object to be scanned is scanned at a preset time to generate the image scanning result of the object to be scanned.

[0010] In one embodiment, based on the initial pose information and motion parameters at the current moment and a preset time delay, the scanning parameters of the scanning device at a preset time are corrected to generate corrected scanning parameters, including:

[0011] Based on the initial pose information and motion parameters at the current moment and the preset time delay, calculate the predicted pose information of the object to be scanned at the preset time.

[0012] The scanning parameters of the scanning device at a preset time are corrected based on the predicted pose information, and the corrected scanning parameters are generated.

[0013] In one embodiment, based on the initial pose information and motion parameters at the current moment and a preset time delay, the predicted pose information of the object to be scanned at a preset time is calculated, including:

[0014] The initial pose information and motion parameters at the current moment, along with the preset time delay, are input into the preset prediction algorithm to calculate the predicted pose information of the object to be scanned at the preset time.

[0015] In one embodiment, obtaining the initial pose information and motion parameters of the object to be scanned at the current moment includes:

[0016] Obtain the initial pose information of the object to be scanned at the current moment, as well as the historical pose information corresponding to multiple historical moments before the current moment;

[0017] Based on the initial pose information and historical pose information, determine the motion parameters of the object to be scanned at the current moment.

[0018] In one embodiment, the method further includes:

[0019] For multiple historical image scanning processes, the actual duration of the scanning device in each historical image scanning process is obtained;

[0020] The actual duration of each historical image scanning process is averaged to generate a preset time delay.

[0021] In one embodiment, the method further includes:

[0022] Obtain the actual pose information of the object to be scanned at a preset time;

[0023] Based on the actual pose information and the predicted pose information, the preset prediction algorithm is optimized to obtain the optimized preset prediction algorithm.

[0024] In one embodiment, the initial pose information includes six-degree-of-freedom pose information, and the motion parameters include motion parameters in the six-degree-of-freedom directions, which include velocity and acceleration in each degree-of-freedom direction.

[0025] Secondly, this application also provides an image scanning apparatus. The apparatus includes:

[0026] The first acquisition module is used to acquire the initial pose information and motion parameters of the object to be scanned at the current moment during the image scanning process.

[0027] The calibration module is used to obtain the preset time delay of the scanning device, and based on the initial pose information and motion parameters at the current moment and the preset time delay, to calibrate the scanning parameters of the scanning device at the preset time and generate the calibrated scanning parameters.

[0028] The scanning module is used to perform image scanning on the object to be scanned at preset times based on the calibrated scanning parameters, and generate the image scanning result of the object to be scanned.

[0029] Thirdly, this application also provides a magnetic resonance imaging (MRI) device. The MRI device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of any of the methods in the first aspect.

[0030] Fourthly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of any of the methods in the first aspect.

[0031] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of any of the methods in the first aspect.

[0032] The aforementioned image scanning method, apparatus, magnetic resonance imaging (MRI) device, storage medium, and program product acquire the initial pose information and motion parameters of the object to be scanned at the current moment during the image scanning process, as well as the preset time delay of the scanning device. Then, based on the initial pose information, motion parameters, and the preset time delay, the scanning parameters of the scanning device at the preset time are corrected to generate corrected scanning parameters. Based on the corrected scanning parameters, an image scan of the object to be scanned is performed at the preset time to generate the image scan result of the object. In other words, for motion changes of the object to be scanned during the image scanning process, the scanning parameters can be corrected in real time based on these motion changes. Furthermore, the inherent time delay present during motion correction is considered, resulting in a higher degree of matching between the motion-corrected scanning parameters and the actual motion changes of the object to be scanned. This improves the accuracy and effectiveness of motion correction, thereby enhancing the quality of the scanned image after motion correction and reducing motion artifacts. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating an image scanning method in one embodiment;

[0034] Figure 2 This is a flowchart illustrating the image scanning method in another embodiment;

[0035] Figure 3 This is a flowchart illustrating the image scanning method in another embodiment;

[0036] Figure 4 This is a flowchart illustrating the image scanning method in another embodiment;

[0037] Figure 5 This is a flowchart illustrating the image scanning method in another embodiment;

[0038] Figure 6 This is a structural block diagram of an image scanning device in one embodiment;

[0039] Figure 7 This is a diagram of the internal structure of a magnetic resonance device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The image scanning method provided in this application is applicable to image scanning processes that include motion correction. During the image scanning process, due to the autonomous or involuntary movement of the object to be scanned, motion artifacts may appear in the scanned image. In severe cases, this will result in poor image quality and render the image unusable.

[0042] Therefore, in order to eliminate motion artifacts in scanned images, the scanning parameters of the scanning device are adjusted in real time according to the motion of the object being scanned during the image scanning process. For example, the prospective motion correction algorithm used in magnetic resonance imaging equipment.

[0043] However, for traditional motion correction algorithms, due to inherent time delays caused by objective factors such as the algorithm's computation, communication, and system, there is a difference between the motion changes of the object to be scanned at the moment of motion correction and the motion changes of the object to be scanned detected at that moment. In other words, when performing motion correction based on the motion changes of the object to be scanned at the current moment, due to the influence of inherent time delays, other motion changes of the object to be scanned may have occurred during that inherent time delay period. Therefore, the motion correction performed cannot accurately match the motion changes of the object to be scanned, resulting in low accuracy of motion correction and consequently, low image quality.

[0044] For example, taking magnetic resonance imaging (MRI) as an example, the motion correction process may include a camera acquiring real-time video of the object to be scanned, determining a depth image based on the real-time video, sending the depth image to a processing device (such as a computer), the processing device determining whether the object to be scanned has moved based on the depth image, and determining the motion change information; then, the motion change information is sent to the MRI system, the link correction module in the MRI system determines the corrected scanning parameters based on the motion change information, and finally, the scanning device is controlled to perform image scanning based on the corrected scanning parameters; it can be seen that this motion correction process includes multiple computational processing steps and communication processes between different modules.

[0045] Furthermore, regarding the inherent latency mentioned above due to objective reasons, even if the impact of latency can be minimized by reducing computation time or communication time, the existence of inherent latency still makes it impossible to achieve accurate motion correction, resulting in poor motion correction effects and poor image quality.

[0046] Based on this, embodiments of this application provide an image scanning method that can comprehensively consider inherent time delay. When the inherent time delay cannot be reduced, the continuity of motion can be used to reduce the impact of inaccurate motion correction caused by the delay, thereby compensating for the correction error caused by the delay, improving the effect of motion correction, and thus improving the quality of the scanned image.

[0047] The image scanning method provided in this application embodiment can be applied to medical imaging scanning equipment, which may include, but is not limited to, magnetic resonance imaging (MRI) equipment, computed tomography (CT) equipment, or other medical imaging equipment; optionally, the image scanning method can also be applied to a processing device that is communicatively connected to the medical imaging scanning equipment. The processing device may be a terminal or a server. The server may be a standalone server or a server cluster composed of multiple servers.

[0048] In one embodiment, such as Figure 1 As shown, an image scanning method is provided. Taking the application of this method to the aforementioned medical imaging scanning device as an example, the method includes the following steps:

[0049] Step 101: During the image scanning process, acquire the initial pose information and motion parameters of the object to be scanned at the current moment.

[0050] The initial pose information may include six degrees of freedom pose information, namely, translational degrees of freedom along the three Cartesian coordinate axes x, y, and z in space and rotational degrees of freedom about these three coordinate axes; the motion parameters may include motion parameters in the six degrees of freedom directions, that is, motion parameters in each degree of freedom direction; for example, the motion parameters in the six degrees of freedom directions may include velocities and accelerations in each degree of freedom direction, namely translational velocity and acceleration along the x-axis, translational velocity and acceleration along the y-axis, translational velocity and acceleration along the z-axis, rotational velocity and acceleration along the x-axis, rotational velocity and acceleration along the y-axis, and rotational velocity and acceleration along the z-axis.

[0051] Optionally, different sensors can be set to collect real-time motion data of the object to be scanned during the image scanning process. By analyzing the collected real-time motion data, the initial pose information and motion parameters of the object to be scanned at the current moment can be obtained. For example, the sensor may include, but is not limited to, a velocity sensor, an acceleration sensor, etc. The sensor can be connected to the object to be scanned to obtain the real-time motion data of the object to be scanned. For example, the sensor can be attached to the object to be scanned, or the object to be scanned can be placed in a device that includes different sensors. Of course, the sensor can also be connected to the object to be scanned in other ways. This application embodiment does not specifically limit this.

[0052] Alternatively, machine vision can be used to acquire real-time images / videos of the object to be scanned via a camera. By analyzing these images / videos, the initial pose and motion parameters of the object at the current moment can be obtained. Machine vision eliminates the need for sensors or other markers on the object; by directly acquiring real-time images / videos of the object through a camera, the initial pose and motion parameters can be obtained. This not only improves the accuracy of real-time motion detection but also enhances the comfort of the scanned object.

[0053] Optionally, real-time motion data of the object to be scanned during the image scanning process can be obtained by analyzing historical scanning data of the object before the current moment, and the initial pose information and motion parameters of the object to be scanned at the current moment can be obtained by analyzing the collected real-time motion data.

[0054] Step 102: Obtain the preset time delay of the scanning device, and based on the initial pose information and motion parameters at the current moment and the preset time delay, correct the scanning parameters of the scanning device at the preset time to generate the corrected scanning parameters.

[0055] The preset delay is determined based on the actual time required to correct the scanning parameters of the scanning device during the historical image scanning process; that is, the preset delay is the time between the moment when the motion change of the object to be scanned is detected and the moment when the correction of the scanning parameters of the scanning device is completed. This time may include the time for data analysis and the time for data transmission between modules.

[0056] For example, by accurately monitoring the historical image scanning process, the actual time required for the scanning device to correct scanning parameters for motion changes can be obtained, and this actual time can be used as the preset delay of the scanning device. The historical image scanning process can be the most recent image scanning process of the scanning device. That is, the preset delay of the scanning device can be obtained again based on the previous scanning process during each scan.

[0057] It should be noted that the preset delay can also be determined based on any one or more historical image scanning processes; of course, as the scanning equipment is used for a long time, the preset delay may also change. Therefore, the preset delay can be updated according to the preset interval, that is, the preset delay is re-determined based on the actual time required to correct the scanning parameters of the scanning equipment during the historical image scanning process.

[0058] Optionally, after obtaining the preset delay of the scanning device, the scanning parameters of the scanning device at the preset time can be corrected based on the initial pose information and motion parameters at the current moment, as well as the preset delay, to generate corrected scanning parameters. The preset time is determined based on the current moment and the preset delay. For example, the preset time can be the sum of the current moment and the preset delay, i.e., the preset time is the moment after the preset delay from the current moment. Optionally, the preset time can also be the sum of the current moment, the preset delay, and the preset error to reduce correction errors.

[0059] For example, the initial pose information of the object to be scanned at the current moment, the motion parameters at the current moment, and the preset time delay can be input into the preset correction algorithm / model to correct the scanning parameters of the scanning device at the preset moment, and output the corrected scanning parameters of the scanning device at the preset moment.

[0060] Optionally, the correction may include gradient correction, such as performing gradient correction on the MRI sequence to obtain the scanning parameters corresponding to the corrected sequence; of course, it may also include other types of correction. It should be noted that different types of correction correspond to different correction methods, and correspondingly, the above-mentioned preset correction algorithms / models are also different.

[0061] Step 103: Based on the corrected scanning parameters, perform image scanning on the object to be scanned at a preset time to generate the image scanning result of the object to be scanned.

[0062] In other words, at a preset time, the corrected scanning parameters are used to perform an image scan on the object to be scanned, so as to generate the image scan result of the object to be scanned at that time.

[0063] In the aforementioned image scanning method, the initial pose information and motion parameters of the object to be scanned at the current moment are obtained during the image scanning process, along with the preset time delay of the scanning device. Then, based on the initial pose information, motion parameters, and the preset time delay, the scanning parameters of the scanning device at the preset time are corrected to generate corrected scanning parameters. Based on the corrected scanning parameters, the object to be scanned is scanned at the preset time to generate the image scanning result of the object to be scanned. In other words, for the motion changes of the object to be scanned that occur during the image scanning process, the scanning parameters can be corrected in real time according to the motion changes. Furthermore, the inherent time delay existing in the motion correction process is taken into account, resulting in a higher degree of matching between the motion-corrected scanning parameters and the actual motion changes of the object to be scanned. This improves the accuracy and effect of motion correction, thereby improving the quality of the scanned image after motion correction and reducing motion artifacts.

[0064] Figure 2 This is a flowchart illustrating an image scanning method in another embodiment. This embodiment relates to an optional implementation process whereby a medical imaging scanning device corrects its scanning parameters at a preset time based on the initial pose information and motion parameters at the current moment, and a preset time delay, generating corrected scanning parameters. Based on the above embodiment, as... Figure 2 As shown, step 102 above includes:

[0065] Step 201: Calculate the predicted pose information of the object to be scanned at the preset time based on the initial pose information and motion parameters at the current moment and the preset time delay.

[0066] The preset time is the sum of the current time and the preset delay, that is, the preset time is the time after the preset delay of the current time.

[0067] Optionally, the initial pose information, motion parameters, and preset time delay at the current moment can be input into a preset mathematical algorithm to calculate the predicted pose information of the object to be scanned at the preset time. If the initial pose information at the current moment includes six degrees of freedom pose information and the motion parameters at the current moment include motion parameters in the six degrees of freedom directions, the predicted pose information in the direction of each degree of freedom can be calculated based on the initial pose information and the motion parameters in the direction of that degree of freedom. For example, the predicted position of the x-axis after the preset time delay (i.e., the preset time) can be calculated based on the initial position of the x-axis, the translational velocity of the x-axis, the translational acceleration of the x-axis, and the preset time delay.

[0068] Optionally, the initial pose information, motion parameters, and preset time delay at the current moment can be input into the preset prediction algorithm to calculate the predicted pose information of the object to be scanned at the preset time. Optionally, the preset prediction algorithm can be a Kalman filter algorithm, an improved algorithm based on the Kalman filter algorithm, or other types of prediction algorithms.

[0069] Step 202: Correct the scanning parameters of the scanning device at a preset time based on the predicted pose information to generate the corrected scanning parameters.

[0070] The scanning parameters at the preset time can be determined based on the assumption that the object to be scanned does not move during the image scanning process.

[0071] Typically, during image scanning, the scanning parameters at each moment are matched to the pose of the object being scanned at that moment. When the object undergoes a change in motion at a certain moment, the scanning parameters of the scanning equipment need to be adjusted according to the change in motion, so that the adjusted scanning parameters can match the pose of the object after the motion, resulting in an accurate scanned image. For example, when performing head image scanning, the scanning parameters should match the forward pose of the head, such as the X-ray tube being aligned with the forward orientation of the head. When the head rotates, causing it to tilt, the scanning parameters of the scanning equipment should be adjusted accordingly, so that the scanning parameters still maintain a forward alignment with the head. This means that the X-ray tube can be controlled to rotate accordingly, and the rotation angle of the X-ray tube should be consistent with the rotation angle of the head.

[0072] Optionally, after determining the preset pose information of the object to be scanned at a preset time, the scanning parameters of the scanning device at the preset time can be corrected based on the preset pose information to generate the corrected scanning parameters corresponding to the preset time.

[0073] In this embodiment, based on the initial pose information and motion parameters at the current moment and the preset time delay, the predicted pose information of the object to be scanned at the preset time is calculated, and the scanning parameters of the scanning device at the preset time are corrected based on the predicted pose information to generate the corrected scanning parameters; this can improve the accuracy of motion correction.

[0074] Figure 3 This is a flowchart illustrating an image scanning method in another embodiment. This embodiment relates to an optional implementation process for a medical imaging scanning device to acquire the initial pose information and motion parameters of the object to be scanned at the current moment. Based on the above embodiment, as... Figure 3 As shown, step 101 above includes:

[0075] Step 301: Obtain the initial pose information of the object to be scanned at the current moment and the historical pose information corresponding to multiple historical moments before the current moment.

[0076] Step 302: Determine the motion parameters of the object to be scanned at the current moment based on the initial pose information and historical pose information.

[0077] The motion parameters may include the current velocity and acceleration.

[0078] Optionally, the motion velocity at the current moment can be determined based on the initial pose information at the current moment and the historical pose information at the previous moment, and the motion acceleration at the current moment can be determined based on the initial pose information at the current moment, the historical pose information at the previous moment, and the historical pose information at the moment before that.

[0079] Optionally, multiple motion velocities can be calculated based on the initial pose information at the current moment and multiple historical pose information, and the average velocity of these multiple motion velocities can be used as the motion velocity of the object to be scanned at the current moment; similarly, multiple motion accelerations can be calculated based on the initial pose information at the current moment and multiple historical pose information, and the average acceleration of these multiple motion accelerations can be used as the motion acceleration of the object to be scanned at the current moment.

[0080] In this embodiment, by acquiring the initial pose information of the object to be scanned at the current moment and the historical pose information corresponding to multiple historical moments before the current moment, and then determining the motion parameters of the object to be scanned at the current moment based on the initial pose information and the historical pose information, the accuracy of the motion parameters can be improved, thereby improving the accuracy of motion correction.

[0081] Figure 4 This is a flowchart illustrating an image scanning method in another embodiment. This embodiment relates to an optional implementation process for determining a preset time delay in a medical imaging scanning device, based on the above embodiments, such as... Figure 4 As shown, the above method also includes:

[0082] Step 401: For multiple historical image scanning processes, obtain the actual duration of each historical image scanning process by the scanning device.

[0083] Optionally, a single image scan may include multiple motion corrections, and the actual duration required for each motion correction can be obtained separately. Then, the longest actual duration of the multiple motion corrections in the image scan process can be used as the actual duration of the image scan process. Optionally, the average actual duration of the multiple motion corrections in the image scan process can also be used as the actual duration of the image scan process.

[0084] Step 402: Average the actual duration of each historical image scanning process to generate a preset delay.

[0085] Optionally, the preset delay can be obtained by averaging the actual duration of each historical image scanning process, or by weighted averaging the actual duration of each historical image scanning process.

[0086] In this embodiment, for multiple historical image scanning processes, the actual duration of each historical image scanning process is obtained, and the actual duration of each historical image scanning process is averaged to generate a preset delay; this can improve the rationality and accuracy of the preset delay, thereby improving the accuracy of motion correction.

[0087] Figure 5 This is a flowchart illustrating an image scanning method in another embodiment. This embodiment relates to an optional implementation process for optimizing a preset prediction algorithm using a medical imaging scanning device. Based on the above embodiments, such as... Figure 5 As shown, the above method also includes:

[0088] Step 501: Obtain the actual pose information of the object to be scanned at a preset time.

[0089] Step 502: Based on the actual pose information and the predicted pose information, optimize the preset prediction algorithm to obtain the optimized preset prediction algorithm.

[0090] Optionally, the pose error can be determined based on the actual pose information and the predicted pose information. Then, the preset prediction algorithm can be optimized based on the pose error to obtain an optimized preset prediction algorithm. This allows for motion correction of the motion changes at the next moment based on the optimized preset prediction algorithm. Through closed-loop control and adjustment, the error of motion correction can be reduced and the accuracy of motion correction can be improved.

[0091] In this embodiment, the actual pose information of the object to be scanned at a preset time is obtained, and the preset prediction algorithm is optimized based on the actual pose information and the predicted pose information to obtain the optimized preset prediction algorithm; this can avoid the cumulative error leading to poor motion correction effect, reduce motion correction error, and improve the accuracy of motion correction.

[0092] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0093] Based on the same inventive concept, this application also provides an image scanning apparatus for implementing the image scanning method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more image scanning apparatus embodiments provided below can be found in the limitations of the image scanning method described above, and will not be repeated here.

[0094] In one embodiment, such as Figure 6 As shown, an image scanning device is provided, including: a first acquisition module 601, a correction module 602, and a scanning module 603, wherein:

[0095] The first acquisition module 601 is used to acquire the initial pose information and motion parameters of the object to be scanned at the current moment during the image scanning process.

[0096] The calibration module 602 is used to obtain the preset time delay of the scanning device, and to calibrate the scanning parameters of the scanning device at the preset time based on the initial pose information and motion parameters at the current moment and the preset time delay, so as to generate the calibrated scanning parameters.

[0097] The scanning module 603 is used to perform image scanning on the object to be scanned at a preset time based on the calibrated scanning parameters, and generate the image scanning result of the object to be scanned.

[0098] In one embodiment, the correction module 602 includes a calculation unit and a generation unit; wherein, the calculation unit is used to calculate the predicted pose information of the object to be scanned at a preset time based on the initial pose information and motion parameters at the current time and a preset time delay; the generation unit is used to correct the scanning parameters of the scanning device at the preset time based on the predicted pose information and generate the corrected scanning parameters.

[0099] In one embodiment, the aforementioned calculation unit is specifically used to input the initial pose information and motion parameters of the current moment and the preset time delay into the preset prediction algorithm to calculate the predicted pose information of the object to be scanned at the preset time.

[0100] In one embodiment, the first acquisition module 601 includes an acquisition unit and a determination unit; wherein, the acquisition unit is used to acquire the initial pose information of the object to be scanned at the current moment and the historical pose information corresponding to multiple historical moments before the current moment; the determination unit is used to determine the motion parameters of the object to be scanned at the current moment based on the initial pose information and the historical pose information.

[0101] In one embodiment, the device further includes a second acquisition module and a generation module; wherein the second acquisition module is used to acquire the actual duration of the scanning device in each historical image scanning process for multiple historical image scanning processes; the generation module is used to perform average processing on the actual duration of each historical image scanning process to generate a preset delay.

[0102] In one embodiment, the device further includes a third acquisition module and an optimization module; wherein the third acquisition module is used to acquire the actual pose information of the object to be scanned at a preset time; and the optimization module is used to optimize the preset prediction algorithm based on the actual pose information and the predicted pose information to obtain the optimized preset prediction algorithm.

[0103] In one embodiment, the initial pose information includes six-degree-of-freedom pose information, and the motion parameters include motion parameters in the six-degree-of-freedom directions, which include velocity and acceleration in each degree-of-freedom direction.

[0104] Each module in the aforementioned image scanning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0105] In one embodiment, a magnetic resonance device is provided, the internal structure of which can be shown as follows: Figure 7As shown. The magnetic resonance imaging (MRI) device includes a processor, memory, and communication interface connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an image scanning method. Optionally, the MRI device may also include a display screen and an input device. The display screen can be an LCD screen or an e-ink display screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad located on the outer casing of the MRI device, or an external keyboard, touchpad, or mouse, etc.

[0106] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0107] In one embodiment, a magnetic resonance device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the image scanning methods in the various embodiments above.

[0108] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the image scanning methods described in the various embodiments above.

[0109] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the image scanning methods described in the various embodiments above.

[0110] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0111] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, 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, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0113] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An image scanning method, characterized in that, The method includes: During image scanning, the initial pose information and motion parameters of the object to be scanned at the current moment are acquired; A preset delay of the scanning device is obtained, and the scanning parameters of the scanning device at the preset time are corrected based on the initial pose information and motion parameters at the current time and the preset delay to generate corrected scanning parameters; the preset delay is determined based on the actual time required to correct the scanning parameters of the scanning device during the historical image scanning process; the preset time is determined based on the current time and the preset delay. Based on the corrected scanning parameters, the object to be scanned is scanned at the preset time to generate the image scanning result of the object to be scanned.

2. The method according to claim 1, characterized in that, The step of correcting the scanning parameters of the scanning device at a preset time based on the initial pose information and motion parameters at the current moment and the preset time delay, and generating corrected scanning parameters, includes: Based on the initial pose information and motion parameters at the current moment and the preset time delay, calculate the predicted pose information of the object to be scanned at the preset time. The scanning parameters of the scanning device at the preset time are corrected based on the predicted pose information to generate corrected scanning parameters.

3. The method according to claim 2, characterized in that, The step of calculating the predicted pose information of the object to be scanned at a preset time based on the initial pose information and motion parameters at the current moment and the preset time delay includes: The initial pose information and motion parameters at the current moment, along with the preset time delay, are input into a preset prediction algorithm to calculate the predicted pose information of the object to be scanned at the preset time.

4. The method according to any one of claims 1-3, characterized in that, The process of obtaining the initial pose information and motion parameters of the object to be scanned at the current moment includes: Obtain the initial pose information of the object to be scanned at the current moment and the historical pose information corresponding to multiple historical moments before the current moment; Based on the initial pose information and the historical pose information, the motion parameters of the object to be scanned at the current moment are determined.

5. The method according to claim 1, characterized in that, The method further includes: For each of the multiple historical image scanning processes, the actual duration of the scanning device in each of the historical image scanning processes is obtained; The average duration of each historical image scanning process is averaged to generate the preset delay.

6. The method according to claim 3, characterized in that, The method further includes: Obtain the actual pose information of the object to be scanned at the preset time; Based on the actual pose information and the predicted pose information, the preset prediction algorithm is optimized to obtain the optimized preset prediction algorithm.

7. The method according to claim 1, characterized in that, The initial pose information includes six degrees of freedom pose information, and the motion parameters include motion parameters in the six degrees of freedom directions, including velocity and acceleration in each degree of freedom direction.

8. An image scanning device, characterized in that, The device includes: The first acquisition module is used to acquire the initial pose information and motion parameters of the object to be scanned at the current moment during the image scanning process. A correction module is used to acquire a preset delay of the scanning device, and to correct the scanning parameters of the scanning device at a preset time based on the initial pose information and motion parameters at the current time and the preset delay, thereby generating corrected scanning parameters; the preset delay is determined based on the actual time required to correct the scanning parameters of the scanning device during historical image scanning; the preset time is determined based on the current time and the preset delay. The scanning module is used to perform image scanning on the object to be scanned at the preset time based on the corrected scanning parameters, and generate the image scanning result of the object to be scanned.

9. A magnetic resonance imaging (MRI) device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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

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