Three-dimensional imaging methods, devices, and storage media based on X-ray equipment

Abstract

This application relates to the field of medical image processing, and provides a three-dimensional imaging method, apparatus, device, and storage medium based on X-ray equipment, which can be combined with X-ray equipment to obtain more intuitive medical three-dimensional images. The method includes: determining the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned of the subject; calculating the number of scanning segments N to be divided when scanning the area to be scanned of the subject, based on the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray equipment in the z-axis direction, where N is an integer greater than 1; starting from the starting point of the area to be scanned of the subject, the X-ray equipment scans the area to be scanned of the subject segment by segment according to the number of scanning segments, obtaining N segments of scan image sequence; and stitching the N segments of scan image sequence into a target three-dimensional image by calculating the matching points between every two adjacent segments of the N segments of scan image sequence.

Description

Technical Field

[0001] This invention relates to the field of medical X-ray image processing, and in particular to a three-dimensional imaging method, device, and storage medium based on X-ray equipment. Background Technology

[0002] Digital radiography (DR) is a technology that uses computer control to directly perform digital X-ray imaging. X-ray detectors convert the X-ray information penetrating the human body into digital signals, which are then processed and displayed by a computer. Due to its convenience, low cost, and wide range of applications, DR equipment is widely used in physical examinations and medical imaging diagnosis, and is one of the main pieces of equipment in medical imaging diagnosis. Typically, DR equipment outputs two-dimensional images, in which human tissues are superimposed, affecting the acquisition of intermediate medical test results. Although CT scans, commonly used in hospitals, can display three-dimensional information about the human body, CT examinations are expensive and can only be performed in a supine position, which cannot meet the needs of some patients requiring standing positions. Therefore, there is an urgent need for a three-dimensional image stitching method and system using X-ray equipment such as DR. Summary of the Invention

[0003] This application provides a three-dimensional imaging method, device, and storage medium based on X-ray equipment, which can be combined with X-ray equipment to obtain more intuitive medical three-dimensional images.

[0004] On the one hand, this application provides a three-dimensional imaging method based on X-ray equipment, including:

[0005] Determine the scanning length of the X-ray equipment in the z-axis direction based on the area to be scanned for the patient.

[0006] Based on the length of a single image sequence, the overlapping area of ​​the scan, and the scan length of the X-ray device in the z-axis direction, calculate the number of scan segments N that need to be divided when scanning the required scan area of ​​the subject, where N is an integer greater than 1;

[0007] Starting from the beginning of the area to be scanned on the subject, the X-ray device scans the area to be scanned on the subject segment by segment according to the number of scan segments, and obtains N segments of scan image sequence;

[0008] By calculating the matching points between every two adjacent scanned image sequences in the N-segment scanned image sequence, the N-segment scanned image sequence is stitched together into a target three-dimensional image.

[0009] On the other hand, this application provides a three-dimensional imaging device based on an X-ray equipment, comprising:

[0010] The determination module is used to determine the scanning length of the X-ray equipment in the z-axis direction based on the area to be scanned by the examinee.

[0011] The calculation module is used to calculate the number of scanning segments N that need to be divided when scanning the required scanning area of ​​the subject, based on the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray device in the z-axis direction, where N is an integer greater than 1;

[0012] The acquisition module is used to scan the required scanning area of ​​the subject segment by segment according to the number of scanning segments, starting from the starting point of the area to be scanned by the subject, so as to obtain N segments of scan image sequence;

[0013] The stitching module is used to stitch the N scanned image sequences into a target three-dimensional image by calculating the matching points between every two adjacent scanned image sequences in the N scanned image sequence.

[0014] Thirdly, this application provides an apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the technical solution of the three-dimensional imaging method based on the X-ray device described above.

[0015] Fourthly, this application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the technical solution of the three-dimensional imaging method based on X-ray equipment described above.

[0016] As can be seen from the technical solution provided in this application, when calculating the number of scanning segments N needed to scan the required area of ​​the examinee, starting from the starting point of the area to be scanned, the X-ray equipment scans the area segment by segment according to the number of scanning segments, obtaining N segments of scan image sequence. By calculating the matching points between each adjacent two segments of the N segments of scan image sequence, the N segments of scan image sequence are stitched together to form the target three-dimensional image. Compared with the existing CT scan technology, on the one hand, this application does not restrict the examinee's position and can scan the examinee in any position, including standing; on the other hand, the target three-dimensional image is stitched together from N segments of scan image sequence, which is more intuitive to observe than a two-dimensional image and is more conducive to obtaining intermediate test results in clinical practice. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram illustrating a scenario where a DR device is used to achieve three-dimensional imaging, as shown in an embodiment of this application.

[0019] Figure 2 This is a flowchart of a three-dimensional imaging method based on X-ray equipment provided in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of an X-ray device scanning the required area of ​​a subject segment by segment according to the number of scanning segments N when scanning the area to be scanned, as provided in the embodiments of this application.

[0021] Figure 4 The search range and scanned image sequence s provided in the embodiments of this application are... i With scanned image sequence s i+1 A schematic diagram of the first matching point;

[0022] Figure 5 This application provides an embodiment of a reference image Pc or a sampled image sequence p{p1, p2, ..., p}. x , ..., p n A schematic diagram of the region of interest retained after removing information outside the preset region from any sampled image in the image;

[0023] Figure 6 This is a schematic diagram provided in this application, showing how one-dimensional vectors Lc and Lx are obtained by projecting Fhc and Fhx onto the center channel with the origin of the frequency domain coordinate system as the center.

[0024] Figure 7 The fusion region and scanned image sequence s provided in the embodiments of this application are... i With scanned image sequence s i+1 A schematic diagram of the second matching point;

[0025] Figure 8 This application provides an embodiment of the scanning image sequence s. i With scanned image sequence s i+1 A schematic diagram showing the addition of markers at the four corners of the fused image of the second matching point;

[0026] Figure 9This is a schematic diagram of the structure of a three-dimensional imaging device based on X-ray equipment provided in an embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the device provided in the embodiments of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] In this specification, adjectives such as "first" and "second" are used only to distinguish one element or action from another, without necessarily requiring or implying any actual such relationship or order. Where circumstances permit, reference to an element, component, or step (etc.) should not be construed as limited to only one element, component, or step, but may include one or more of the elements, components, or steps, etc.

[0030] For ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale.

[0031] This application proposes a three-dimensional imaging method based on X-ray equipment, applicable to medical digital X-ray (DR) and other X-ray devices. These X-ray devices are generally equipped with a rotatable footrest. Taking a DR device as an example, see attached... Figure 1 The diagram shown is a schematic representation of a scenario where a DR (Digital Radiography) device is used to achieve three-dimensional imaging, as illustrated in an embodiment of this application. When the patient stands on the rotating footrest, the X-ray tube of the DR device emits X-rays towards the patient. As the rotating footrest causes the patient to rotate, a sequence of scanned images of the patient from various angles is obtained, formed by the planar detector behind the scanning table. The longitudinal direction of the planar detector corresponds to the z-axis direction. When the planar detector and the X-ray tube are located at a position P in the z-axis direction (or a direction parallel to the z-axis direction),... i After completing one scan of the subject and obtaining a sequence of scan images, the planar plate detector and X-ray tube move to the next position P along the z-axis (or in a direction parallel to the z-axis). i+1 As the rotating footrest causes the patient to rotate, images of the patient at various angles are obtained from the planar detector behind the scanning table at position P. i+1The resulting sequence of scanned images is then processed. This process is repeated to complete the scanning of all required areas of the subject. It should be noted that each segment of the scanned image sequence obtained by the planar detector and X-ray tube at various positions along the z-axis can be saved as a slice sequence. Each segment contains multiple slice images, and each slice image contains cross-sectional information of a specific area of ​​the subject to be scanned when the planar detector and X-ray tube are at a certain position along the z-axis. Furthermore, since the distance the planar detector and X-ray tube move along the z-axis (or in a direction parallel to the z-axis) (hereinafter referred to as the step size) is not very large, there will inevitably be overlap between any two consecutive segments of the resulting scanned image sequence along the z-axis (or in a direction parallel to the z-axis). The following is combined with… Figure 1 The example scenario illustrates the technical solution of this application in detail.

[0032] Please see Figure 2 This application provides a three-dimensional imaging method based on X-ray equipment, which mainly includes steps S201 to S204, as detailed below:

[0033] Step S201: Determine the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned for the subject.

[0034] In this embodiment, the area to be scanned can be any part of the subject, such as the abdomen, chest, thigh, or calf, etc. The scanning length of the X-ray equipment in the z-axis direction is the length of the area to be scanned in the z-axis direction, determined by the start and end points of the area to be scanned in the z-axis direction. For example, when the area to be scanned is the calf, the length of the calf in the z-axis direction can be determined by a point on the side of the ankle and knee in the z-axis direction. In this embodiment, the scanning length of the X-ray equipment in the z-axis direction is denoted as Z. size It should be noted that the z-axis direction mentioned in the embodiments of this application can also be a direction parallel to the z-axis direction. Unless otherwise specified, all references to the z-axis direction herein refer to either the z-axis direction or a direction parallel to the z-axis direction.

[0035] Step S202: Based on the length of a single image sequence, the overlapping area of ​​the scan, and the scan length of the X-ray device in the z-axis direction, calculate the number of scan segments N that need to be divided when scanning the required parts of the subject, where N is an integer greater than 1.

[0036] In this embodiment, the length of a single image sequence refers to the length of a scanned image sequence obtained by scanning the required area of ​​the subject when the planar detector and X-ray tube of the X-ray equipment are located at a certain position in the z-axis direction. The overlapping area is the overlap range of two consecutive scanned image sequences in the z-axis direction. Here, the length of a single image sequence is denoted as Z. single The overlapping area of ​​the scan is denoted as Z. rad Specifically, based on the length of a single image sequence, the overlapping area of ​​the scan, and the scan length of the X-ray equipment in the z-axis direction, it can be calculated according to the formula... Calculate the number of scanning segments N required when scanning the desired areas of the subject, where Z size Indicates the scan length of the X-ray equipment in the z-axis direction, symbol This indicates rounding down the expression or calculation result. It should be noted that since the planar detector and the X-ray tube move synchronously, the position of the planar detector in the z-axis direction is also the position of the X-ray tube in the z-axis direction, and simultaneously the position of a segment of the scanned image sequence obtained in each scan in the z-axis direction. Furthermore, since the planar detector and the scanned image sequence are not a point in the z-axis direction, but a line, the position of the planar detector or the scanned image sequence in the z-axis direction can be the position of the center point of the planar detector or the center point of the scanned image sequence in the z-axis direction. And from... Figure 1 or Figure 3 As can be seen, the center point of the planar plate detector (or a single-segment scan image sequence) is also the midpoint of the base of an isosceles triangle formed by the centroid of the X-ray tube and the two endpoints of the planar plate detector.

[0037] Step S203: Starting from the starting point of the area to be scanned on the subject, the X-ray equipment scans the area to be scanned on the subject segment by segment according to the number of scan segments, and obtains N segments of scan image sequence.

[0038] It should be noted that, given the known scanning length Z of the X-ray equipment in the z-axis direction... size After calculating the number of scanning segments N required to scan the desired areas of the patient, the step size (denoted as Z) of the relevant components of the X-ray equipment (i.e., the planar detector and the X-ray tube) moving in the z-axis direction each time during the patient's scan can be calculated. step ), that is, Z step =Z size / N. The X-ray equipment scans the required areas of the subject segment by segment according to the number of scan segments. Specifically, this refers to the planar detector and X-ray tube of the X-ray equipment moving Z in the z-axis direction each time. step Each scan of the required area of ​​the subject is performed once, and each scan yields a sequence of scanned images; move N Z-axis positions.step This completes the scanning of the required areas of the subject, resulting in a sequence of N scanned images. For example... Figure 3 The diagram illustrates how an X-ray machine scans the required areas of a patient segment by segment when the number of scan segments N is 3. Figure 3 In this context, "sequence" refers to the "scanning image sequence" described in the preceding embodiments, "detector" refers to the "planar plate detector" described in the preceding embodiments, and "single-loop scan coverage" refers to the "length of a single image sequence" described in the preceding embodiments. When the planar plate detector and X-ray tube are located at the starting point (i.e., Z) of the area to be scanned on the subject... size At the starting point (Z), a scan is performed on the area of ​​the subject to be scanned, resulting in a segment of length Z. single The scanned image sequence; then, the planar plate detector and X-ray tube move Z... step At the new position along the z-axis, perform a scan on the required area of ​​the subject to obtain the second segment of length Z. single The scanned image sequence; finally, the planar plate detector and X-ray tube move Z... step To another position in the z-axis direction, namely Z size At the endpoint, a scan is performed on the required area of ​​the subject to obtain the third segment of length Z. single A sequence of scanned images.

[0039] Step S204: By calculating the matching points between every two adjacent scanned image sequences in the N scanned image sequence, the N scanned image sequences are stitched together into a target three-dimensional image.

[0040] Due to mechanical precision errors, only the approximate position of each scanned image sequence in the z-axis direction can be obtained; the precise position is uncertain. Therefore, it is necessary to accurately identify the positional deviation between two scanned image sequences in the z-axis direction, including deviations in the x-axis direction, y-axis direction, and the angular deviation of the rotating footrest. To stitch together N scanned image sequences into a target 3D image, these deviations need to be eliminated. To eliminate these deviations, it is necessary to accurately calculate the matching points between every two adjacent scanned image sequences in the N scanned image sequences.

[0041] As one embodiment of this application, the N scanned image sequences can be stitched together into a target three-dimensional image by calculating the matching points between every two adjacent scanned image sequences in the N scanned image sequence, which can be described in detail through steps S2041 to S2045 as follows:

[0042] Step S2041, based on any two adjacent scan image sequences s in the N scan image sequence... i and s i+1 Position, estimate scanned image sequence si With scanned image sequence s i+1 the first matching point.

[0043] As mentioned earlier, the position of the scanned image sequence refers to the position of the planar plate detector or X-ray tube in the z-axis direction when the X-ray equipment performs a single scan of the desired area of ​​the subject to obtain the scanned image sequence. Therefore, the position of the planar plate detector or X-ray tube in the z-axis direction can be used to determine the position of any two adjacent scanned image sequences s in the N-segment scanned image sequence. i and s i+1 The position. Record the scanned image sequence s. i The position is lo i Scan image sequence s i+1 The position is lo i+1 ,like Figure 4 As shown. Let s be the scanned image sequence. i With scanned image sequence s i+1 If the first matching point is zl, then based on any two adjacent scan image sequences s in the N scan image sequence... i and s i+1 Position, estimate scanned image sequence s i With scanned image sequence s i+1 The first matching point zl=(lo i +lo i+1 ) / 2. It should be noted that, according to the formula zl=(lo i +lo i+1 The scanned image sequence s calculated by ) / 2 i With scanned image sequence s i+1 The matching point is not an exact match between the two scanned image sequences; therefore, the first matching point zl = (lo) i +lo i+1 ) / 2 is the estimated scanned image sequence s i With scanned image sequence s i+1 The matching point. From Figure 4 It can be seen that the first matching point zl=(lo i +lo i+1 ) / 2 is also a scanned image sequence s i With scanned image sequence s i+1 The midpoint of the overlapping region.

[0044] Step S2042, based on the improved extended phase method and the scanned image sequence s i With scanned image sequence s i+1 The first matching point is calculated from the scanned image sequence s. i With scanned image sequence s i+1The overall deviation, where the overall deviation includes the scanned image sequence s i With scanned image sequence s i+1 Translational deviation along the x-axis, translational deviation along the y-axis, and angular deviation of the rotating footrest of the X-ray equipment.

[0045] The phase method, based on the translation invariance of the Fourier transform, converts pixel translation in the spatial domain into phase translation in the frequency domain. Since the phase method cannot recognize rotation, an extended phase method is needed. This method combines phase correlation and logarithmic polar transformation, converting the rotation relationship between two images into a translation relationship in that coordinate system. However, the traditional extended phase method requires polar coordinate transformation of the amplitudes of the image Fc and image sequence Fx in the frequency domain before performing another phase calculation. This leads to three problems: 1) The polar coordinate transformation and phase method computations are relatively large; 2) Discrete polar coordinate transformation involves sampling, which leads to some information loss, and the low sampling precision results in inaccurate data, especially with small angle intervals; 3) It is susceptible to image artifacts and noise, resulting in significant deviations from the actual results. Therefore, this application's embodiments are based on an improved extended phase method and a scanned image sequence s. i With scanned image sequence s i+1 The first matching point is calculated from the scanned image sequence s. i With scanned image sequence s i+1 The overall deviation specifically includes the following steps S1 to S3:

[0046] Step S1: From the scanned image sequence s i Take an image located at the first matching point as the reference image Pc, and start scanning the image sequence s. i+1 Take n images from the search range, where the search range is determined by the scanned image sequence s. i and s i+1 The location and length of a single image segment are determined.

[0047] Although the first matching point is not in the scanned image sequence s i With scanned image sequence s i+1 The image at the first matching point can be used as a reference image relative to other locations, thus allowing for the identification of precise matching points within the scanned image sequence. i Take an image located at the first matching point as the reference image Pc, and from the scanned image sequence s i+1 A sample image sequence is formed by taking n images from the search range, and these sample image sequences are denoted as p{p1, p2, ..., p...}. x , ..., p n As for the search range, it is determined by the scanned image sequence s. i and si+1 The location and length of a single image segment determine the region. Specifically, let z be the starting point of the search range. star The endpoint is z end Then z star =lo i+1 +z s i ngle / 2,z end =lo i -z single / 2, as Figure 4 As shown, the z-axis direction starts from the starting point z. star To the destination z end The area between [lo] is the search range; here, lo i For scanned image sequence s i At the position along the z-axis, lo i+1 For scanned image sequence s i+1 The position along the z-axis, and z single The length of a single image sequence.

[0048] Step S2: Preprocess the reference image Pc and the n images within the search range to obtain the preprocessed image ic and the preprocessed image sequence ix, respectively.

[0049] To remove some interfering information and highlight the information of interest, embodiments of this application use a reference image Pc and n images within the search range (i.e., a sampled image sequence p{p1, p2, ..., p...). x , ..., p n Preprocessing is performed on the sampled image sequence p{p1, p2, ..., p}, mainly including removing information outside the preset region and performing grayscale stretching on the information within the region. Removing information outside the preset region can be done by taking the center of the reference image Pc as the center point and removing image information outside a circular region of radius R, resulting in an image pc1 of the circular region of radius R. x , ..., p n Each sampled image p in} x , to sample image p x Centered on a circle, image information outside a circular region of radius R is removed to obtain image px1, which is a preset value within the circular region of radius R. Gray-scale stretching of the information within this region (i.e., the region of interest) can be performed using a stretching function f(x) on images pc1 and px1. The stretching function f(x) is:

[0050]

[0051] When the region of interest is selected as [0, 2000], the parameters of the stretching function f(x) can be a = 0, c = 2000, and b can be set to 1. For example... Figure 5 As shown, this is a reference image Pc or a sampled image sequence p{p1, p2, ..., p...} x , ..., p n A schematic diagram of a circular region (i.e., region of interest) with radius R retained after removing information outside a preset region from any sampled image in the diagram.

[0052] For the reference image Pc and the sampled image sequence p{p1, p2, ..., p x , ..., p n After performing the above preprocessing steps of removing information outside the preset region and stretching the information within the region to grayscale, the preprocessed image ic and the preprocessed image sequence s are obtained respectively. ix Preprocessed image sequence s ix It contains n preprocessed images.

[0053] Step S3: Process the preprocessed image ic and the preprocessed image sequence s ix Perform Fourier transform and Radon transform-based operations to obtain the scanned image sequence s. i With scanned image sequence s i+1 The overall deviation.

[0054] Specifically, step S3 can be implemented through steps S31 to S36, as detailed below:

[0055] Step S31: Perform Fourier transforms on the preprocessed images ic and ix respectively to obtain the frequency domain images Fc and Fx, where the preprocessed image ix is ​​the preprocessed image sequence s. ix Any preprocessed image in the dataset.

[0056] The preprocessed image ix is ​​the preprocessed image sequence s. ix Any preprocessed image in the sequence means that for the preprocessed image sequence s ix Each preprocessed image undergoes the same processing as step S31, resulting in a frequency domain sequence s that is identical to the preprocessed image sequence. ix The image corresponds one-to-one with each of the n preprocessed images.

[0057] Step S32: Calculate the amplitudes of the image Fc and image Fx in the frequency domain to obtain Fhc and Fhx respectively.

[0058] Step S33: Using the origin of the frequency domain coordinate system as the center, project the center channel onto Fhc and Fhx respectively to obtain one-dimensional vectors Lc and Lx respectively.

[0059] Step S34: Calculate the difference between the maximum values ​​of vectors Lc and Lx as an angular deviation A of the rotation of the X-ray equipment's rotating footrest. x .

[0060] like Figure 6 The diagram shows the one-dimensional vectors Lc and Lx obtained by projecting the center channel onto Fhc and Fhx, respectively, with the origin of the frequency domain coordinate system as the center. The solid curve represents the one-dimensional vector Lc, and the dashed curve represents the one-dimensional vector Lx. The position of the maximum value of vector Lc is clearly the position corresponding to the peak value of vector Lc, and the position of the maximum value of vector Lx is clearly the position corresponding to the peak value of vector Lx. The difference between these two peak positions is calculated to obtain the angular deviation A of the rotation of the X-ray equipment's rotating footrest. x Since the preprocessed image ix is ​​the preprocessed image sequence s ix For any preprocessed image in the sequence s, therefore, for the preprocessed image sequence s ix Each preprocessed image undergoes the same processing steps S31 to S34 to obtain the corresponding scanned image sequence s. i+1 The n-angle deviation of the rotating footrest of the X-ray equipment.

[0061] Step S35: Based on the angular deviation A of the X-ray equipment's rotating footrest. x The frequency domain image Fx is obtained by rotating the image Fx in the frequency domain.

[0062] Specifically, the image Fx in the frequency domain can be rotated by an angle value A, which is the angle deviation. x From the angle, the image Fxr in the frequency domain is obtained.

[0063] Step S36: For the images Fc and Fxr in the frequency domain, the phase method is used to calculate the scanned image sequence s. i With scanned image sequence s i+1 Translation deviations along the x-axis and y-axis.

[0064] As mentioned earlier, the phase method utilizes the translation invariance of the Fourier transform to convert pixel translation in the spatial domain into phase translation in the frequency domain. Although the phase method cannot identify rotation, it can effectively identify translation. Therefore, embodiments of this application can use the phase method to calculate the scanned image sequence s for the image Fc and image Fxr in the frequency domain. i With scanned image sequence s i+1The translation deviations along the x-axis and y-axis. For ease of explanation, the image Fc in the frequency domain is denoted as Fc(u,v), and the image Fxr in the frequency domain is denoted as Fxr(u,v). The calculation of the translation deviations along the x-axis and y-axis of images Fc and Fxr using the phase method can include the following steps 1) to 3):

[0065] 1) Calculate the cross-power spectrum Fc(u,v) and Fxr(u,v) according to the following formula. e (u,v):

[0066]

[0067] In the above formula, * is the complex conjugate operator, and || represents the absolute value operator;

[0068] 2) For the cross-power spectrum F e Performing an inverse transformation on (u,v) yields f in the real number field. e (x,y);

[0069] 3) Calculate f e The maximum value f of (x,y) e (x0, y0) represents the coordinates (x0, y0) in the real number domain. x0 is the translational deviation of image Fc and image Fxr along the x-axis, and y0 is the translational deviation of image Fc and image Fxr along the y-axis. Assume that for the preprocessed image sequence s... ix The translational deviation along the x-axis of any preprocessed image, calculated from image Fc and image Fxr, is denoted as Δx. x y0 represents the translational deviation of images Fc and Fxr along the y-axis, denoted as Δy. x For the preprocessed image sequence s ix The deviation calculated from any preprocessed image includes Δx x Δy x and A x , denoted as (Δx) x Δy x A x ), thereby scanning image sequence s i With scanned image sequence s i+1 The overall deviation is {(Δx1, Δy1, A1), (Δx2, Δy2, A2), ..., (Δx x Δy x A x ), …, (Δx n Δy n A n )}, will (Δx x Δy xA x Abbreviated as o x Then scan the image sequence s i With scanned image sequence s i+1 The overall deviation can be denoted as offset{o1, o2, ..., o x , ..., o n}

[0070] Step S2043, based on the scanned image sequence s i With scanned image sequence s i+1 The overall deviation is used to determine the scanned image sequence s. i With scanned image sequence s i+1 the second matching point.

[0071] The aforementioned determined scan image sequence s i With scanned image sequence s i+1 The first matching point is just an estimated value, not the scanned image sequence s. i With scanned image sequence s i+1 The precise matching points can be determined based on the scanned image sequence. i With scanned image sequence s i+1 The overall deviation is used to determine the scanned image sequence s. i With scanned image sequence s i+1 The second matching point is specifically achieved through the following steps 1) to 4):

[0072] 1): Based on the scanned image sequence s i With scanned image sequence s i+1 The overall deviation, through the scanned image sequence s i+1 The n images within the search range are corrected to obtain the corrected image sequence Po within the search range, where the search range is determined by the scanned image sequence s. i and s i+1 The location and length of a single image segment are determined.

[0073] As in the previous embodiments, the search range here is from the starting point z along the z-axis. star (z star =lo i+1 +z single / 2) To the destination z end (z end =lo i -z single The region between / 2), and the scanned image sequence s. i+1 The n images within the search range are the sampled image sequence of the aforementioned embodiment, i.e., p{p1, p2, ..., p...} x , ..., p n}. As for the scanned image sequence si+1 Correction is performed on n images within the search range, specifically according to offset{o1, o2, ..., o...}. x , ..., o n Each deviation of} is {(Δx1, Δy1, A1), (Δx2, Δy2, A2), ..., (Δx x Δy x A x ), …, (Δx n Δy n A n For p{p1, p2, ..., p}, x , ..., p n Each image in the array is shifted in the opposite direction along the x-axis by |Δx. x |、Translate in the opposite direction along the x-axis|Δx x |and reverse rotation|A x The angle | corresponds to the corrected image sequence Po within the search range, denoted as Po{po1, po2, ..., po}. x , ..., po n}

[0074] 2): Calculate the standard deviation of the reference image Pc and each corrected image in the corrected image sequence Po to obtain the standard deviation set std.

[0075] Calculate the reference image Pc and each corrected image po1, po2, ..., po in the corrected image sequence Po. x ... po n The standard deviation is used to obtain the standard deviation set std, which is denoted as std{std1, std2, ..., std...}. x , ..., std n}

[0076] 3): Compare the standard deviations in the standard deviation set std to obtain the minimum standard deviation.

[0077] 4): The z-axis position of the corrected image corresponding to the minimum standard deviation in the corrected image sequence Po is determined as the scanned image sequence s. i With scanned image sequence s i+1 the second matching point.

[0078] Suppose std{std1, std2, ..., std x , ..., std n The minimum standard deviation in} is std i It should be at the minimum standard deviation std i The corrected image is po i Then po iThe z-axis position is determined as the scanned image sequence s. i With scanned image sequence s i+1 The second matching point. The second matching point is not at the same location as the previously estimated first matching point. However, the second matching point is still relatively more accurate than the first matching point and can be used as the basis for the scanned image sequence s. i With scanned image sequence s i+1 The exact matching point.

[0079] Step S2044: The scanned image sequence s with the second matching point determined. i With scanned image sequence s i+1 The images are then fused to obtain a fused image sequence.

[0080] Specifically, step S2044 can be implemented by: determining the scanned image sequence s based on the determined second matching point. i With scanned image sequence s i+1 The fusion region; a smooth curve is used to smooth the scanned image sequence within the fusion region. i With scanned image sequence s i+1 The image parameters are fused to obtain a fused image sequence. In the above embodiment, the scanned image sequence s is... i With scanned image sequence s i+1 Alignment at the second matching point, at this point, scanned image sequence s i The endpoint in the z-axis direction and the scanned image sequence s i+1 The region between the starting points along the z-axis constitutes the scanned image sequence s. i With scanned image sequence s i+1 The fusion zone. For example... Figure 7 As shown, with Figure 4 In contrast, since the first matching point and the second matching point are not the same, therefore, Figure 7 The example's fusion region and Figure 4 The search ranges for the examples are not the same. As for using a smooth curve on the scanned image sequences within the fusion region... i With scanned image sequence s i+1 The image parameters are fused. In this embodiment, the sigmoid function is improved, resulting in an improved sigmoid function Sig(z) used as the sigmoid function for the scanned image sequence s within the fusion region. i With scanned image sequence s i+1 A smooth curve for fusing image parameters:

[0081]

[0082] In the function Sig(x) above, a is the maximum gray value, and b is the scaling factor on the z-axis. If we use I... i and Ii+1 Represents the scanned image sequence s i With scanned image sequence s i+1 The image parameters, such as grayscale values, are then processed using a smoothing curve Sig(z) on the scanned image sequence s within the aforementioned fusion region. i With scanned image sequence s i+1 Image parameters can be fused using Sd=I i *Sig(z)+I i+1 *(1-Sig(z)), where Sd is the sequence of fused images, denoted as sd{sd1,sd2,…,sd}. x ,…,sd n}

[0083] Step S2045: Add markers to the fused image sequence at preset positions, and output the fused image sequence with added markers as the target 3D image.

[0084] Generally, information in an image is concentrated within a certain area at the center, while the four corners contain almost no useful information. Therefore, when adding labels to a fused image sequence, one can do so within the fused image sequence sd{sd1,sd2,…,sd…}. x ,…,sd n Markers are added to the four corners of a fused image, for example, by adding four matrix pixel blocks of size j*k (e.g., matrix pixel blocks of 65535). In this embodiment, the fused image sequence sd{sd1,sd2,…,sd} can be taken. x ,…,sd n} located in the scanned image sequence s i With scanned image sequence s i+1 The fused image of the second matching point is used as the fused image with markers added at the four corners. For example... Figure 8 As shown, this is located in the scanned image sequence s i With scanned image sequence s i+1 This is a diagram showing the addition of markers (sew marks, the small squares indicated by arrows in the diagram) at the four corners of the fused image of the second matching point.

[0085] To reduce the harmful radiation dose to the subject during scanning of the required areas, in the above embodiments of this application, the step size of the relevant components of the X-ray equipment (including the planar detector and X-ray tube) moving in the z-axis direction during the scanning of the subject can be calculated based on the length of a single image sequence and the scanning length segment of the X-ray equipment in the z-axis direction. The size of the beam limiter window of the X-ray equipment is then adjusted based on this step size. The step size Z of the relevant components of the X-ray equipment (including the planar detector and X-ray tube) moving in the z-axis direction during the scanning of the subject is then used to adjust the beam limiter window size of the X-ray equipment. step =Z size / N. Assume the total window size of the constrictor is Z. window If Z window >Z step Then, during the scan, the subject only needs to open the window of the constrictor Z each time. step The size is sufficient. Compared to fully opening the collimator window, the subject can reduce the received (Z) window -Z step ) / Z window This results in a radiation dose that is times higher than the standard dose. For example, if the total window size of the constrictor is 300mm, a scanning image sequence with a total length of 400mm is required, i.e., Z. size =400mm and divided into 2 segments, then the step size Z of the relevant components of the X-ray equipment (including the flat plate detector and X-ray tube) moving in the z-axis direction each time the subject is scanned. step =400 / 2 = 200mm. In this case, if the opening degree of the constrictor is adjusted to 200mm instead of fully opening, then compared with the 300mm full window, the 200mm window size only has 2 / 3 of the radiation, and the remaining 1 / 3 of the radiation is absorbed by the constrictor, and the radiation dose is reduced by 1 / 3.

[0086] From the above appendix Figure 2 As illustrated in the example of the X-ray-based three-dimensional imaging method, when calculating the number of scanning segments N needed to scan the required areas of the subject, the X-ray equipment scans the required areas segment by segment according to the number of segments, resulting in a sequence of N scanned images. By calculating the matching points between each pair of adjacent scanned images in the N-segment sequence, the N-segment sequence is stitched together to form the target three-dimensional image. Compared to existing CT scans, this application offers several advantages: firstly, it does not restrict the subject's position, allowing scanning from any position, including standing; secondly, the stitching of the N-segment sequence into a target three-dimensional image provides a more intuitive and clinically beneficial way to obtain intermediate test results compared to two-dimensional images.

[0087] Please see the appendix Figure 9 This application provides a three-dimensional imaging device based on an X-ray equipment, which may include a determining module 901, a calculating module 902, an acquiring module 903, and a stitching module 904, as detailed below:

[0088] The determination module 901 is used to determine the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned by the examinee.

[0089] The calculation module 902 is used to calculate the number of scanning segments N that need to be divided when scanning the required scanning parts of the subject, based on the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray equipment in the z-axis direction, where N is an integer greater than 1.

[0090] The acquisition module 903 is used to scan the required scanning area of ​​the subject segment by segment according to the number of scanning segments, starting from the starting point of the area to be scanned by the X-ray equipment, to obtain N segments of scan image sequence.

[0091] The stitching module 904 is used to stitch together the N scanned image sequences into a target three-dimensional image by calculating the matching points between each two adjacent scanned image sequences in the N scanned image sequence.

[0092] from Figure 9 As illustrated in the example of the X-ray-based 3D imaging device, when calculating the number of scanning segments N needed to scan the required areas of the subject, the X-ray device scans the required areas segment by segment according to the number of segments, starting from the starting point of the area to be scanned, resulting in a sequence of N scanned images. By calculating the matching points between each adjacent pair of scanned images in the N scanned image sequences, the N scanned image sequences are stitched together to form the target 3D image. Compared to existing CT scans, this application has two advantages: firstly, it does not restrict the subject's position, allowing scanning in any position, including standing; secondly, the target 3D image, stitched together from N scanned image sequences, is more intuitive to observe than a 2D image, making it more conducive to obtaining intermediate test results in clinical practice.

[0093] Figure 10 This is a schematic diagram of the structure of a device provided in one embodiment of this application. For example... Figure 10 As shown, the device 10 in this embodiment mainly includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100, such as a program for a three-dimensional imaging method based on an X-ray device. When the processor 100 executes the computer program 102, it implements the steps in the above-described embodiment of the three-dimensional imaging method based on an X-ray device, for example... Figure 2The steps S201 to S204 are shown. Alternatively, when the processor 100 executes the computer program 102, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 9 The functions of the determination module 901, calculation module 902, acquisition module 903, and splicing module 904 are shown.

[0094] For example, the computer program 102 of the three-dimensional imaging method based on X-ray equipment mainly includes: determining the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned of the subject; calculating the number of scanning segments N to be divided when scanning the area to be scanned of the subject according to the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray equipment in the z-axis direction, where N is an integer greater than 1; starting from the starting point of the area to be scanned of the subject, the X-ray equipment scans the area to be scanned of the subject segment by segment according to the number of scanning segments, to obtain N segments of scanned image sequence; and stitching the N segments of scanned image sequence into a target three-dimensional image by calculating the matching points between every two adjacent segments of the N segments of scanned image sequence. The computer program 102 can be divided into one or more modules / units, one or more modules / units are stored in the memory 101 and executed by the processor 100 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 102 in the device 10. For example, computer program 102 can be divided into the functions of a determining module 901, a calculation module 902, an acquisition module 903, and a stitching module 904 (a module in the virtual device). The specific functions of each module are as follows: The determining module 901 is used to determine the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned of the subject; the calculation module 902 is used to calculate the number of scanning segments N that need to be divided when scanning the area to be scanned of the subject, based on the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray equipment in the z-axis direction, where N is an integer greater than 1; the acquisition module 903 is used to scan the area to be scanned of the subject segment by segment according to the number of scanning segments, starting from the starting point of the area to be scanned of the subject, to obtain N segments of scanned image sequence; the stitching module 904 is used to stitch the N segments of scanned image sequence into a target three-dimensional image by calculating the matching points between each two adjacent segments of the scanned image sequence.

[0095] Device 10 may include, but is not limited to, processor 100 and memory 101. Those skilled in the art will understand that... Figure 10 This is merely an example of device 10 and does not constitute a limitation on device 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, a computing device may also include input / output devices, network access devices, buses, etc.

[0096] The processor 100 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0097] Memory 101 can be an internal storage unit of device 10, such as a hard disk or RAM of device 10. Memory 101 can also be an external storage device of device 10, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on device 10. Furthermore, memory 101 can include both internal storage units and external storage devices of device 10. Memory 101 is used to store computer programs and other programs and data required by the device. Memory 101 can also be used to temporarily store data that has been output or will be output.

[0098] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed. That is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above-described device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0099] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0100] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0101] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a non-transitory computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments of this application can also be implemented by a computer program instructing related hardware. The computer program for the three-dimensional imaging method based on X-ray equipment can be stored in a storage medium. When the computer program is executed by a processor, it can implement the steps of the above-described method embodiments, namely, determining the scanning length of the X-ray equipment in the z-axis direction according to the area to be scanned of the subject; calculating the number of scanning segments N to be divided when scanning the area to be scanned of the subject according to the length of a single image sequence, the scanning overlap area, and the scanning length of the X-ray equipment in the z-axis direction, where N is an integer greater than 1; starting from the starting point of the area to be scanned of the subject, the X-ray equipment scans the area to be scanned of the subject segment by segment according to the number of scanning segments, obtaining N segments of scanned image sequence; and stitching the N segments of scanned image sequence into a target three-dimensional image by calculating the matching points between each two adjacent segments of the N segments of scanned image sequence. Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Non-transitory computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in non-transitory computer-readable media can be appropriately added to or removed according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, non-transitory computer-readable media do not include electrical carrier signals and telecommunication signals. The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application. The specific embodiments described above further illustrate the purpose, technical solutions, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the protection scope of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this invention.

Claims

1. A method for three-dimensional imaging based on an X-ray device, characterized in that, The method comprises: According to the required scanning part of the subject, the scanning length of the X-ray equipment in the z-axis direction is determined; wherein the z-axis direction refers to the direction perpendicular to the X-ray emitted by the X-ray equipment, and the X-ray equipment can move in the z-axis direction to realize the segmented scanning of the required scanning part of the subject; According to the single-segment image sequence length, the scanning overlap area and the scanning length of the X-ray equipment in the z-axis direction, the number N of scanning segments required for scanning the required scanning part of the subject is calculated, and the N is an integer greater than 1; Starting from the starting point of the required scanning part of the subject, the X-ray equipment scans the required scanning part of the subject in segments according to the scanning segment number, and obtains N segment scanning image sequences; By calculating the matching points between each adjacent two scanning image sequences in the N scanning image sequences, the N scanning image sequences are spliced into a target three-dimensional image; The method further comprises: estimating a first matching point of the scan image sequence s i and the scan image sequence s i+1 based on the positions of any two adjacent scan image sequences s i and s i+1 from the sequence of N scan images from the sequence of scan images s i taking one image located at the first matching point as a reference image Pc, from the sequence of scan images s i+1 taking n images within a search range from the sequence of scan images s i and s i+1 , the position of which is determined by the length of the single-segment image sequence preprocessing the reference image Pc and the n images in the search range to obtain a preprocessed image ic and a preprocessed image sequence s, respectively ix ; performing Fourier transform on the pre-processed image ic and the pre-processed image ix respectively to obtain images Fc and Fx in frequency domain, the pre-processed image ix is any one of the pre-processed image sequence s ix , calculating the amplitude of the images Fc and Fx to obtain Fhc and Fhx respectively; performing center channel projection on the Fhc and Fhx respectively with the origin of the frequency domain coordinate system as the center to obtain one-dimensional vectors Lc and Lx respectively; calculating the difference between the maximum position of the vectors Lc and Lx as an angle deviation A of the rotation of the X-ray equipment rotating foot support i ; according to the angle deviation A of the rotation of the X-ray equipment rotating foot support i , performing rotation on the image Fx in frequency domain to obtain an image Fxr in frequency domain; calculating the scan image sequence s i and the scan image sequence s i+1 the translation deviation in x-axis and the translation deviation in y-axis.

2. The method of three-dimensional imaging based on an X-ray apparatus as claimed in claim 1, characterized in that, The step of stitching the N scanned image sequences into a target 3D image by calculating matching points between every two adjacent scanned image sequences in the N scanned image sequence further includes: based on an improved extended phase method and the scanned image sequence s i With scanned image sequence s i+1 The first matching point is used to calculate the scanned image sequence s. i With scanned image sequence s i+1 The overall deviation, the overall deviation including the scanned image sequence s i With scanned image sequence s i+1 Translational deviation along the x-axis, translational deviation along the y-axis, and angular deviation of the rotating footrest of the X-ray equipment; based on the scanned image sequence s i With scanned image sequence s i+1 The overall deviation is used to determine the scanned image sequence s. i With scanned image sequence s i+1 The second matching point; the scanned image sequence s with the second matching point determined. i With scanned image sequence s i+1 The images are fused to obtain a fused image sequence; markers are added to the fused image sequence at preset positions, and the fused image sequence with added markers is output as the target 3D image.

3. The method of claim 2, wherein the X-ray apparatus is a computed tomography scanner. determining a second matching point of the scan image sequence s i with the overall deviation of the scan image sequence s i+1 determining a second matching point of the scan image sequence s i with the overall deviation of the scan image sequence s i+1 determining a second matching point of the scan image sequence s According to the scanning image sequence s i and the overall deviation of the scanning image sequence s i+1 , the n images in the search range are corrected to obtain a corrected image sequence Po in the search range, the search range being determined by the positions of the scanning image sequence s i+1 and s i and the length of the single-segment image sequence. i+1 ​ According to the single-segment image sequence length and the scanning length of the X-ray equipment in the z-axis direction, the step length of the related components of the X-ray equipment in the z-axis direction is calculated when the subject receives scanning, and the related components of the X-ray equipment include a flat panel detector and an X-ray ball tube; According to the step length of the related components of the X-ray equipment in the z-axis direction when the subject receives scanning, the window size of the beam limiter of the X-ray equipment is adjusted. determining the z-axis position in the sequence of corrected images Po where the corrected image corresponding to the minimum standard deviation is located as the scan image sequence s i with the second matching point of the scan image sequence s i+1 .

4. The method of claim 2, wherein the X-ray apparatus is a computed tomography scanner. said scan image sequence s in which the second matching point has been determined i with the scan image sequence s i+1 fusing to obtain a fused image sequence, comprising: determining the scan image sequence s i with the fusion region of the scan image sequence s i+1 ; adopting a smooth curve to fuse the image parameters of the scanning image sequence s i with the scanning image sequence s i+1 to obtain the fused image sequence.

5. The method of three-dimensional imaging based on an X-ray apparatus according to any one of claims 1 to 4, characterized in that, The device comprises: A determination module is configured to determine the scanning length of the X-ray equipment in the z-axis direction according to the required scanning part of the subject; wherein the z-axis direction refers to the direction perpendicular to the X-ray emitted by the X-ray equipment, and the X-ray equipment can move in the z-axis direction to realize the segmented scanning of the required scanning part of the subject; A calculation module is configured to calculate the number N of scanning segments required for scanning the required scanning part of the subject according to the single-segment image sequence length, the scanning overlap area and the scanning length of the X-ray equipment in the z-axis direction, and the N is an integer greater than 1; 6. A three-dimensional imaging apparatus based on an X-ray device, characterized in that An acquisition module is configured to start from the starting point of the required scanning part of the subject, and the X-ray equipment scans the required scanning part of the subject in segments according to the scanning segment number, and obtains N segment scanning image sequences; A splicing module is configured to calculate the matching points between each adjacent two scanning image sequences in the N scanning image sequences, and splice the N scanning image sequences into a target three-dimensional image; The processor executes the computer program to realize the steps of the method according to any one of claims 1 to 5. The computer program is executed by the processor to realize the steps of the method according to any one of claims 1 to 5. ​ The splicing module is specifically configured to estimate a first matching point of the scanning image sequence s i and the scanning image sequence s i+1 according to the positions of the scanning image sequence s i and the scanning image sequence s i+1 ; take an image located at the first matching point from the scanning image sequence s i as a reference image Pc, take n images in a search range from the scanning image sequence s i+1 , the search range being determined by the positions of the scanning image sequence s i and the scanning image sequence s i+1 and the length of the single-segment image sequence; pre-process the reference image Pc and the n images in the search range to obtain pre-processed images ic and a pre-processed image sequence s ix , respectively; perform Fourier transform on the pre-processed image ic and the pre-processed image ix in the frequency domain to obtain images Fc and Fx, respectively, the pre-processed image ix being any pre-processed image in the pre-processed image sequence s ix ; calculate the amplitudes of the images Fc and Fx to obtain Fhc and Fhx, respectively; perform center channel projection on the Fhc and Fhx with the origin of the frequency domain coordinate system as the center to obtain one-dimensional vectors Lc and Lx, respectively; calculate the difference between the maximum positions of the vectors Lc and Lx as an angle deviation A i of rotation of the rotating foot support of the X-ray device; rotate the image Fx in the frequency domain according to the angle deviation A i of rotation of the rotating foot support of the X-ray device to obtain an image Fxr in the frequency domain; and calculate the translation deviation of the scanning image sequence s i and the scanning image sequence s i+1 in the x-axis and the translation deviation in the y-axis by using the phase method on the images Fc and Fxr.

7. An X-ray apparatus, the apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, ​ 8. A storage medium storing a computer program, characterized by ​

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