Method and apparatus for positioning movable components in x-ray imaging

Abstract

The embodiment of the present application discloses a method and device for positioning movable components in X-ray imaging. The method comprises: acquiring a three-dimensional image representing a movement process of a movable component by using a camera assembly; acquiring movement information of the movable component detected by a movement sensor; and positioning the movable component based on the three-dimensional image and the movement information. The embodiment of the present application combines the three-dimensional image of the movable component and the movement information of the movable component to position the movable component, so that the positioning accuracy of the movable component can be improved, especially the image splicing quality and the positioning accuracy of the detector can be improved, and the overlapping requirement in the image splicing can be reduced and the exposure dose can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging technology, and in particular, to a method and device for positioning a movable component in X-ray imaging. BACKGROUND

[0002] X-ray is electromagnetic radiation with a wavelength between ultraviolet and gamma rays. X-ray has the ability to penetrate, and has different penetration abilities for different density of substances. In medicine, X-ray is generally used to project human organs and bones to form medical images.

[0003] An X-ray imaging system generally includes an X-ray generating assembly, a Bucky-Wall-Stand (BWS) assembly, a table assembly, a cassette assembly including a flat panel detector, and a control host located remotely, etc. The X-ray generating assembly emits X-rays that penetrate and irradiate an imaging target using high voltage provided by a high-voltage generator, and forms medical image information of the imaging target on the flat panel detector. The flat panel detector sends the medical image information to the control host. The imaging target can stand near the BWS assembly or lie on the table assembly, so as to respectively receive X-ray photography of each part such as the head, chest, abdomen, and joints.

[0004] In many applications of X-ray imaging (such as image stitching applications or detector positioning applications, etc.), a motion sensor (such as a rotary encoder, an inclinometer, or an inertial measurement unit, etc.) is generally used to measure the position of a movable component (such as an X-ray tube or a detector, etc.). In this way, the positioning accuracy of the movable component depends on the measurement accuracy of the motion sensor. However, in order to improve the positioning accuracy of the movable component, the accuracy of the motion sensor needs to be improved, which requires an increase in hardware costs. SUMMARY

[0005] Embodiments of the present application provide a method and device for positioning a movable component in X-ray imaging.

[0006] The technical solutions of the embodiments of the present application include:

[0007] A method for positioning a movable component in X-ray imaging includes:

[0008] Obtaining a three-dimensional image representing a movement process of the movable component, which is captured by a camera assembly;

[0009] Obtaining movement information of the movable component, which is detected by a motion sensor;

[0010] Positioning the movable component based on the three-dimensional image and the movement information.

[0011] Therefore, the embodiment of the present application combines the three-dimensional image representing the movement process of the movable component and the movement information detected by the movement sensor to jointly locate the movable component, thereby improving the locating precision and reducing the hardware cost requirement for the movement sensor.

[0012] In an exemplary embodiment, the movable component is an X-ray tube, and the movement sensor is arranged on the X-ray tube.

[0013] The locating of the movable component based on the three-dimensional image and the movement information comprises:

[0014] updating the movement information based on the three-dimensional image;

[0015] generating a movement trajectory of the X-ray tube based on the updated movement information;

[0016] The method further comprises:

[0017] performing stitching of X-ray images based on the movement trajectory.

[0018] Therefore, the movement trajectory of the X-ray tube can be generated in combination with the three-dimensional image and the movement information, and since the precision of the movement trajectory of the X-ray tube is improved, the precision of the X-ray image stitching is also improved accordingly, and the overlap requirement in the image stitching can be reduced, and the exposure dose can be reduced.

[0019] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector.

[0020] The locating of the movable component based on the three-dimensional image and the movement information comprises:

[0021] updating the movement information based on the three-dimensional image;

[0022] generating a movement trajectory of the detector based on the updated movement information;

[0023] locating the detector based on the movement trajectory.

[0024] It can be seen that the embodiment of the present application realizes the accurate positioning of the detector.

[0025] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector.

[0026] The locating of the movable component based on the three-dimensional image and the movement information comprises:

[0027] generating a movement trajectory of the detector based on the movement information;

[0028] predict a position of the probe at a predetermined time point based on the three-dimensional images and the motion trajectory.

[0029] Therefore, the embodiment of the present application also realizes the prediction of the position of the probe, and facilitates the searching of the probe.

[0030] In an exemplary embodiment, the prediction of the position of the probe at the predetermined time point based on the three-dimensional images and the motion trajectory comprises:

[0031] determining an initial position of the probe based on a three-dimensional image closest in time to a current time point and containing the probe;

[0032] determining a motion trend of the probe since the initial position based on the motion trajectory;

[0033] predicting the position of the probe at the predetermined time point based on the initial position of the probe and the motion trend of the probe.

[0034] It can be seen that the position of the probe at the predetermined time point can be predicted by analyzing the initial position of the probe and the motion trend of the probe, and the searching of the probe is facilitated.

[0035] In an exemplary embodiment, the positioning of the movable component based on the three-dimensional images and the motion information comprises:

[0036] determining a motion range of the movable component based on the motion information;

[0037] searching for homonym points between the three-dimensional images within a homonym point query range determined based on the motion range;

[0038] positioning the movable component based on the searched homonym points.

[0039] Therefore, the embodiment of the present application utilizes the three-dimensional images and the motion information to jointly and accurately position the movable component.

[0040] An apparatus for positioning a movable component in X-ray imaging, comprising:

[0041] a first acquisition module configured to acquire three-dimensional images representing a motion process of the movable component, which are captured by a camera assembly;

[0042] a second acquisition module configured to acquire motion information of the movable component, which is detected by a motion sensor;

[0043] a positioning module configured to position the movable component based on the three-dimensional images and the motion information.

[0044] Therefore, the application combines the three-dimensional image representing the movement process of the movable component and the movement information detected by the movement sensor to jointly locate the movable component, improves the locating precision, and reduces the hardware cost demand for the movement sensor.

[0045] In an exemplary embodiment, the movable component is an X-ray tube, and the movement sensor is arranged on the X-ray tube.

[0046] The locating module is configured to update the movement information based on the three-dimensional image, generate a movement trajectory of the X-ray tube based on the updated movement information, and the device further comprises:

[0047] The splicing module is configured to perform splicing on the X-ray images based on the movement trajectory.

[0048] Therefore, the movement trajectory of the X-ray tube can be generated by combining the three-dimensional image and the movement information, the precision of the movement trajectory of the X-ray tube is improved, the precision of the X-ray image splicing is also improved accordingly, the overlap requirement in the image splicing can be reduced, and the exposure dose is reduced.

[0049] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector.

[0050] The locating module is configured to update the movement information based on the three-dimensional image, generate a movement trajectory of the X-ray tube based on the updated movement information, and the device further comprises:

[0051] It can be seen that the embodiment of the application realizes the accurate positioning of the detector.

[0052] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector.

[0053] The locating module is configured to generate a movement trajectory of the detector based on the movement information, and predict the position of the detector at a predetermined time point based on the three-dimensional image and the movement trajectory.

[0054] Therefore, the embodiment of the application also realizes the prediction of the position of the detector, and facilitates the search for the detector.

[0055] In an exemplary embodiment, the locating module is configured to determine an initial position of the detector based on the three-dimensional image closest to the current time in time, determine a movement trend of the detector from the initial position based on the movement trajectory, and predict the position of the detector at a predetermined time point based on the initial position of the detector and the movement trend of the detector.

[0056] It can be seen that by analyzing the initial position of the probe and the motion trend of the probe, the position of the probe at a predetermined time point can be predicted, so as to facilitate fast searching of the probe.

[0057] In an exemplary embodiment, the positioning module is configured to determine a motion range of the movable component based on the motion information, search for a homonym between the three-dimensional images within a homonym query range determined based on the motion range, and position the movable component based on the searched homonym.

[0058] Therefore, the embodiments of the present application utilize the three-dimensional images and the motion information to jointly and accurately position the movable component.

[0059] An apparatus for positioning a movable component in X-ray imaging, comprising a processor and a memory;

[0060] The memory stores an application executable by the processor, which is configured to cause the processor to execute the method for positioning a movable component in X-ray imaging according to any one of the above embodiments.

[0061] It can be seen that the embodiments of the present application propose an apparatus with a memory-processor architecture, which jointly positions the movable component by combining the three-dimensional images representing the motion process of the movable component and the motion information detected by the motion sensor, thereby improving the positioning accuracy and reducing the hardware cost demand for the motion sensor.

[0062] A computer-readable storage medium, in which computer-readable instructions are stored, the computer-readable instructions being configured to execute the method for positioning a movable component in X-ray imaging according to any one of the above embodiments.

[0063] A computer program product, comprising a computer program, which is configured to implement the method for positioning a movable component in X-ray imaging according to any one of the above embodiments when executed by a processor.

[0064] Therefore, the embodiments of the present application propose a computer-readable storage medium and a computer program product, which jointly position the movable component by combining the three-dimensional images representing the motion process of the movable component and the motion information detected by the motion sensor, thereby improving the positioning accuracy and reducing the hardware cost demand for the motion sensor. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 A flowchart of the method for positioning a movable component in X-ray imaging according to the embodiments of the present application.

[0066] Figure 2 An exemplary process diagram of splicing X-ray images according to the embodiments of the present application.

[0067] Figure 3 Schematic diagram for determining a movement trajectory of an X-ray tube according to an embodiment of the application.

[0068] Figure 4 Structural diagram of a device for positioning a movable component in X-ray imaging according to an embodiment of the application.

[0069] Figure 5 Structural diagram of a device for positioning a movable component in X-ray imaging according to an embodiment of the application having a memory-processor architecture.

[0070] In the drawings, the following reference signs apply:

[0071]

[0072] DETAILED DESCRIPTION

[0073] In order that the technical solutions and advantages of the present application can be more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to illustrate the present application, and should not be used to limit the protection scope of the present application.

[0074] In order to describe concisely and intuitively, the technical solutions of the present application will be described below by describing several representative embodiments. Numerous details of the embodiments are merely used to help understand the technical solutions of the present application. However, it is obvious that the technical solutions of the present application can not be limited to these details. In order to avoid unnecessary obscurity of the technical solutions of the present application, some embodiments are not described in detail, but only a framework is given. In the following, “comprising” means “comprising but not limited to”, and “according to” means “at least according to, but not limited to only according to”. Due to the language habits of Chinese, when the quantity of a component is not specifically indicated, it means that the component can be one or more, or can be understood as at least one.

[0075] In the embodiments of the present application, the three-dimensional image of a movable component (such as a BWS, a detector, a patient bed, an X-ray tube, etc.) in an X-ray imaging system is combined with measured movement sensor data for the movable component, so as to more accurately determine the position of the movable component in the X-ray imaging system.

[0076] Figure 1 Flowchart of a method for positioning a movable component in X-ray imaging according to an embodiment of the application. Preferably, the method shown can be executed by a controller Figure 1 The controller can be implemented as or integrated into a control host of an X-ray imaging system, and can also be implemented as a control unit independent of the control host.

[0077] As Figure 1 shown, the method 100 comprises:

[0078] Step 101: obtaining a three-dimensional image representing a movement process of a movable component, which is captured by a camera assembly.

[0079] Here, the three-dimensional image is usually a plurality of images based on a time sequence. The meaning of representing a movement process of a movable component includes at least one of the following:

[0080] (1) The three-dimensional image directly contains content describing the movement process of the movable component. For example, a three-dimensional image obtained by a camera assembly arranged on an X-ray tube, which captures a detector. The target of the three-dimensional image contains the detector. Therefore, the movement process of the detector can be intuitively understood based on the three-dimensional image.

[0081] (2) The three-dimensional image does not directly contain content describing the movement process of the movable component. However, the movement process of the movable component can be indirectly obtained based on the three-dimensional image. For example, a camera assembly arranged on an X-ray tube captures a three-dimensional image of a scene in front of the tube port. The three-dimensional image does not contain the X-ray tube, but contains an image of the scene in front of the tube port. The movement process of the X-ray tube can be indirectly understood based on the three-dimensional image.

[0082] In an exemplary embodiment, the three-dimensional image can be obtained from a storage medium (such as a cloud or a local database), wherein the three-dimensional image is captured by a camera assembly. Here, the light source of the camera assembly can coincide with the X-ray source in the X-ray imaging system, or can not coincide with the X-ray source. When the light source of the camera assembly coincides with the X-ray source in the X-ray imaging system, the camera assembly is usually fixed on the tube housing of the X-ray generating assembly or the beam light housing. For example, a recess for accommodating the camera assembly is arranged on the tube housing or the beam light housing, and the camera assembly is fixed to the recess by means of bolt connection, buckle connection, wire rope sleeve, etc. When the light source of the camera assembly does not coincide with the X-ray source in the X-ray imaging system, the camera assembly can be arranged in an examination room where the object is located, at any position suitable for capturing the object, such as the ceiling, the floor, or various components in the X-ray imaging system, etc.

[0083] In one embodiment, the photographing assembly comprises at least one three-dimensional camera. The three-dimensional camera captures a three-dimensional image representing the motion process of the movable component using three-dimensional imaging technology. In one embodiment, the photographing assembly comprises at least two two-dimensional cameras, each of which is arranged at a predetermined position. In practice, one skilled in the art can select appropriate positions as the predetermined positions to arrange the two-dimensional cameras according to the needs. The photographing assembly can further comprise an image processor. The image processor synthesizes the two-dimensional images captured by the two-dimensional cameras into a three-dimensional image of the object, wherein the depth of field used by the image processor in the synthesis can be the depth of field of any two-dimensional image. Alternatively, each two-dimensional camera can send the two-dimensional images captured by the two-dimensional cameras to an image processor outside the photographing assembly, so that the image processor outside the photographing assembly synthesizes the two-dimensional images captured by the two-dimensional cameras into a three-dimensional image of the object, wherein the depth of field used by the image processor outside the photographing assembly in the synthesis can also be the depth of field of any two-dimensional image. Specifically, the image processor outside the photographing assembly can be implemented as a control host in the X-ray imaging system, and can also be implemented as a separate control unit independent of the X-ray imaging system.

[0084] In one embodiment, the photographing assembly can comprise at least one two-dimensional camera and at least one depth sensor. The at least one two-dimensional camera and the at least one depth sensor are arranged at the same position. The photographing assembly can further comprise an image processor. The image processor generates a three-dimensional image representing the motion process of the movable component using the depth of field provided by the depth sensor and the two-dimensional photos provided by the two-dimensional camera. Alternatively, the two-dimensional camera sends the two-dimensional images of the object captured by the two-dimensional camera to an image processor outside the photographing assembly, and the depth sensor sends the acquired depth of field to the image processor outside the photographing assembly, so that the image processor outside the photographing assembly generates a three-dimensional image of the object using the depth of field and the two-dimensional photos. Preferably, the image processor outside the photographing assembly can be implemented as a control host in the X-ray imaging system, and can also be implemented as a separate control unit independent of the X-ray imaging system.

[0085] After the photographing assembly acquires the three-dimensional image, the photographing assembly can send the three-dimensional image to the controller of the flow via a wired interface or a wireless interface. Preferably, the wired interface comprises at least one of the following: a universal serial bus interface, a controller area network interface, a serial port, etc.; and the wireless interface comprises at least one of the following: an infrared interface, a near field communication interface, a Bluetooth interface, a ZigBee interface, a wireless broadband interface, etc. Figure 1

[0086] ​The above exemplary describes a typical example that the camera assembly shoots an object to generate a three-dimensional image. It can be realized by those skilled in the art that the description is only exemplary and is not used to limit the protection scope of the embodiments of the present application.

[0087] Step 102: acquiring motion information of the movable component detected by the motion sensor.

[0088] The motion sensor can be used to measure various motion information of the movable component, such as three-axis attitude angle (or angular rate), acceleration and translation amount, etc. The motion sensor can specifically include a rotary encoder, an inertial measurement unit (IMU), a gyroscope or a tilt meter, etc.

[0089] Step 103: positioning the movable component based on the three-dimensional image and the motion information.

[0090] In an exemplary embodiment, the positioning of the movable component based on the three-dimensional image and the motion information in step 103 includes: determining a motion range of the movable component based on the motion information; searching for homonym points between the three-dimensional images within a homonym point searching range determined based on the motion range; and positioning the movable component based on the searched homonym points. Therefore, the embodiments of the present application utilize the three-dimensional image and the motion information to jointly and accurately position the movable component.

[0091] For example, assuming that the motion information indicates that the X-ray tube moves downward by 10 cm, the motion range is determined as [0 cm, -10 cm]. Considering errors, the homonym point searching range is usually larger than the motion range, such as [5 cm, -15 cm]. Then, the homonym points between the three-dimensional images are searched within the range of [5 cm, -15 cm], and the X-ray tube is positioned based on the searched homonym points, such as finding that the X-ray tube moves downward by 8 cm. Then, the positioning information determined based on the three-dimensional image is used to determine that the X-ray tube moves downward by 8 cm.

[0092] Therefore, the embodiments of the present application jointly position the movable component by combining the three-dimensional image representing the motion process of the movable component and the motion information detected by the motion sensor, thereby improving the positioning accuracy and reducing the hardware cost requirement for the motion sensor.

[0093] In one embodiment, the movable component is an X-ray tube, and the motion sensor is arranged on the X-ray tube; the positioning the movable component based on the three-dimensional image and the motion information in step 103 comprises: updating the motion information based on the three-dimensional image; generating a motion trajectory of the X-ray tube based on the updated motion information; and the method 100 further comprises: performing stitching of the X-ray images based on the motion trajectory. Thus, the motion trajectory of the X-ray tube can be generated in combination with the three-dimensional image and the motion information, and since the accuracy of the motion trajectory of the X-ray tube is improved, the accuracy of the X-ray image stitching is also improved accordingly, and the overlap requirement in the image stitching can be reduced, and the exposure dose can be reduced.

[0094] In one embodiment, the movable component is a detector, and the motion sensor is arranged on the detector; the positioning the movable component based on the three-dimensional image and the motion information in step 103 comprises: updating the motion information based on the three-dimensional image; generating a motion trajectory of the detector based on the updated motion information; and positioning the detector based on the motion trajectory. It can be seen that the accurate positioning of the detector is realized by the embodiment of the present application.

[0095] In one exemplary embodiment, the movable component is a detector, and the motion sensor is arranged on the detector; the positioning the movable component based on the three-dimensional image and the motion information in step 103 comprises: generating a motion trajectory of the detector based on the motion information; and predicting a position of the detector at a predetermined time point based on the three-dimensional image and the motion trajectory. Thus, the position of the detector is also predicted by the embodiment of the present application, and the detector can be found conveniently.

[0096] In one exemplary embodiment, the predicting the position of the detector at the predetermined time point based on the three-dimensional image and the motion trajectory comprises: determining an initial position of the detector based on the three-dimensional image closest to the current time in time; determining a motion trend of the detector since the initial position based on the motion trajectory; and predicting the position of the detector at the predetermined time point based on the initial position of the detector and the motion trend of the detector. It can be seen that the position of the detector at the predetermined time point can be predicted by analyzing the initial position of the detector and the motion trend of the detector, and the detector can be found quickly.

[0097] The above describes the embodiments of the present application by taking the X-ray tube and the detector as examples of the movable component. It can be realized by those skilled in the art that the description is only exemplary, and is not used to limit the protection scope of the embodiments of the present application.

[0098] Figure 2 An exemplary process diagram for stitching the X-ray images according to the embodiments of the present application. In Figure 2 In the above, the X-ray images are stitched from the starting point T0 to the ending point T nWithin a time frame comprised of moments, the camera assembly continuously captures three-dimensional images characterizing the motion process of the movable part, while the motion sensor continuously detects the motion information of the movable part.

[0099] The camera assembly captures a 3D image 21 at time T0. The 3D image 21 represents the motion state of the movable part at time T0, as captured by the camera assembly. The motion sensor detects motion information 31 at time T0. The motion information 31 represents the motion state of the movable part at time T0, as detected by the motion sensor. Similarly, the camera assembly captures... n The three-dimensional image 2N at time T. The three-dimensional image 2N represents the moving part captured by the camera assembly at time T. n The motion state at any given moment. The motion sensor detects T. n Motion information 3N at time T. Motion information 3N characterizes the motion information of the movable part detected by the motion sensor at time T. n The state of motion at any given moment.

[0100] For each moment within this time range, the motion information at that moment is updated using the 3D image at that moment. For example, in updating motion information 41, motion information 31 is updated using 3D image 21. Similarly, in updating motion information 4N, motion information 3N is updated using 3D image 2N. Then, the motion trajectory 51 of the movable part is generated using the updated motion information corresponding to each moment. Then, the motion trajectory 51 is added to the constraint condition 52 used to constrain the image stitching process 53, and the image stitching process 53 is performed.

[0101] Figure 3 This is a schematic diagram illustrating the determination of the motion trajectory of an X-ray tube according to an embodiment of the present invention.

[0102] exist Figure 3 In this process, based on the 3D image 71 of the X-ray tube at time T0 and the motion information of the X-ray tube at time T0, a trajectory state map 91 corresponding to time T0 is generated using Simultaneous Localization and Mapping (SLAM). Similarly, for each time point after time T0, a trajectory state map corresponding to that time point can be generated, up to time T0. n 3D images of time 7N and T n Motion information generation at time T corresponds to time T n The trajectory state diagram at time 9N. Based on the analysis of the state changes during the process from trajectory state diagram 91 to trajectory state diagram 9N, the motion trajectory of the X-ray tube can be determined.

[0103] Figure 4A structural diagram of the device for positioning a movable component in X-ray imaging according to an embodiment of the present application.

[0104] As Figure 4 The device 40 for positioning a movable component in X-ray imaging comprises:

[0105] A first acquisition module 401 is configured to acquire a three-dimensional image representing a movement process of the movable component, which is captured by using a camera assembly.

[0106] A second acquisition module 402 is configured to acquire movement information of the movable component, which is detected by using a movement sensor.

[0107] A positioning module 403 is configured to position the movable component based on the three-dimensional image and the movement information.

[0108] In an exemplary embodiment, the movable component is an X-ray tube, and the movement sensor is arranged on the X-ray tube; the positioning module 403 is configured to update the movement information based on the three-dimensional image; a movement trajectory of the X-ray tube is generated based on the updated movement information; and the device 400 further comprises a splicing module 404 configured to perform splicing on X-ray images based on the movement trajectory.

[0109] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector; the positioning module 403 is configured to update the movement information based on the three-dimensional image; a movement trajectory of the detector is generated based on the updated movement information; and the detector is positioned based on the movement trajectory.

[0110] In an exemplary embodiment, the movable component is a detector, and the movement sensor is arranged on the detector; the positioning module 403 is configured to generate a movement trajectory of the detector based on the movement information; and a position of the detector at a predetermined time point is predicted based on the three-dimensional image and the movement trajectory.

[0111] In an exemplary embodiment, the positioning module 403 is configured to determine an initial position of the detector based on a three-dimensional image closest to a current time point in time and containing the detector; determine a movement trend of the detector since the initial position based on the movement trajectory; and predict the position of the detector at the predetermined time point based on the initial position of the detector and the movement trend of the detector.

[0112] In an exemplary embodiment, the positioning module 403 is configured to determine a movement range of the movable component based on the movement information; find a homonym point between three-dimensional images within a homonym point query range determined based on the movement range; and position the movable component based on the found homonym point.

[0113] Figure 5This is a structural diagram of a device for positioning movable parts in X-ray imaging, having a memory-processor architecture according to an embodiment of the present invention.

[0114] like Figure 5 As shown, the device 500 for locating movable parts in X-ray imaging includes a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501. When the computer program is executed by the processor 501, it implements the method for locating movable parts in X-ray imaging as described above. Specifically, the memory 502 can be implemented as various storage media such as an electrically erasable programmable read-only memory (EEPROM), flash memory, or a programmable programmable read-only memory (PROM). The processor 501 can be implemented as including one or more central processing units (CPUs) or one or more field-programmable gate arrays (FPGAs), wherein the FPGA integrates one or more CPU cores. Specifically, the CPU or CPU core can be implemented as a CPU, an MCU, or a DSP, etc.

[0115] It should be noted that not all steps and modules in the above processes and structural diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of the steps is not fixed and can be adjusted as required. The division of modules is merely for the convenience of description and functional division. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device or in different devices.

[0116] The hardware modules in each embodiment can be implemented mechanically or electronically. For example, a hardware module may include specially designed permanent circuitry or logic devices (such as dedicated processors, such as FPGAs or ASICs) to perform specific operations. A hardware module may also include programmable logic devices or circuitry (such as general-purpose processors or other programmable processors) temporarily configured by software to perform specific operations. The choice between mechanical implementation, dedicated permanent circuitry, or temporarily configured circuitry (such as software-configured circuitry) can be made based on cost and time considerations.

[0117] The present application also provides a machine-readable storage medium storing instructions for causing a machine to perform the method as described herein. Specifically, a system or apparatus equipped with a storage medium on which a software program code for implementing the functions of any of the above-described embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus can be provided to read out and execute the program code stored in the storage medium. In addition, some or all of the actual operations can be completed by an operating system or the like operating on the computer based on the instructions of the program code. The program code read out from the storage medium can also be written into a memory provided in a board inserted into the computer or a memory provided in an extension unit connected to the computer, and then some or all of the actual operations can be executed by a CPU or the like mounted on the board or the extension unit based on the instructions of the program code, thereby implementing the functions of any of the above-described embodiments. The storage medium for providing the program code includes a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as a CD-ROM, a CD-R, a CD-RW, a DVD-ROM, a DVD-RAM, a DVD- RW, a DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer or a cloud over a communication network.

[0118] The above-described embodiments are merely preferred embodiments of the present application but are not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, and the like within the spirit and principle of the present application shall be included in the scope of the present application.

Claims

1. A method (100) for positioning a movable component in X-ray imaging, characterized in that, The method comprises: acquiring three-dimensional images (101) representing a movement process of a movable component captured by a camera assembly; acquiring movement information (102) of the movable component detected by a movement sensor; positioning the movable component based on the three-dimensional images and the movement information (103), which comprises: determining a movement range of the movable component based on the movement information; searching for homonym points between the three-dimensional images within a homonym point search range determined based on the movement range; positioning the movable component based on the searched homonym points.

2. The method (100) according to claim 1, characterized in that The movable component is an X-ray tube, and the movement sensor is arranged on the X-ray tube; The positioning of the movable component based on the three-dimensional images and the movement information (103) comprises: updating the movement information based on the three-dimensional images; generating a movement trajectory of the X-ray tube based on the updated movement information; The method (100) further comprises: performing stitching on X-ray images based on the movement trajectory.

3. The method (100) according to claim 1, characterized in that The movable component is a detector, and the movement sensor is arranged on the detector; The positioning of the movable component based on the three-dimensional images and the movement information (103) comprises: updating the movement information based on the three-dimensional images; generating a movement trajectory of the detector based on the updated movement information; positioning the detector based on the movement trajectory.

4. The method (100) of claim 1, characterized by The movable component is a detector, and the movement sensor is arranged on the detector; The positioning of the movable component based on the three-dimensional images and the movement information (103) comprises: generating a movement trajectory of the detector based on the movement information; predicting a position of the detector at a predetermined time point based on the three-dimensional images and the movement trajectory.

5. The method (100) according to claim 4, characterized in that The predicting of the position of the detector at the predetermined time point based on the three-dimensional images and the movement trajectory comprises: determining an initial position of the detector based on a three-dimensional image closest in time to a current time point; determining a movement trend of the detector from the initial position based on the movement trajectory; predicting the position of the detector at the predetermined time point based on the initial position of the detector and the movement trend of the detector.

6. An apparatus (400) for positioning a movable component in X-ray imaging, characterized by The method comprises: a first acquisition module (401) configured to acquire three-dimensional images representing a movement process of a movable component captured by a camera assembly; a second acquisition module (402) configured to acquire movement information of the movable component detected by a movement sensor; a positioning module (403) configured to position the movable component based on the three-dimensional images and the movement information, and configured to determine a movement range of the movable component based on the movement information, search for homonym points between the three-dimensional images within a homonym point search range determined based on the movement range, and position the movable component based on the searched homonym points.

7. The apparatus (400) according to claim 6, characterized by The movable component is an X-ray tube, and the movement sensor is arranged on the X-ray tube; The positioning module (403) is configured to update the movement information based on the three-dimensional images. generating a motion trajectory of the X-ray tube based on the updated motion information; The apparatus (400) further comprises: a stitching module (404) configured to perform stitching on X-ray images based on the motion trajectory.

8. The apparatus (400) according to claim 6, characterized by The movable component is a detector, and the motion sensor is arranged on the detector; The positioning module (403) is configured to update the motion information based on the three-dimensional image, generate a motion trajectory of the detector based on the updated motion information, and position the detector based on the motion trajectory.

9. The apparatus (400) according to claim 6, characterized by The movable component is a detector, and the motion sensor is arranged on the detector; The positioning module (403) is configured to generate a motion trajectory of the detector based on the motion information, and predict a position of the detector at a predetermined time point based on the three-dimensional image and the motion trajectory.

10. The apparatus (400) of claim 9, wherein The positioning module (403) is configured to determine an initial position of the detector based on a three-dimensional image closest in time to a current time point, and determine a motion trend of the detector from the initial position based on the motion trajectory. The positioning module (403) is configured to predict a position of the detector at a predetermined time point based on the initial position of the detector and the motion trend of the detector.

11. An apparatus for positioning a movable component in X-ray imaging, characterized by comprise a processor (501) and a memory (502); The memory (502) stores an application executable by the processor (501), which causes the processor (501) to execute the method (100) for positioning a movable component in X-ray imaging according to any one of claims 1-5.

12. A computer-readable storage medium, characterized in that, The computer readable instructions stored therein are used to execute the method (100) for positioning a movable component in X-ray imaging according to any one of claims 1-5.

13. A computer program product, characterised in that, The computer program is executed by a processor to implement the method (100) for positioning a movable component in X-ray imaging according to any one of claims 1-5.

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