Scanning method and device, imaging device and storage medium

Abstract

The application discloses a scanning method and device, an imaging device and a storage medium, and relates to the technical field of medical imaging. The method comprises the following steps: according to a target position in a body region of a subject which is matched with a gantry ray domain, a current scanning position of the subject in a scanning range of the gantry can be accurately determined, and then a scanning strategy is selected based on the current scanning position. Compared with a scanning process in the prior art which only relies on body thickness to select a scanning strategy for scanning, the embodiment of the application further considers the differences in scanning requirements between different parts, so that a scanning strategy which is more matched with the body shape and state of the subject can be selected, the matching degree of the scanning process and the part to be scanned is improved, and the accuracy of the scanning result is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical imaging, in particular to a scanning method and device, an imaging device and a storage medium. BACKGROUND

[0002] In clinical medicine, when doctors diagnose or treat patients, they will irradiate the body parts of the examinee to form an image by means of an imaging device. For different body parts, the dose, duration, etc. of the irradiation protocol are not the same, so it is necessary to adjust the radiation protocol in real time to meet the imaging requirements.

[0003] In the related art, first, a patient image is acquired, and the body thickness of the patient is determined based on the image, and then a corresponding scanning protocol is selected based on the body thickness.

[0004] In the process of implementing the embodiments of the present application, it is found that at least the following problems exist in the related art:

[0005] The same thickness of the body part (i.e. the body position) cannot be adapted to the actual scanning process due to the different structures of the organs, so the scanning protocol determined by the thickness cannot meet the actual scanning process, resulting in low scanning result accuracy.

[0006] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0007] To have a basic understanding of some aspects of the disclosed embodiments, a brief overview is given below. The summary is not an overall description of the application, nor is it intended to identify key / important elements or delineate the scope of the embodiments, but to serve as a prelude to the detailed description below.

[0008] The embodiments of the present application provide a scanning method and device, an imaging device and a storage medium to improve the image scanning accuracy.

[0009] In some embodiments, the method comprises: acquiring a target position in a body region of an examinee that matches a ray domain of a gantry; determining a current scanning body position of the examinee according to the target position; selecting a scanning strategy based on the current scanning body position to perform scanning.

[0010] Optionally, the acquiring the target position in the body region of the subject that matches the ray domain of the gantry comprises: acquiring initial image information; wherein the initial image information comprises a body image corresponding to the subject and a gantry image corresponding to the scanning gantry; inputting the initial image information into a position recognition model to acquire the target position in the body region that matches the ray domain; wherein the position recognition model is obtained by training a plurality of sets of training data, and each set of training data comprises a body image of a subject and a gantry image, and a label identifying a position in the body image that matches the scanning domain.

[0011] Optionally, the acquiring the target position in the body region of the subject that matches the ray domain of the gantry comprises: determining the target position in the body region of the subject that matches the ray domain of the gantry according to body coordinate information of the subject and ray domain coordinate information corresponding to the ray domain.

[0012] Optionally, the determining the target position in the body region of the subject that matches the ray domain of the gantry according to body coordinate information of the subject and ray domain coordinate information corresponding to the ray domain comprises: acquiring first grid coordinates of a grid corresponding to the subject and first key point coordinates corresponding to ray domain key points; wherein the grid is obtained by segmenting a target human body model corresponding to the subject, a three-dimensional region formed by the ray domain key points is used to represent a ray irradiation range, the first grid coordinates and the first key point coordinates are both coordinates in a first coordinate system, and the ray domain key points at least include: a gantry emission origin, a center point of a detector, and at least three edge points of a ray emitted by the gantry in a planar region formed by the detector; determining a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship; and determining all matching grids as the target position.

[0013] Optionally, the determining the matching grid in which the first grid coordinates and the first key point coordinates satisfy the preset matching relationship comprises: acquiring a first three-dimensional region formed by all ray domain key points; and in a case where a current grid is located in the first three-dimensional region, determining that the current grid is the matching grid that satisfies the preset matching relationship.

[0014] Optionally, the determining that the current grid is located in the first three-dimensional region comprises: acquiring a first volume of the first three-dimensional region; connecting a center point of the current grid with each ray domain key point to obtain a plurality of segmented sub-three-dimensional regions; acquiring a second volume of each sub-three-dimensional region; and in a case where a sum of the second volumes of all the sub-three-dimensional regions is equal to the first volume, determining that the current grid is located in the first three-dimensional region.

[0015] Optionally, the acquiring the first key point coordinate corresponding to the key point in the ray domain comprises: acquiring a first coordinate system, an ISO coordinate system and a Table coordinate system; the ISO coordinate system is a coordinate system established with a specific point on a gantry as a center, the Table coordinate system is a coordinate system established with a specific point on a bed body as a center, and the first coordinate system is a coordinate system established with a specific point corresponding to a subject as a center; determining a key point ISO coordinate of the key point in the ray domain in the ISO coordinate system according to a current position of the gantry; converting the key point ISO coordinate into a key point Table coordinate in the Table coordinate system according to a current position of the bed body; and converting the key point Table coordinate into the first key point coordinate in the first coordinate system according to a current position of the subject.

[0016] Optionally, the determining the key point ISO coordinate in the ISO coordinate system according to the current position of the gantry comprises: acquiring an initial ISO coordinate of the key point in the ray domain in the ISO coordinate system; acquiring a gantry rotation angle and a gantry displacement of the gantry from an initial position to a current scanning position, and a detector rotation angle of the detector from the initial position to the current scanning position; determining an ISO rotation and translation matrix according to the gantry rotation angle, the gantry displacement and the detector rotation angle; and determining the key point ISO coordinate according to the initial ISO coordinate and the ISO rotation and translation matrix.

[0017] Optionally, the converting the key point ISO coordinate into the key point Table coordinate in the Table coordinate system according to the current position of the bed body comprises: determining a first coordinate system conversion matrix according to a distance between the Table coordinate system and the ISO coordinate system; the first coordinate system conversion matrix is a conversion from the ISO coordinate system to the Table coordinate system; acquiring a bed body displacement of the bed body from an initial position to a current scanning position; and converting the key point ISO coordinate into the key point Table coordinate in the Table coordinate system according to the bed body displacement, the initial Table coordinate and the first coordinate system conversion matrix.

[0018] Optionally, the converting the key point Table coordinate into the first key point coordinate in the first coordinate system according to the current position of the subject comprises: determining a second coordinate system conversion matrix according to a distance between the Table coordinate system and the first coordinate system; the second coordinate system conversion matrix is a conversion from the Table coordinate system to the first coordinate system; and converting the key point Table coordinate into the first key point coordinate in the first coordinate system according to the second coordinate system conversion matrix.

[0019] Optionally, according to the target position, the current scanning body position of the subject is determined, including: obtaining the coordinate range of each body position in the target human body model corresponding to the subject; obtaining the coincidence degree of the target position and the coordinate range of each body position in the target human body model; determining the body position with the coincidence degree greater than a preset threshold as the current scanning body position of the subject.

[0020] Optionally, further comprising: adjusting the window width and window level of the image according to the current scanning body position of the subject; and / or determining the scanning dose at the current time according to the current scanning body position of the subject.

[0021] Optionally, further comprising: calculating the thickness of the subject according to the current scanning body position of the subject; obtaining the body contour of the subject according to the thickness of the subject; and taking anti-collision measures when the distance between the gantry and the body contour is less than a preset distance.

[0022] In some embodiments, the scanning device comprises: a position obtaining module configured to obtain a target position in the body region of the subject that matches the ray domain of the gantry; a body position determining module configured to determine the current scanning body position of the subject according to the target position; and a scanning module configured to select a scanning strategy based on the current scanning body position for scanning.

[0023] In some embodiments, the angiography machine comprises: an angiography machine body; and the device of any one of the above, which is installed on the angiography machine body.

[0024] The scanning method and device, the imaging device and the storage medium provided by the embodiments of the present application can achieve the following technical effects:

[0025] According to the target position in the body region of the subject that matches the ray domain of the gantry, the embodiments of the present application can accurately determine the current scanning body position of the subject in the scanning range of the gantry, and then select a scanning strategy based on the current scanning body position. Compared with the scanning process in the related art, which only relies on the body thickness to select a scanning strategy for scanning, the embodiments of the present application further consider the differences in scanning requirements between different parts, so that a scanning strategy that is more matched to the body shape and state of the subject can be selected, the matching degree of the scanning process and the part to be scanned is improved, and the accuracy of the scanning result is effectively improved.

[0026] The general description above and the following description below are exemplary and explanatory only and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and serve to explain the principles of the application.

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, the other drawings can be obtained based on these drawings without any creative effort.

[0029] Figure 1 A schematic diagram of a structure of a blood vessel imaging machine;

[0030] Figure 2 A flow chart of a scanning method provided by an embodiment of the present application;

[0031] Figure 3 A flow chart of another scanning method provided by an embodiment of the present application;

[0032] Figure 4 A flow chart of still another scanning method provided by an embodiment of the present application;

[0033] Figure 5 A schematic diagram of a human model data provided by an embodiment of the present application;

[0034] Figure 6 A schematic diagram of a ray radiation area provided by an embodiment of the present application;

[0035] Figure 7 A flow chart of still another scanning method provided by an embodiment of the present application;

[0036] Figure 8 A schematic diagram of an ISO coordinate system provided by an embodiment of the present application;

[0037] Figure 9 A schematic diagram of an ISO coordinate system, a Table coordinate system and a Human coordinate system corresponding to a blood vessel imaging machine provided by an embodiment of the present application;

[0038] Figure 10 A schematic diagram of a structure of a scanning device provided by an embodiment of the present application;

[0039] Figure 11 A schematic diagram of a structure of an imaging device provided by an embodiment of the present application;

[0040] Figure 12 A schematic diagram of a blood vessel imaging machine provided by an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] In modern clinical medicine, doctors often use imaging equipment to irradiate and image parts of the patient's body during diagnosis or treatment. Different body parts require different radiation or scanning protocols due to differences in volume, density, and tissue structure. In practice, doctors manually select a scanning protocol based on the patient's affected body part (i.e., body position) and then never modify it. However, imaging equipment must navigate multiple body positions during surgery, and it cannot automatically set the scanning protocol based on the characteristics of each position, which can result in suboptimal images. Related technologies first acquire an image of the patient and automatically determine the scanning protocol based on the body thickness of different parts of the body as reflected in the image. However, different parts of the same body thickness require different scan doses due to differences in density and structure. This approach, which relies solely on body thickness to determine the scanning protocol, can affect the final imaging quality. Furthermore, pre-scanning the patient to obtain an image increases the patient's absorption of X-rays. Using cameras or other devices to acquire images of the patient can hinder complete and accurate images due to occlusion of the patient, further impacting the scanning quality.

[0044] Based on this, an embodiment of the present application provides a scanning method, which determines the current scanning position of the subject in real time by matching the target position in the subject's body area with the gantry radiation field, and based on the current scanning strategy, makes the scanning strategy more compatible with the subject's actual body shape and posture, thereby improving the accuracy of the scanned image.

[0045] The scanning method provided in the embodiments of the present application can be widely applied to a variety of imaging devices, for example, it can be applied to any one of digital X-ray photography equipment (Digital Radiography, DR), mobile digital X-ray photography equipment (Mobile-DR), breast X-ray machine (Breast X-ray Machine), C-arm X-ray equipment or digital subtraction angiography equipment (Digital Subtraction Angiograph, DSA), CT equipment (Computed Tomography, electronic computer tomography). It should be noted that there are many types of X-ray equipment that use the principle of X-ray phase contrast imaging. The X-ray source can adopt a conventional X-ray tube, a micro-focus source, a synchrotron radiation source, etc., among which the principle of a conventional X-ray tube is to use high-speed particles to hit a metal target to generate X-rays.

[0046] Optionally, the scanning method provided in the embodiment of the present invention can be applied to a digital subtraction angiography (DSA). A DSA device is a medical imaging device that assists doctors in performing angiographic examinations or treatments. Under the guidance of the DSA device, doctors introduce specific catheters, guidewires and other precision instruments into the patient's diseased area for precise interventional treatment, which has the characteristics of minimal trauma, rapid recovery and good results. Figure 1 As shown in the figure, it is a hardware structure diagram of the digital subtraction angiography (DSA). Figure 1 As shown, the angiography machine may include a rotating arm 10, a radiation source F, a detector 11, a bed 12 and a display ( Figure 1 (not shown) The rotating arm 10 may be a C-arm, and the radiation source F and detector 11 are disposed opposite each other at either end of the rotating arm 10. The radiation source F is configured to emit radiation, such as X-rays. The detector 11 may be a digital flat-panel detector configured to image blood vessels and transmit the images to a display. The display is configured to display the images. The rotating arm 10, radiation source F, and detector 11 together constitute the DSA device frame.

[0047] Combine Figure 2 As shown in FIG, it is a flow chart of a scanning method provided in an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0048] S201: Acquire a target position in the body region of the subject that matches the radiation field of the gantry.

[0049] The body region of the subject can be information representing each body part of the subject, and the ray domain of the gantry can be information representing a three-dimensional region capable of being irradiated by the rays emitted by the gantry. Specifically, the body region and the ray domain can be a body picture and a ray region picture respectively, or can be position data of each part of the body and edge position data of the ray domain. For example, the body region can be coordinate information of each part of the subject, and the ray domain can be coordinate information of key points capable of determining the ray irradiation region.

[0050] The target position is used to represent the position of one or more body parts of the subject in the irradiation domain of the gantry. There are various ways to obtain the target position. In some examples, the image of the subject and the image of the gantry can be directly used as the input of the neural network model, and the target position can be directly obtained through the trained neural network model. In other examples, the target position can be determined based on the relative position relationship between the positions of each body part of the subject represented in the picture and the irradiation range of the irradiation domain of the gantry. In yet other examples, the target position can be obtained by analyzing the coordinate information of each body part of the subject and the coordinate information of the ray domain of the gantry.

[0051] S202: Determine the current scanning body position of the subject according to the target position.

[0052] After determining the target position in the body region of the subject, the current scanning body position of the subject is determined according to the target position. Since the target position can include only one body position, can include multiple body positions, or can include an incomplete body position, the current scanning body position of the subject represented by the target position needs to be determined according to the relative position of the target position in the body region of the subject.

[0053] S203: Select a scanning strategy for scanning based on the current scanning body position.

[0054] The above method provided by the embodiments of the present application can accurately determine the current scanning body position of the subject in the scanning range of the gantry according to the target position in the body region of the subject that matches the ray domain of the gantry, and then select a scanning strategy based on the current scanning body position. Compared with the scanning process in the related art, which only relies on the body thickness to select a scanning strategy for scanning, the embodiments of the present application further consider the differences in scanning requirements between different parts, so that a scanning strategy that is more matched to the body shape and state of the subject can be selected, the matching degree between the scanning process and the part to be scanned is improved, and the accuracy of the scanning result is effectively improved.

[0055] In combination with Figure 3As shown, another scanning method provided by the embodiment of the present application is provided, which directly determines the target position of the body region of the subject by training the position recognition model and based on the position recognition model, and the method specifically includes the following steps:

[0056] S301: Obtain initial image information.

[0057] The initial image information includes the body image corresponding to the subject and the gantry image corresponding to the scanning gantry. The body image and the gantry image can be collected by one or more cameras arranged in the scanning room.

[0058] S302: Input the initial image information into the position recognition model to obtain the target position in the body region matched with the ray domain.

[0059] S303: Determine the current scanning body position of the subject according to the target position.

[0060] S304: Select a scanning strategy based on the current scanning body position for scanning.

[0061] Specifically, the position recognition model is obtained by training a plurality of sets of training data, each set of training data in the plurality of sets of training data includes the body image of the subject and the gantry image, and a label identifying the position in the body image matched with the ray domain. The training process of the model can use any training method, and the training method and training process of the model are not limited by the embodiment of the present application.

[0062] Through the method provided by the above embodiment of the present application, the obtained body image and gantry image are directly input into the trained position recognition model to obtain the target position, and then the current scanning body position is determined based on the target position. The determination process of the current scanning body position is fast and accurate, which can effectively improve the scanning efficiency. And the selection of the scanning strategy based on the current scanning body position can make the scanning strategy more matched with the body shape of the subject, thereby effectively improving the accuracy of the scanning result.

[0063] Optionally, in the embodiment as shown above, Figure 2 The embodiment can specifically include: determining the target position in the body region of the subject matched with the ray domain of the gantry according to the body coordinate information of the subject and the ray domain coordinate information corresponding to the ray domain.

[0064] Specifically, the body coordinate information of the subject can be determined based on the subject image, and the ray domain coordinate information can be determined based on the gantry image. The body coordinate position and the ray domain coordinate position are determined according to the positions of the subject and the gantry in the image, respectively. The body coordinate information and the ray domain coordinate information can also be determined according to the relative position relationship between the subject and the gantry. In this way, the target position matching the ray domain can be obtained without additional image acquisition of the subject, and the position information is more accurate than direct image matching, further improving the accuracy of the scanning result.

[0065] In combination Figure 4 As shown in FIG. 6, another scanning method provided by the embodiment of the present application is shown. As shown in FIG. 6, the method specifically includes the following steps: Figure 4

[0066] S401: Obtain first grid coordinates of a grid corresponding to the subject, and first key point coordinates corresponding to the ray domain key points.

[0067] The grid is obtained by segmenting a target human body model corresponding to the subject, and the three-dimensional region formed by the ray domain key points is used to represent the ray irradiation range. The first grid coordinates and the first key point coordinates are both coordinates in a first coordinate system. The number of grids corresponding to each target human body model is greater than or equal to two.

[0068] Specifically, the target human body model is selected from a pre-established human body model library according to the height, weight, and other human body parameters of the subject. The human body model library can be a plurality of human body models of different heights, weights, and genders (male, female, child, and old person) that are pre-established, and human body model data obtained by performing grid segmentation on each human body model, for example, a plurality of human body models obtained by using MakeHuman open source software for human body modeling, and human body model data formed by performing grid segmentation on each human body model. As shown in FIG. 3, Figure 5 Figure 5 The left side shows a three-dimensional structure diagram of a human body model in the human body model library, Figure 5 The right side shows the coordinates of each grid node in the human body model data after the grid segmentation of the human body model. The human body model library can be directly stored in the server of the imaging device, or stored in a cloud server. The imaging device accesses the cloud server through the network to call the human body model library or the target human body model data in the human body model library when in use. In actual use, the doctor or technician establishes the basic information of the patient on the processing system interface of the imaging device, inputs the height, weight, gender, age, and other information of the patient. At this time, the processing system will automatically match these information with the human body model library to find a human body model of similar body type as the target human body model, and save the target human body model in the background for calling.​​

[0069] Optionally, the ray domain key points include at least: the gantry emission origin, the center point of the detector, and at least three edge points of the gantry-emitted ray in the plane area formed by the detector. The gantry emission origin is the focus source Focus point of the ray. The area covered by the ray emitted from the focus source Focus to the detector Detector is called the X-ray radiation area, that is, the ray domain. The plane area formed by the ray in the detector can be circular, elliptical, rectangular, square, etc. In some examples, taking the above-mentioned plane area as a rectangle as an example, the ray domain key points can include six, namely the gantry emission origin, the four vertices of the rectangular plane area, and the center point of the detector. As Figure 6 The figure shows a schematic diagram of an X-ray radiation area. Figure 6 In the example, S is the focus point. The conical area formed by S, D1, D2, D3, and D4 is the radiation domain. The rectangle formed by D1, D2, D3, and D4 is the area where the detector receives X-rays, also known as the imaging area. The center point of the imaging area is D0. The six fixed points S, D1, D2, D3, D4, and D0 are used as key points in the radiation domain of the target human body model to calculate the patient's body position.

[0070] S402: Determine a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship.

[0071] The first grid coordinates and the second key point coordinates are both coordinate values ​​in a first coordinate system. The first coordinate system may be a coordinate system established with a specific point on the rack as the origin, for example, Figure 6 The ISO coordinate system is established with the rotation center O3 of the frame in the image as the coordinate origin. The first coordinate system can also be a coordinate system established with a specific point on the bed as the origin, for example, a Table coordinate system established with the center point of the bed as the coordinate origin. The first coordinate system can also be a coordinate system established with a specific point corresponding to the subject as the origin, for example, a Human coordinate system established with the center of the subject's head as the coordinate origin. Of course, it can also be a coordinate system established with other reference points as the coordinate origin. The embodiments of the present application do not limit the establishment reference of the first coordinate system. As long as the coordinates of the key points in the ray domain and the coordinates of the grid in the target human body model corresponding to the subject are converted to the same first coordinate system, the various embodiments of the present application can be implemented.

[0072] S403: Determine all matching grids as target positions.

[0073] S404: Determine the current scanning position of the subject according to the target position.

[0074] S405: Select a scanning strategy based on the current scanning posture to perform scanning.

[0075] The method provided in the embodiments of the present application determines the first grid coordinates corresponding to the human body model of the subject and the first key point coordinates corresponding to the key points in the ray domain in the same coordinate system, and according to the correlation between the coordinates, the body part of the current patient in the scanning range of the gantry can be accurately determined, and then scanning is performed based on the current scanning position. Compared with the manner in which the scanning process in the related art only determines the body thickness by relying on the picture, the embodiments of the present application further consider the difference in scanning requirements between different parts, and thus the matching degree of the scanning process and the part to be scanned can be effectively improved, and the accuracy of the scanning result is effectively improved.

[0076] Optionally, the matching grid satisfying the preset matching relationship between the first grid coordinates and the first key point coordinates is determined from all the grids of the target human body model, including: obtaining a first solid region formed by all the key points in the ray domain; and in a case where the current grid is located in the first solid region, determining that the current grid is the matching grid satisfying the preset matching relationship. In this way, the body part in the irradiation range of the ray domain can be determined only by the relationship between the coordinates of each grid of the target human body model and the key point coordinates in the ray domain, without the need for additional image acquisition to determine the body position. The body position determination process is fast and has good real-time performance, and the efficiency of body position determination can be effectively improved.

[0077] There are many ways to determine whether the current grid is located in the first solid region, for example, the coordinate values of the current grid in the first coordinate system and the coordinate values of each key point in the ray domain in the first coordinate system are projected onto the same plane, and whether the current grid is located in the first solid region is determined according to the positional relationship between the projection points in the same plane. Optionally, the current grid can be determined to be located in the first solid region by the following manner:

[0078] 1. Obtain a first volume of the first solid region;

[0079] 2. Connect the center point of the current grid with each key point in the ray domain to obtain a plurality of segmented sub-solid regions;

[0080] 3. Obtain a second volume of each sub-solid region;

[0081] 4. In a case where the sum of the volumes of all the second volumes is equal to the first volume, it is determined that the current grid is located in the first solid region.

[0082] In combination with Figure 7 It is shown that the flowchart illustrates another scanning method provided in the embodiments of the present application. In the method, the first coordinate system is a Human coordinate system established based on the target human body model, and on this basis, the method focuses on describing how to convert the key points in the ray domain into the first key point coordinates in the Human coordinate system. As shown in Figure 7As shown, the method specifically comprises the following steps:

[0083] S701: Obtain first grid coordinates of a grid corresponding to a target human body model of a subject in a first coordinate system.

[0084] S702: Obtain a first coordinate system, an ISO coordinate system, and a Table coordinate system.

[0085] The ISO coordinate system is a coordinate system established with a specific point on the gantry as the center, the Table coordinate system is a coordinate system established with a specific point on the bed body as the center, and the first coordinate system is a coordinate system established with a specific point corresponding to the subject as the center.

[0086] S703: Determine key point ISO coordinates of key points in the ray domain in the ISO coordinate system according to the current position of the gantry.

[0087] S704: Convert the key point ISO coordinates into key point Table coordinates in the Table coordinate system according to the current position of the bed body.

[0088] S705: Convert the key point Table coordinates into first key point coordinates in the first coordinate system according to the current position of the subject.

[0089] S706: From all the grids of the target human body model, determine a matching grid that satisfies a preset matching relationship between the first grid coordinates and the first key point coordinates.

[0090] Specifically, first, the first grid coordinates of each grid of the subject in the first coordinate system and the key point ISO coordinates of the key points in the ray domain in the ISO coordinate system corresponding to the gantry are obtained, then the key point ISO coordinates are converted into the key point Table coordinates in the Table coordinate system corresponding to the bed body, and finally, the key point Table coordinates are converted into the first key point coordinates in the first coordinate system. In this way, the correlation between the gantry, the bed body, and the subject is established through the three coordinate systems, namely, the Human coordinate system, the ISO coordinate system, and the Table coordinate system, and the body position of the subject in the ray domain can be obtained in real time through coordinate transformation based on the correlation, the determination process of the body position is fast and accurate, and the accuracy of the body position determination is further improved.

[0091] For ease of understanding, the establishment of the ISO coordinate system, the establishment of the Table coordinate system, the establishment of the first coordinate system (i.e., the Human coordinate system), and the conversion process between the three coordinate systems are described in detail below.

[0092] Optionally, step S703 in the above embodiment, i.e., determining the key point ISO coordinates of the key points in the ray domain in the ISO coordinate system according to the current position of the gantry, comprises:

[0093] L11: obtaining initial ISO coordinates of the ray domain key points in the ISO coordinate system;

[0094] L12: obtaining a gantry rotation angle and a gantry displacement of the gantry running from the initial position to the current scanning position, and a detector rotation angle of the detector running from the initial position to the current scanning position;

[0095] L13: determining an ISO rotation and translation matrix according to the gantry rotation angle, the gantry displacement and the detector rotation angle;

[0096] L14: determining key point ISO coordinates according to the initial ISO coordinates and the ISO rotation and translation matrix.

[0097] In combination with Figure 8 It is shown that, before the coordinate system transformation, the coordinate system is first established. Referring to Figure 8 , the establishment process of the ISO coordinate system is as follows: taking the rotation center O3 as the coordinate origin, when the gantry and the bed body of the angiography machine are at zero position, the direction of the bed body from the bed head to the bed tail is the X axis, the direction of the left hand to the right hand of the subject when the subject is supine is the Y axis, and the vertical direction of the subject facing the ceiling is the Z axis, the ISO coordinate system is established.

[0098] Optionally, the gantry rotation angle includes a first rotation angle of the gantry around the X axis, and a second rotation angle of the gantry around the Y axis, and the detector rotation angle includes a third rotation angle of the detector around the Z axis.

[0099] Further, the process of obtaining the coordinate values of each ray domain key point in the ISO coordinate system when the gantry moves to the to-be-imaged part is as follows: the gantry movement of the angiography machine is divided into rotation and movement, the angle of the gantry rotating around the X axis is α, counterclockwise rotation is positive rotation, the angle of the gantry rotating around the Y axis is β, clockwise rotation is positive rotation, the angle of the detector rotating around the Z axis is γ, counterclockwise rotation is positive rotation, and the gantry can move along the X axis direction when the gantry is at the lateral position, assuming that the displacement is Δm. In order to facilitate the translation and rotation transformation of the matrix, first, the coordinates of the six points of the X-ray domain at zero position are constructed in the form of a homogeneous coordinate matrix:

[0100]

[0101] The above Coor_ISO is the initial ISO coordinates described in the embodiments of the present application.

[0102] At the current time, the gantry rotates around the X axis by an angle α, and a rotation matrix Matrix_rot1 can be constructed:

[0103]

[0104] The gantry rotates around the Y axis by an angle β, and a rotation matrix Matrix_rot2 can be constructed as follows:

[0105]

[0106] The probe rotates around the Z axis by an angle γ, and a rotation matrix Matrix_rot3 can be constructed as follows:

[0107]

[0108]

[0109] When the gantry is in the lateral position, it moves along the X axis by a displacement Δm, and a translation matrix Matrix_gantry_trans can be constructed as follows:

[0110]

[0111] The homogeneous coordinate matrix of the six ray domain key points after rotation and translation can be calculated as follows:

[0112] Coor_ISO_move = Matrix_gantry_trans * Matrix_rot1 * Matrix_rot2 * Matrix_rot3 * Coor_ISO. Coor_ISO_move is the key point ISO coordinate.

[0113] Through the above method, the key point ISO coordinate of the ray domain key point is obtained. Next, the key point ISO coordinate needs to be converted to the Table coordinate system corresponding to the bed body, that is, step S704 in the above embodiment can be specifically as follows:

[0114] L21: determining a first coordinate system transformation matrix according to the distance between the Table coordinate system and the ISO coordinate system; wherein the first coordinate system transformation matrix is a transformation from the ISO coordinate system to the Table coordinate system;

[0115] L22: obtaining a bed body displacement of the bed body moving from an initial position to a current scanning position;

[0116] L23: converting the key point ISO coordinate into a key point Table coordinate in the Table coordinate system according to the bed body displacement, the initial Table coordinate and the first coordinate system transformation matrix.

[0117] Specifically, taking Figure 9For example, the establishment process of the Table coordinate system is as follows: when the gantry and the bed body are located at zero position, taking the base point (TableBase) O1 of the bed body as the coordinate origin, the directions of the X axis, the Y axis and the Z axis are consistent with the directions of the ISO coordinate system, and the Table coordinate system is established. Wherein, the displacement difference of the Table coordinate system O1 and the ISO coordinate system O3 in the Y axis direction is 0.

[0118] Further, the vertical distance H3 and the horizontal distance L2 from the gantry rotation center O3 to the TableBase are known, and the six ray domain key points of the ISO coordinate system can be transformed to the Table coordinate system, and the coordinate system transformation matrix can be represented as:

[0119]

[0120] The above Matrix_ISOToTable_trans is the first coordinate system transformation matrix.

[0121] Suppose the bed body moves in the X, Y, Z directions relative to the TableBase by (Δx, Δy, Δz) displacement, then the point of the X-ray radiation region moves relative to the Table, and the translation matrix can be represented as:

[0122]

[0123] The six points of the X-ray radiation domain of the ISO coordinate system transformed to the TableBase coordinate system can be represented as:

[0124] Coor_ISO_move_ToTable=Matrix_Table_trans*Matrix_ISOToTable_trans*Coor_ISO_move。

[0125] Through the above method, the key point Table coordinates of the ray domain key points are obtained, and then the key point Table coordinates need to be converted to the Human coordinate system corresponding to the bed body, that is, the step S705 in the above embodiment can be specifically:

[0126] L31: determining a second coordinate system transformation matrix according to the distance between the table coordinate system and the first coordinate system; wherein the second coordinate system transformation matrix is a transformation from the Table coordinate system to the first coordinate system;

[0127] L32: converting the key point Table coordinates to the first key point coordinates in the first coordinate system according to the second coordinate system transformation matrix.

[0128] Specifically, continuing with Figure 9For example, the process of establishing the Human coordinate system is as follows: Since the subject is lying on the bed, the subject and the bed can be regarded as a whole. When the bed is at zero position, Figure 9 As shown, the distance from the bed's base point TableBase to the bed's head is L0, a known quantity. The horizontal distance from the subject's head to the bed's head is L1 (a measured quantity), and the vertical distance from the subject's head to the bed is H2 (calculated based on the human body model coordinate system). The human body model Human coordinate system O2 and the TableBase coordinate system O1 are aligned in the X-axis, Y-axis, and Z-axis directions, and the displacement difference in the Y-axis direction is 0. Therefore, the transformation matrix from the TableBase coordinate system to the Human coordinate system (i.e., the second coordinate system transformation matrix) can be expressed as:

[0129]

[0130] Finally, the coordinate matrices of the six ray domain key points are transformed into the Human coordinate system through the following homogeneous matrix calculation:

[0131] Coor_ISO_move_ToHuman=Matrix_TableToHuman_trans*Coor_ISO_move_ToTable.

[0132] Through the above calculations, the six key points of the radiation area are transformed into the human coordinate system. Then, the grid nodes in the human coordinate system are matched with the six key points of the radiation area to determine which grid nodes of the human body model are in the radiation area.

[0133] Optionally, step S404 in the above embodiment, i.e., determining the current scanning position of the subject according to the target position, includes:

[0134] 1. Obtain the coordinate range of each body position in the target human body model corresponding to the subject;

[0135] 2. Obtain the degree of overlap between the target position and the coordinate range corresponding to each body position in the target human body model;

[0136] 3. The body position with a degree of overlap greater than a preset threshold is determined as the subject's current scanning body position.

[0137] Specifically, taking the target position as the matching grid in the target human body model as an example, first obtain the coordinate range corresponding to each body position in the target human body model; obtain the degree of overlap between all matching grids and the coordinate range corresponding to each body position in the target human body model; finally, determine the body position with a degree of overlap greater than a preset threshold as the current scanning body position of the subject.

[0138] In this way, without additional images, only according to the coordinate range of each body position in the target human body model as prior information, the current scanning body position can be directly determined, the determination efficiency of the scanning body position is effectively improved, and the accuracy of the scanning result is further improved.

[0139] It can be understood that after obtaining the coordinates of the grid and the ray domain key points in the same coordinate system, there are other ways to determine the grid matched with the ray domain key points, and then determine the current scanning body position, for example, the proportion of the area formed by the ray domain key points in the target human body model, and the determination method of the current scanning body position is not limited in the embodiments of the application.

[0140] Optionally, after determining the current scanning body position of the examinee, the method provided by the embodiments of the application can further adjust the window width and window level of the image according to the current scanning body position of the examinee.

[0141] For example, the lung of the human body has more air, so the image is bright, when the current scanning body position is determined as the lung, the window width and window level suitable for the lung are automatically adjusted, which can better provide clearer images for the interventional surgery process.

[0142] Optionally, after determining the current scanning body position of the examinee, the method provided by the embodiments of the application can further determine the scanning dose at the current moment according to the current scanning body position of the examinee.

[0143] For example, according to the basic information or case of the examinee, it is known that the examinee has a thyroid nodule in the neck, when the current scanning position of the examinee is determined as the neck, a lower radiation dose can be given.

[0144] Optionally, after determining the current scanning body position of the examinee, the method provided by the embodiments of the application can further adopt a collision avoidance strategy for the examinee, which specifically includes the following steps: 1. calculating the thickness of the examinee according to the current scanning body position of the examinee; 2. obtaining the body contour of the examinee according to the thickness of the examinee; 3. in the case that the distance between the gantry and the body contour is less than a preset distance, a collision avoidance measure is taken.

[0145] The above method provided by the embodiments of the application can detect the current scanning body position of the examinee in real time during the CV surgery process, and automatically select a scanning protocol suitable for the organ according to the current scanning body position, so as to provide an image with appropriate dose and clear effect for the interventional surgery process.

[0146] In combination with Figure 10As shown, the embodiment of the present application provides a scanning device 1000, comprising a position acquisition module 1001, a body position determination module 1002 and a scanning module 1003. Wherein, the position acquisition module 1001 is configured to acquire a target position in the body region of the subject which matches the ray domain of the gantry; the body position determination module 1002 is configured to determine the current scanning body position of the subject according to the target position; and the scanning module 1003 is configured to select a scanning strategy based on the current scanning body position for scanning.

[0147] The above device provided by the embodiment of the present application can accurately determine the current scanning body position of the subject in the scanning range of the gantry according to the target position in the body region of the subject which matches the ray domain of the gantry, and then select a scanning strategy based on the current scanning body position. Compared with the scanning process in the related art which only relies on the body thickness to select a scanning strategy for scanning, the embodiment of the present application further considers the difference in scanning requirements between different parts, so that a scanning strategy which is more matched to the body type and state of the subject can be selected, the matching degree of the scanning process and the part to be scanned is improved, and the accuracy of the scanning result is effectively improved.

[0148] Optionally, the position acquisition module 1001 is further configured to acquire initial image information; wherein, the initial image information comprises a body image corresponding to the subject and a gantry image corresponding to the scanning gantry; input the initial image information into a position recognition model to acquire the target position in the body region which matches the ray domain; wherein, the position recognition model is obtained by training a plurality of sets of training data, and each set of training data contains the body image and the gantry image of the subject, and a label identifying the position in the body image which matches the scanning domain.

[0149] Optionally, the position acquisition module 1001 is further configured to determine the target position in the body region of the subject which matches the ray domain of the gantry according to the body coordinate information of the subject and the ray domain coordinate information corresponding to the ray domain.

[0150] Optionally, the target position in the body region of the subject which matches the ray domain of the gantry is determined according to the body coordinate information of the subject and the ray domain coordinate information corresponding to the ray domain, comprising: acquiring first grid coordinates of a grid corresponding to the subject, and first key point coordinates corresponding to ray domain key points; wherein, the grid is obtained by segmenting a target human body model corresponding to the subject, and the three-dimensional region formed by the ray domain key points is used to represent the ray irradiation range, the first grid coordinates and the first key point coordinates are both coordinates in a first coordinate system, and the ray domain key points at least include: a gantry emission origin, a center point of a detector, and at least three edge points of the rays emitted by the gantry in the plane region formed by the detector; determining a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship; and determining all the matching grids as the target position.

[0151] Optionally, the matching grid satisfying the preset matching relationship between the first grid coordinate and the first key point coordinate is determined by: obtaining a first solid region formed by all the ray domain key points; and determining the current grid as the matching grid satisfying the preset matching relationship in a case that the current grid is located in the first solid region.

[0152] Optionally, the current grid is determined to be located in the first solid region by: obtaining a first volume of the first solid region; connecting a center point of the current grid with each of the ray domain key points to obtain a plurality of segmented sub-solid regions; obtaining a second volume of each of the sub-solid regions; and determining the current grid to be located in the first solid region in a case that a sum of the second volumes of all the sub-solid regions is equal to the first volume.

[0153] Optionally, the first key point coordinate corresponding to the ray domain key point is obtained by: obtaining a first coordinate system, an ISO coordinate system and a Table coordinate system; the ISO coordinate system is a coordinate system established with a specific point on a gantry as a center, the Table coordinate system is a coordinate system established with a specific point on a bed as a center, and the first coordinate system is a coordinate system established with a specific point corresponding to a subject as a center; determining a key point ISO coordinate of the ray domain key point in the ISO coordinate system according to a current position of the gantry; converting the key point ISO coordinate into a key point Table coordinate in the Table coordinate system according to a current position of the bed; and converting the key point Table coordinate into the first key point coordinate in the first coordinate system according to a current position of the subject.

[0154] Optionally, the key point ISO coordinate of the ray domain key point in the ISO coordinate system is determined according to a current position of the gantry by: obtaining an initial ISO coordinate of the ray domain key point in the ISO coordinate system; obtaining a gantry rotation angle and a gantry displacement of the gantry from an initial position to a current scanning position, and a detector rotation angle of the detector from the initial position to the current scanning position; determining an ISO rotation and translation matrix according to the gantry rotation angle, the gantry displacement and the detector rotation angle; and determining the key point ISO coordinate according to the initial ISO coordinate and the ISO rotation and translation matrix.

[0155] Optionally, the key point ISO coordinate is converted into the key point Table coordinate in the Table coordinate system according to a current position of the bed by: determining a first coordinate system conversion matrix according to a distance between the Table coordinate system and the ISO coordinate system; the first coordinate system conversion matrix is a conversion from the ISO coordinate system to the Table coordinate system; obtaining a bed displacement of the bed from an initial position to a current scanning position; and converting the key point ISO coordinate into the key point Table coordinate in the Table coordinate system according to the bed displacement, the initial Table coordinate and the first coordinate system conversion matrix.

[0156] Optionally, the converting the key point Table coordinates into the first coordinates of the key points in the first coordinate system according to the current position of the subject comprises: determining a second coordinate system transformation matrix according to a distance between the Table coordinate system and the first coordinate system, wherein the second coordinate system transformation matrix is a transformation from the Table coordinate system to the first coordinate system; and converting the key point Table coordinates into the first coordinates of the key points in the first coordinate system according to the second coordinate system transformation matrix.

[0157] Optionally, the body position determination module 1002 is further configured to obtain a coordinate range of each body position in a target human body model corresponding to the subject; obtain a coincidence degree of the target position and the coordinate range of each body position in the target human body model; and determine a body position with a coincidence degree greater than a preset threshold as the current scanning body position of the subject.

[0158] Optionally, the apparatus further comprises an adjustment module configured to adjust a window width and window level of the image according to the current scanning body position of the subject.

[0159] Optionally, the apparatus further comprises a dose determination module configured to determine a scanning dose at the current time according to the current scanning body position of the subject.

[0160] Optionally, the apparatus further comprises a thickness determination module configured to calculate a thickness of the subject according to the current scanning body position of the subject; a contour acquisition module configured to obtain a body contour of the subject according to the thickness of the subject; and a collision avoidance module configured to take a collision avoidance measure when a distance between a gantry and the body contour is less than a preset distance.

[0161] In combination with Figure 11 As shown in the figure, the embodiment of the present application provides an imaging device 1100, which comprises a processor 100 and a memory 101. Optionally, the device can further comprise a communication interface 102 and a bus 103. The processor 100, the communication interface 102 and the memory 101 can complete mutual communication through the bus 103. The communication interface 102 can be used for information transmission. The processor 100 can invoke a logical instruction in the memory 101 to execute the scanning method of the above-mentioned embodiment.

[0162] In addition, the logical instruction in the memory 101 described above can be realized in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0163] The memory 101 can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiments of the present application. The processor 100 executes the function application and data processing by running the program instructions / modules stored in the memory 101, that is, implements the scanning method in the above embodiments.

[0164] The memory 101 can include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required by a function. The data storage area can store data created according to the use of the terminal device. In addition, the memory 101 can include a high-speed random access memory and can also include a non-volatile memory.

[0165] In combination with Figure 12 As shown in the above embodiments, the present application provides a blood vessel imaging machine 1200, which includes a blood vessel imaging machine body and the above device 1000 (1100). The above device 1000 (1100) is installed on the imaging machine body. The installation relationship described herein is not limited to being placed in the blood vessel imaging machine, but also includes installation connection with other components of the blood vessel imaging machine, including but not limited to physical connection, electrical connection or signal transmission connection, etc. Those skilled in the art can understand that the above device 1000 (1100) can be adapted to a feasible blood vessel imaging machine body, and thus realize other feasible embodiments.

[0166] The embodiments of the present application provide a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are configured to execute the scanning method in the above embodiments.

[0167] The embodiments of the present application provide a computer program product, which includes a computer program stored on a computer readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the scanning method in the above embodiments.

[0168] The above computer readable storage medium can be a transitory computer readable storage medium or a non-transitory computer readable storage medium.

[0169] The technical solutions of the embodiments of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method disclosed in the embodiments of the present application. The storage medium described above can be a non-transitory storage medium, including a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or can be a transitory storage medium.

[0170] The above description and drawings sufficiently illustrate the embodiments of the present application to enable one skilled in the art to practice them. Other embodiments can include structural, logical, electrical, process, and other changes. The embodiments are merely representative of the possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be varied. Portions and features of some embodiments can be included in, or substituted for, portions and features of other embodiments. Also, the word "comprise" or variations such as "comprises" or "comprising" is used throughout this application, and is used in its inclusive sense and not its exclusive sense, that is, "comprising" means "including, but not limited to". As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and / or" as used in the application refers to any and all possible combinations of one or more of the associated listed items. In addition, the term "comprise" and variations such as "comprises" and / or "comprising", and the like when used in this application, refer to the presence of stated features, integers, steps, operations, elements, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Without more limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus including the element. In this document, each embodiment focuses on the differences from other embodiments, and the same or similar parts between embodiments can be referred to each other. For the method, product, etc. disclosed in the embodiments, if it corresponds to the method part disclosed in the embodiments, the relevant part can be referred to the description of the method part.

[0171] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software manner can depend on specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to realize the described functions, but such implementation should not be considered beyond the scope of the embodiments of the present application. The skilled person can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0172] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the above-described device embodiments are merely illustrative, for example, the division of the units can be merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms. The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to realize the embodiments. In addition, the functional units in the embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0173] The computer program product of the present application can be a computer program implemented on one or more computers. The program itself can be stored on a computer-readable medium, which can be any device or medium that can store or transfer this type of program. A computer readable medium can include an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium. More specific computer readable medium examples would include a portable magnetic disk, a floppy disk, a hard disk, a magnetic tape, a magnetic disk, an application specific integrated circuit, a programmable logic array, a compact disk read only memory (CD-ROM), a digital video disk (DVD), a Blu-ray disk, a flash memory, a portable computer disk, a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a solid state drive (SSD). The computer program product can be implemented in a distributed manner in which parts of the program are stored and executed on different computers.

[0174] The above description is merely that of the preferred embodiments of the present application, and it is to be understood that numerous improvements and modifications will occur to those skilled in the art, and it is intended that the following claims cover all such improvements and modifications.

Claims

1. A scanning method, characterized in that: include: acquiring a target position in the subject's body region that matches the radiation field of the gantry; Determine the current scanned body part of the subject according to the target position; Based on the current scanned body part, a scanning strategy is selected for scanning, the scanning strategy including a scanning protocol; Acquiring a target position in the subject's body region that matches the gantry's radiation field includes: Acquiring initial image information; wherein the initial image information includes a body image corresponding to the subject and a gantry image corresponding to the scanning gantry; Inputting the initial image information into the position recognition model to obtain the target position in the body region that matches the ray domain; The location recognition model is trained using multiple sets of training data, each set of training data comprising a body image and a gantry image of the subject, and labels identifying locations in the body image that match the scan domain; or Acquiring a target position in the subject's body region that matches the gantry's radiation field includes: determining a target position in the body region of the subject that matches the gantry's ray field according to the subject's body coordinate information and the ray field coordinate information corresponding to the ray field; The method of determining a target position in the body region of the subject that matches the gantry's ray domain according to the subject's body coordinate information and the ray domain coordinate information corresponding to the ray domain includes: Obtaining first grid coordinates of a grid corresponding to the subject and first key point coordinates of a ray domain key point; wherein the grid is obtained by segmenting a target human body model corresponding to the subject, and the three-dimensional region formed by the ray domain key points is used to represent the ray irradiation range, and the first grid coordinates and the first key point coordinates are both coordinates in a first coordinate system, and the ray domain key points include at least: a gantry emission origin, a center point of the detector, and at least three edge points of a planar region formed by rays emitted by the gantry on the detector; Determining a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship; All matching meshes are identified as target locations.

2. The method according to claim 1, characterized in that Determining a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship includes: Obtaining the first three-dimensional region formed by all ray domain key points; When the current grid is located in the first three-dimensional area, the current grid is determined to be a matching grid that satisfies a preset matching relationship.

3. The method according to claim 1, characterized in that Get the coordinates of the first key point corresponding to the ray domain key point, including: Obtaining a first coordinate system, an ISO coordinate system, and a Table coordinate system; wherein the ISO coordinate system is a coordinate system established with a specific point on the gantry as the center of a circle, the Table coordinate system is a coordinate system established with a specific point on the bed as the center of a circle, and the first coordinate system is a coordinate system established with a specific point corresponding to the subject as the center of a circle; Determine the ISO coordinates of the key points in the ray domain in the ISO coordinate system according to the current position of the gantry; According to the current position of the bed, the ISO coordinates of the key points are converted into the Table coordinates of the key points in the Table coordinate system; According to the current position of the subject, the coordinates of the key point Table are converted into the coordinates of the first key point in the first coordinate system.

4. The method according to claim 3, characterized in that Determine the ISO coordinates of the key points in the ray domain in the ISO coordinate system based on the current position of the gantry, including: Get the initial ISO coordinates of the key points in the ray domain in the ISO coordinate system; Obtaining a gantry rotation angle and a gantry displacement when the gantry moves from an initial position to a current scanning position, and a detector rotation angle when the detector moves from an initial position to a current scanning position; Determine the ISO rotation and translation matrix based on the gantry rotation angle, gantry displacement, and detector rotation angle; Determine the key point ISO coordinates based on the initial ISO coordinates and the ISO rotation and translation matrix.

5. The method according to claim 3, characterized in that According to the current position of the bed, the key point ISO coordinates are converted into the key point Table coordinates in the Table coordinate system, including: Determine a first coordinate system transformation matrix based on the distance between the Table coordinate system and the ISO coordinate system; wherein the first coordinate system transformation matrix is ​​a transformation from the ISO coordinate system to the Table coordinate system; Obtaining the bed displacement from the initial position to the current scanning position; According to the bed displacement, initial Table coordinates and the first coordinate system transformation matrix, the key point ISO coordinates are converted into the key point Table coordinates in the Table coordinate system.

6. The method according to claim 3, characterized in that According to the current position of the subject, the key point Table coordinates are converted into the first coordinates of the key point in the first coordinate system, including: Determine a second coordinate system transformation matrix based on the distance between the Table coordinate system and the first coordinate system; wherein the second coordinate system transformation matrix is ​​a transformation from the Table coordinate system to the first coordinate system; According to the second coordinate system transformation matrix, the key point Table coordinates are converted into the first key point coordinates in the first coordinate system.

7. The method according to any one of claims 1 to 6, characterized in that Based on the target position, the current scanned body part of the subject is determined, including: Obtaining the coordinate range of each body part in the target human body model corresponding to the subject; Obtaining the degree of overlap between the target position and the coordinate ranges corresponding to the various body parts in the target human body model; The body part with a degree of overlap greater than a preset threshold is determined as the currently scanned body part of the subject.

8. The method according to any one of claims 1 to 6, characterized in that Also includes: calculating the thickness of the subject according to the currently scanned body part of the subject; Obtaining the body contour of the subject according to the thickness of the subject; When the distance between the rack and the body contour is less than the preset distance, anti-collision measures are taken.

9. A scanning device, characterized in that: include: a position acquisition module configured to acquire a target position in a body region of the subject that matches a radiation field of the gantry; a body part determination module configured to determine a currently scanned body part of the subject based on the target position; a scanning module configured to select a scanning strategy for scanning based on a current scanned body part, wherein the scanning strategy includes a scanning protocol; Acquiring a target position in the subject's body region that matches the gantry's radiation field includes: Acquiring initial image information; wherein the initial image information includes a body image corresponding to the subject and a gantry image corresponding to the scanning gantry; Inputting the initial image information into the position recognition model to obtain the target position in the body region that matches the ray domain; The location recognition model is trained using multiple sets of training data, each set of training data comprising a body image and a gantry image of the subject, and labels identifying locations in the body image that match the scan domain; or Acquiring a target position in the subject's body region that matches the gantry's radiation field includes: determining a target position in the body region of the subject that matches the gantry's ray field according to the subject's body coordinate information and the ray field coordinate information corresponding to the ray field; The method of determining a target position in the body region of the subject that matches the gantry's ray domain according to the subject's body coordinate information and the ray domain coordinate information corresponding to the ray domain includes: Obtaining first grid coordinates of a grid corresponding to the subject and first key point coordinates of a ray domain key point; wherein the grid is obtained by segmenting a target human body model corresponding to the subject, and the three-dimensional region formed by the ray domain key points is used to represent the ray irradiation range, and the first grid coordinates and the first key point coordinates are both coordinates in a first coordinate system, and the ray domain key points include at least: a gantry emission origin, a center point of the detector, and at least three edge points of a planar region formed by rays emitted by the gantry on the detector; Determining a matching grid in which the first grid coordinates and the first key point coordinates satisfy a preset matching relationship; All matching meshes are identified as target locations.

10. An imaging device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 8 through the computer program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 8 when executed.

Images