Scanning method and apparatus, scanning device, and storage medium

Abstract

The present disclosure relates to the technical field of medical devices, and discloses a scanning method, comprising: generating a motion path of an imaging device; determining one or more control points capable of setting exposure parameters in the motion path; controlling the imaging device to move according to the motion path, and exposing and imaging a scanning object according to the exposure parameters at the control points. The above method associates the motion process of the imaging device with the exposure control, so that the imaging device can obtain relevant information of the scanning object during the motion process, which helps to accurately analyze the scanning object. The present disclosure also discloses a scanning device, a scanning apparatus and a storage medium.

Description

Technical Field

[0001] This disclosure relates to the technical field of medical devices, such as a scanning method and apparatus, scanning equipment, and storage medium. Background Technology

[0002] Digital subtraction angiography (DSA) is a device that generates vascular images based on digital subtraction technology. It can obtain vascular images through exposure, and then digitally process the images to delete unwanted tissue images to obtain clearer vascular images.

[0003] Digital subtraction angiography (DSA) systems control the movement of the C-arm and operating table to move the imaging device on the C-arm relative to the scanned object (e.g., the lesion site on a patient). When the imaging device reaches a corresponding control point, it exposes and images the scanned object, thus obtaining an angiographic image of the object. In related technologies, DSA equipment can pre-store the position information of the control points and automatically control the imaging device to move to those points based on this information. However, the imaging device can only perform point-to-point movement and cannot acquire relevant information about the scanned object along the movement path.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0006] This disclosure provides a scanning method, apparatus, device, and storage medium that enable an imaging device to obtain relevant information about the scanned object during motion.

[0007] According to a first aspect of the present disclosure, a scanning method is provided, comprising:

[0008] Generate the motion path of the imaging device;

[0009] Define one or more control points in the motion path where exposure parameters can be set;

[0010] The imaging device is controlled to move along the motion path, and the scanned object is exposed and imaged at the control point according to the exposure parameters.

[0011] In some embodiments, generating the motion path of the imaging device includes:

[0012] Obtain the target 3D model of the scanned object, and the display angle of the target 3D model corresponds to the position of the frame carrying the imaging device;

[0013] Based on the target's 3D model, obtain multiple target display angles;

[0014] Based on multiple target display angles, the motion path of the imaging device is generated.

[0015] In some embodiments, generating the motion path of the imaging device includes:

[0016] Obtain the target 3D model of the scanned object;

[0017] Determine the type of the object being scanned, as well as the shape and size characteristics of the target 3D model;

[0018] The shape features, size features, and type of the scanned object are input into the path generation model, and the motion path of the imaging device is generated based on the path generation model.

[0019] In some embodiments, obtaining the target 3D model of the scanned object includes:

[0020] Based on the imaging equipment, multiple first data points of the scanned object are acquired, and each first data point corresponds to a rack position;

[0021] A three-dimensional reconstruction is performed based on multiple sets of primary data to obtain the target three-dimensional model.

[0022] In some embodiments, obtaining the target 3D model of the scanned object includes:

[0023] Obtain the initial 3D model of the object being scanned by a preset scanning device;

[0024] Acquire second data of the scanned object when the imaging device is in different gantry positions;

[0025] The second data is registered with the initial 3D model to associate the rack position with the initial 3D model, thus obtaining the target 3D model.

[0026] In some embodiments, based on the target 3D model, multiple target display angles are obtained, including:

[0027] In response to a rotation operation on the target 3D model, rotate the target 3D model;

[0028] Multiple display angles selected during the rotation of the target 3D model will be used as the target display angles; or,

[0029] Based on the target 3D model, obtain the shape and size features of the scanned object;

[0030] The shape and size features are input into the display angle recommendation model, and multiple target display angles are obtained based on the display angle recommendation model.

[0031] In some embodiments, a motion path for the imaging device is generated based on multiple target display angles, including:

[0032] Obtain the target rack position corresponding to each target display angle;

[0033] Based on the target gantry position, the motion path of the imaging device is fitted.

[0034] In some embodiments, generating the motion path of the imaging device includes: generating the motion path of the imaging device based on the coordinate data of multiple path points set by the user.

[0035] In some embodiments, determining one or more control points in the motion path that can set exposure parameters includes:

[0036] In response to a click action on the motion path, one or more control points are generated in the motion path, where exposure parameters can be set.

[0037] In some embodiments, the motion path includes a plurality of candidate control points, and determining one or more control points in the motion path that can set exposure parameters includes:

[0038] Based on the target 3D model, obtain the projection image corresponding to each candidate control point;

[0039] Extract image features from each projected image;

[0040] The image features corresponding to each candidate point are matched with preset feature conditions, and one or more control points that can be used to set exposure parameters are determined from multiple candidate points based on the matching results.

[0041] In some embodiments, the exposure parameters include at least one of rack dwell time, exposure frame rate, exposure field of view, and exposure mode.

[0042] According to a second aspect of the present disclosure, a scanning device is provided, which includes a path generation module, a control point setting module, and an exposure imaging module.

[0043] The path generation module is configured to generate the motion path of the imaging device;

[0044] The control point setting module is configured to determine one or more control points in the motion path where exposure parameters can be set;

[0045] The exposure imaging module is configured to control the imaging device to move along the motion path and to perform exposure imaging on the scanned object at the control point according to the exposure parameters.

[0046] According to a third aspect of the present disclosure, a scanning device is provided, the scanning device including a processor and a memory storing program instructions; the processor is configured to execute the scanning method provided in the first aspect when running the program instructions.

[0047] According to a fourth aspect of the present disclosure, a storage medium is provided that stores program instructions; when the program instructions are executed, they perform the scanning method provided in the first aspect.

[0048] The scanning method, apparatus, device, and storage medium provided in this disclosure can achieve the following technical effects:

[0049] This disclosure allows for the pre-generation of a motion path for the imaging device of a scanning apparatus, and the determination of one or more control points within that motion path for setting exposure parameters, thereby linking the motion of the imaging device with exposure control. In this way, the imaging device can perform exposure imaging on the scanned object at the control points according to the exposure parameters while moving along the motion path, thus obtaining relevant information about the scanned object during the motion process, which helps in the accurate analysis of the scanned object.

[0050] The above general description and the description below are exemplary and illustrative only and are not intended to limit this disclosure. Attached Figure Description

[0051] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0052] Figure 1 This is a schematic diagram of the structure of a digital subtraction angiography system in the related technology provided in the embodiments of this disclosure;

[0053] Figure 2 This is a schematic diagram of a scanning method provided in an embodiment of this disclosure;

[0054] Figure 3 This is a schematic diagram of another scanning method provided in an embodiment of this disclosure;

[0055] Figure 4 This is a schematic diagram of a target three-dimensional model provided in an embodiment of this disclosure;

[0056] Figure 5 This is a schematic diagram of determining a reference point according to an embodiment of this disclosure;

[0057] Figure 6 This is a schematic diagram of another scanning method provided in an embodiment of this disclosure;

[0058] Figure 7 This is a schematic diagram of another scanning method provided in an embodiment of this disclosure;

[0059] Figure 8 This is an exemplary process for determining a motion path provided in an embodiment of this disclosure;

[0060] Figure 9 This is an exemplary schematic diagram of determining a control point according to an embodiment of this disclosure;

[0061] Figure 10 This is a schematic diagram of a scanning device provided in an embodiment of this disclosure;

[0062] Figure 11 This is a schematic diagram of a scanning device provided in an embodiment of this disclosure. Detailed Implementation

[0063] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0064] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0065] Unless otherwise stated, the term "multiple" means two or more.

[0066] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0067] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0068] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0069] Digital subtraction angiography (DSA) systems control the movement of the C-arm and operating table to move the imaging device on the C-arm relative to the scanned object (e.g., the lesion site on a patient). When the imaging device moves to the corresponding control point, it can expose and image the scanned object, thereby obtaining an angiographic image of the scanned object.

[0070] In related technologies, combined Figure 1 As shown, the digital subtraction angiography system includes a control device 110, a drive device 120, and a display screen 130. The control device 110 communicates with both the drive device 120 and the display screen 130. The drive device 120 sends information retrieval instructions and information selection instructions corresponding to the task to be processed to the control device 110. The control device 110, based on the information retrieval instructions, obtains the location information of the instruction corresponding to the task to be processed and sends this information to the display screen 120 for display; further, based on the information selection instructions, it selects the instruction information corresponding to the task to be processed and triggers corresponding control instructions to control the digital subtraction angiography system 100 to perform corresponding functional operations. The digital subtraction angiography system may also include a C-arm 140 and an operating table 150. Detectors and X-ray tubes are respectively installed at both ends of the C-arm. Operating room doctors can select the examination site by controlling the movement of the C-arm 140 and the operating table 150, and display the image of the examined site after exposure on the display screen 130.

[0071] The control device 110 can select the instruction information corresponding to the task to be processed according to the information selection instruction, and trigger the corresponding control instruction to control the digital subtraction angiography system to perform the corresponding functional operation. The location information of the instruction corresponding to the task to be processed obtained according to the information call instruction is located in the location menu; the location menu includes at least one location item to be stored, which is used by the user to store the position of the C-arm 140 and the operating table 150; the control instruction is used to establish the correspondence between the position and the selected location item to be stored. The imaging device on the C-arm moves relative to the scanned object (e.g., the lesion site of the patient) by controlling the movement of the C-arm and the operating table. The imaging device includes a detector, such as... Figure 1 As shown, located at the upper end of the C-arm, the imaging device directs the X-ray source (e.g., an X-ray tube) to the upper part of the C-arm. Figure 1As shown, the rays emitted from the lower end of the C-arm and passing through the scanned object are converted into analog or digital signals. The detector can be a flat panel detector. When the imaging device moves to the corresponding control point, it can expose and image the scanned object, thereby obtaining an angiographic image of the scanned object.

[0072] In related technologies, digital subtraction angiography systems can pre-store the location information of control points and automatically control the imaging device to move to those control points based on this information. However, the imaging device can only perform point-to-point movement and cannot acquire information about the scanned object along the movement path.

[0073] The scanning method provided in this disclosure can solve the problem that imaging devices cannot acquire relevant information about the scanned object along their motion path. The executing entity of this scanning method can be a scanning device. The scanning device can be a digital subtraction angiography device or a radiotherapy device (such as a linear accelerator), etc.

[0074] In some embodiments, the scanning device may include a computing device and an execution device, the execution device being controlled by the computing device. The computing device may be a workstation, a high-end general-purpose microcomputer typically equipped with a high-resolution large-screen display and large-capacity internal and external memory, possessing strong information processing capabilities, high-performance graphics and image processing capabilities, and networking capabilities. The execution device may include an imaging apparatus and a rack for supporting the imaging apparatus. The imaging apparatus is the device used by the scanning device to scan and image the object being scanned. The object being scanned is the lesion location of the patient that needs to be scanned, such as the heart, lungs, and head. The computing device is the execution entity of the scanning method provided in this disclosure embodiment, and the computing device can control the movement of the imaging apparatus in the execution device.

[0075] Combination Figure 2 As shown, this disclosure provides a scanning method, which may include the following steps:

[0076] Step 201: Generate the motion path of the imaging device.

[0077] Here, the motion path of the imaging device can be pre-generated according to actual needs. The motion path can constrain the movement of the imaging device, and the scanning equipment can control the imaging device to move according to the motion path.

[0078] In some embodiments, generating a motion path for an imaging device includes: acquiring a target 3D model of the scanned object, wherein the display angle of the target 3D model corresponds to the position of the frame carrying the imaging device; acquiring multiple target display angles based on the target 3D model; and generating a motion path for the imaging device based on the multiple target display angles.

[0079] In some embodiments, generating a motion path for an imaging device includes: acquiring a target 3D model of the scanned object; determining the type of the scanned object, as well as the shape and size features of the target 3D model; inputting the shape features, size features, and type of the scanned object into a path generation model; and generating a motion path for the imaging device based on the path generation model.

[0080] In some embodiments, generating the motion path of the imaging device includes: generating the motion path of the imaging device based on the coordinate data of multiple path points set by the user.

[0081] Step 202: Determine one or more control points in the motion path where exposure parameters can be set.

[0082] In some embodiments, determining one or more control points in the motion path that can set exposure parameters includes: generating one or more control points in the motion path that can set exposure parameters in response to a click operation on the motion path.

[0083] In some embodiments, the motion path includes multiple candidate control points. Determining one or more control points in the motion path that can set exposure parameters includes: acquiring a projected image corresponding to each candidate control point based on the target 3D model; extracting image features of each projected image; matching the image features corresponding to each candidate point with preset feature conditions; and determining one or more control points that can set exposure parameters from multiple candidate points based on the matching results.

[0084] Here, a control point is a location where the imaging device needs to expose and image the scanned object. In other words, when the imaging device reaches a control point, it needs to expose and image the scanned object. Specifically, corresponding exposure parameters can be set for each control point. When the imaging device reaches a control point, it can expose and image the scanned object according to the exposure parameters corresponding to that control point.

[0085] In some embodiments, the exposure parameters include at least one of gantry dwell time, exposure frame rate, exposure field of view, and exposure mode. Here, gantry dwell time refers to the duration during which the gantry remains unchanged when the imaging device reaches a certain control point.

[0086] Step 203: Control the imaging device to move along the motion path, and expose and image the scanned object at the control point according to the exposure parameters.

[0087] The scanning method provided in this disclosure can pre-generate the motion path of the imaging device of the scanning equipment, and determine one or more control points in the motion path where exposure parameters can be set, thereby associating the motion process of the imaging device with exposure control. In this way, the imaging device can perform exposure imaging on the scanned object according to the exposure parameters at the control points during the motion path, thereby obtaining relevant information about the scanned object during the motion process, which helps to accurately analyze the scanned object.

[0088] Combination Figure 3 As shown, this disclosure provides a scanning method, which may include the following steps:

[0089] Step 301: Obtain the target 3D model of the scanned object.

[0090] Here, the target 3D model is a visualized digital model that can reflect the contour information (such as shape and size) of the scanned object to a certain extent. Combined with... Figure 4 As shown, Figure 4 The interface displaying the target's 3D model is shown. Figure 4 In this study, taking the heart as an example, a three-dimensional model of the heart can be generated based on the collected data. This three-dimensional model can be visualized and reflects the contour information of the heart.

[0091] It should be noted that the display angle of the target 3D model corresponds to the position of the gantry housing the imaging device. Understandably, in practical applications, the imaging device needs to move around the scanned object. Each display angle of the target 3D model corresponds to a position on the gantry housing the imaging device, and the image of the scanned object captured by the imaging device at this position matches the display angle of the target 3D model.

[0092] Optionally, a target 3D model of the scanned object is generated based on the acquired data. The acquired data can include different types of data, and the type of acquired data to be used can be selected according to the actual situation. For example, the type of acquired data can be determined based on the type of the scanned object.

[0093] Furthermore, embodiments of this disclosure can determine the type of scanned object based on the range of motion of the scanned object itself. Specifically, objects with relatively small ranges of motion, such as the head and hands, can be classified as first-type objects, while objects with relatively large ranges of motion, such as the heart and lungs, can be classified as second-type objects. It is understood that the range of motion of first-type objects is smaller than that of second-type objects. Different types of acquired data are used to generate the target 3D model of the scanned object for each type of scanned object.

[0094] In some embodiments, when the scanned object is a first type of object, obtaining a target 3D model of the scanned object includes: acquiring multiple first data points of the scanned object based on an imaging device; and performing 3D reconstruction based on the multiple first data points to obtain a target 3D model. Each first data point corresponds to a rack position.

[0095] Specifically, the imaging device moves around the scanned object and acquires multiple first data points of the scanned object at multiple locations. These first data points may contain positional information of multiple points within the scanned object, and a target 3D model matching the scanned object can be generated based on these first data points. The device for acquiring the first data includes a C-arm or G-arm angiography machine. The angiography machine can be suspended or floor-mounted. The angiography machine can be a digital subtraction angiography (DSA) machine.

[0096] Since the first type of object has a relatively small range of motion, scanning the object with a scanning device can yield relatively accurate positional information of multiple points within the object. Based on this first data, a target 3D model matching the scanned object can then be obtained. It is understood that the coordinate information of the target 3D model generated based on the first data is in the coordinate system of the scanning device.

[0097] In some embodiments, when the scanned object is a second type of object, obtaining the target three-dimensional model of the scanned object includes: obtaining an initial three-dimensional model obtained by scanning the scanned object with a preset scanning device; obtaining second data of the scanned object when the imaging device is in different gantry positions; and performing registration processing between the second data and the initial three-dimensional model to associate the gantry position with the initial three-dimensional model to obtain the target three-dimensional model.

[0098] The preset scanning equipment can be computed tomography (CT) equipment or nuclear magnetic resonance imaging (MRI) equipment, etc. The second data can be angiographic data of the scanned object acquired by the preset scanning equipment in conjunction with gating signals. Gating signals include respiratory signals and ECG signals.

[0099] Because the second type of object has a large range of motion, it can first be scanned using computed tomography (CT) or magnetic resonance imaging (MRI) to obtain an initial 3D model that accurately reflects the object's contour information. Since this initial 3D model is based on the CT or MRI scan, it is not in the coordinate system of the scanning device. In this case, the second data of the object at different gantry positions of the imaging device are registered with the initial 3D model to associate the gantry position with the initial 3D model. This transforms the coordinate information of the initial 3D model into the coordinate system of the scanning device, resulting in the target 3D model.

[0100] Step 302: Based on the target 3D model, obtain multiple target display angles.

[0101] It is understandable that the display angle of the target 3D model changes continuously during rotation. Here, a portion of the display angle of the target 3D model can be determined as the target display angle.

[0102] In some embodiments, the target 3D model can be rotated in response to a rotation operation on the target 3D model; and multiple display angles selected during the rotation of the target 3D model can be used as target display angles.

[0103] Here, the rotation operation is performed by the user. Optionally, the execution entity in this embodiment can be configured with an input device (such as a mouse), allowing the user to perform rotation operations on the target 3D model. Alternatively, the execution entity in this embodiment can be configured with a touchscreen, which can display the target 3D model, allowing the user to perform rotation operations on the target 3D model by touching and sliding. Other forms of implementing rotation operations are not listed here.

[0104] Users can control the rotation of the target 3D model according to actual needs, thereby continuously changing the display angle of the target 3D model, and the multiple display angles selected during the rotation of the target 3D model are used as the target display angles.

[0105] In some embodiments, the shape and size features of the scanned object can be obtained based on the target 3D model; the shape and size features are input into the display angle recommendation model, and multiple target display angles are obtained based on the display angle recommendation model.

[0106] Here, the angle recommendation model can be a pre-trained artificial intelligence model. When training the initial angle recommendation model, the shape and size features of multiple scanned object 3D models, along with target display angles previously used for the scanned objects, can be used as training data. Based on this training data, the initial angle recommendation model is trained to obtain an angle recommendation model capable of acquiring target display angles. The above embodiment uses the shape and size features of the target 3D model as a basis, and with the help of the angle recommendation model, multiple target display angles can be acquired more quickly and accurately. The type of angle model is not limited; it can be a neural network model, such as the Vnet deep learning network structure.

[0107] Step 303: Generate the motion path of the imaging device based on multiple target display angles.

[0108] As mentioned above, the display angle of the target 3D model corresponds to the position of the gantry supporting the imaging device. Therefore, in step 303, the target gantry position corresponding to each target display angle can be obtained; based on the target gantry position, the motion path of the imaging device is fitted.

[0109] Here, each target display angle during the movement of the 3D target model corresponds to a normal vector, and each frame position can be represented by a corresponding normal vector, where each normal vector points to a reference point. Specifically, the reference point is located in the 3D target model, and the line connecting the reference point and the center point of the imaging device is perpendicular to the imaging plane of the imaging device. The specific method for determining the reference point can be determined according to actual design needs. Therefore, in step 303, the normal vector corresponding to each target display angle can be obtained; the motion path of the imaging device is then fitted based on the normal vector.

[0110] The following is combined Figure 5 This section introduces a method for determining benchmark points. It is understandable that, for example... Figure 5 As shown, taking a digital subtraction angiography (DSA) scanner as an example, the C-arm of the DSA scanner has an X-ray tube and a detector at each end, both of which are imaging devices. Plane M is the projected image of the target 3D model at the current display angle. The X-ray tube has a center point a, and the detector has a center point b. The line connecting center points a and b is perpendicular to the imaging plane of the imaging device.

[0111] Assuming the target 3D model is placed within the coordinate system of the digital subtraction angiography (DSA) equipment, the reference point lies on the line connecting center point a and center point b. Therefore, a point on this line belonging to the target 3D model can be designated as the reference point. For example, in... Figure 5 In this case, point P can be determined as the reference point.

[0112] As the target 3D model moves, its display angle also changes continuously. During the movement of the target 3D model, multiple normal vectors corresponding to the target display angles are obtained; these normal vectors can represent the target rack position corresponding to each target display angle.

[0113] It should be noted that, due to the movement limitations of the drive mechanism in digital subtraction angiography at certain locations, the imaging device of angiography equipment has a range of motion, and the imaging device cannot move outside of this range.

[0114] In this scenario, during the movement of the target 3D model, this embodiment of the present disclosure can determine in real time whether the motion path to be generated based on the current display angle of the target 3D model exceeds the motion range of the imaging device; if it is determined to exceed the range, a prompt message can be displayed to the user. The prompt message is used to remind the user that the rotation state of the target 3D model needs to be adjusted appropriately. Optionally, the prompt message may also include an adjustment strategy for the rotation state of the target 3D model.

[0115] Step 304: Determine one or more control points in the motion path where exposure parameters can be set.

[0116] In some embodiments, step 304 may include: generating one or more control points in the motion path that can set exposure parameters in response to a click operation on the motion path.

[0117] Here, the click operation is performed by the user, who can select one or more points as control points in the motion path by clicking as needed. For example, the execution entity in this embodiment can be configured with an input device (such as a mouse), allowing the user to select control points in the motion path by clicking; or the execution entity in this embodiment can be configured with a touchscreen, which displays the motion path, allowing the user to select control points in the motion path by clicking.

[0118] In some embodiments, the motion path includes multiple candidate control points. The location and number of candidate control points can be determined according to the actual situation. Specifically, acquisition points can be obtained along the motion path according to a preset acquisition cycle, and these acquisition points can be used as candidate control points. Alternatively, the user can identify multiple key path segments in the motion path and acquire multiple points in each path segment as candidate control points. Other methods for determining candidate points are not listed here. It is understood that the projected image of the target 3D model changes continuously during rotation; therefore, each candidate control point in the motion path corresponds to a projected image of the target 3D model.

[0119] Step 304 may include: acquiring the projected image corresponding to each candidate control point based on the target 3D model; extracting the image features of each projected image; matching the image features corresponding to each candidate point with preset feature conditions; and determining one or more control points from multiple candidate points that can set exposure parameters based on the matching results.

[0120] Here, for the same type of scanned object, an image feature library can be established based on historical data of this type of scanned object. The historical data can include image features corresponding to the scanned object; these image features are the image features of the projected images of the target 3D model corresponding to control points along the motion path used by the scanned object. In step 304, based on the target 3D model, the projected image corresponding to each candidate control point is obtained, and the image features of each projected image are extracted. For the image features corresponding to each candidate point, the similarity between the image features and the image features in the image feature library can be determined. When the similarity between the image features corresponding to a candidate point and a certain image feature in the image feature library is greater than a preset similarity threshold, the candidate point can be determined as a control point.

[0121] The above embodiments are based on the image feature library corresponding to the scanned object. By matching the image features corresponding to the candidate points with the image features in the image feature library, control points can be selected from the candidate points more quickly and accurately.

[0122] Step 305: Control the imaging device to move along the motion path, and expose and image the scanned object at the control point according to the exposure parameters.

[0123] The embodiments disclosed herein can pre-generate a target 3D model, which can reflect the contour information of the scanned object to a certain extent. Using the target 3D model as the basis for generating the motion path of the imaging device can improve the rationality and accuracy of the motion path, making the motion path more in line with actual needs.

[0124] Combination Figure 6 As shown, this disclosure provides a scanning method, which may include the following steps:

[0125] Step 601: Obtain the target 3D model of the scanned object.

[0126] Step 602: Determine the type of the object being scanned, as well as the shape and size features of the target 3D model.

[0127] Step 603: Input the shape features, size features and the type of the scanned object into the path generation model, and generate the motion path of the imaging device based on the path generation model.

[0128] Here, the path generation model can be a pre-trained artificial intelligence model. This model performs lesion analysis and / or contour analysis on the scanned object based on the target 3D model, and generates the motion path of the imaging device based on the analysis results. Specifically, the shape and size features of the target 3D model can reflect the lesion condition and contour characteristics of the scanned object to a certain extent. Therefore, the shape and size features of the target 3D model can be used as the basis for analysis. The path generation model performs lesion analysis and / or contour analysis on the scanned object based on the type of the scanned object, the shape features, and the size features of the target 3D model, and generates the motion path of the imaging device based on the analysis results.

[0129] When training the initial path generation model, the shape and size features of the 3D models of multiple scanned objects, as well as the motion paths of imaging devices used on the scanned objects, can be used as training data. Based on this training data, the initial path generation model is trained to obtain an angle recommendation model capable of generating the motion paths of the imaging devices. The above embodiment uses the shape and size features of the target 3D model as a basis, and leverages an angular path generation model to generate the motion paths of the imaging devices more quickly and accurately.

[0130] Step 604: Determine one or more control points in the motion path where exposure parameters can be set.

[0131] Step 605: Control the imaging device to move along the motion path, and expose and image the scanned object at the control point according to the exposure parameters.

[0132] Combination Figure 7 As shown, this disclosure provides a scanning method, which may include the following steps:

[0133] Step 701: Generate the motion path of the imaging device based on the coordinate data of multiple path points set by the user.

[0134] Users can set the coordinate data of path points according to actual needs or experience. Path points are the points that the subsequently generated motion path must pass through. By setting the coordinate data of path points, the direction of the motion path is controlled, thereby fitting a more reasonable and accurate motion path for the imaging device based on the path points. It should be noted that the number of path points set can be determined according to actual needs.

[0135] Step 702: Determine one or more control points in the motion path where exposure parameters can be set.

[0136] In some embodiments, step 702 may include: in response to a click operation on the motion path, generating one or more control points in the motion path that can set exposure parameters.

[0137] Here, the click operation is performed by the user, who can select one or more points as control points in the motion path by clicking as needed. For example, the execution entity in this embodiment can be configured with an input device (such as a mouse), allowing the user to select control points in the motion path by clicking; or the execution entity in this embodiment can be configured with a touchscreen, which displays the motion path, allowing the user to select control points in the motion path by clicking.

[0138] Step 703: Control the imaging device to move along the motion path, and expose and image the scanned object at the control point according to the exposure parameters.

[0139] The following example uses the heart as the subject of the scan. Figure 8 and Figure 9 This section will introduce an exemplary application process of the scanning method.

[0140] (01) Obtain an initial three-dimensional model of the heart obtained by scanning the heart with a preset scanning device, and obtain second data of the heart when the imaging device is in different gantry positions.

[0141] The preset scanning equipment can be a computed tomography (CT) scanner or an magnetic resonance imaging (MRI) scanner, etc. The second data can be angiographic data of the heart acquired by the scanning equipment.

[0142] (02) The second data is registered with the initial three-dimensional heart model so that the gantry position is associated with the initial three-dimensional model to obtain the target three-dimensional heart model.

[0143] (03) In response to the rotation operation of the target 3D model, rotate the target 3D model; and use the multiple display angles selected during the rotation of the target 3D model as the target display angles.

[0144] (04) Obtain the target rack position corresponding to each target display angle; based on the target rack position, fit the motion path of the imaging device.

[0145] Combination Figure 8 As shown, in response to the user's rotation operation on the target 3D model, the system controls the target 3D model to rotate from a first position state to a second position state. Multiple display angles selected during this rotation are used as target display angles. Based on the target gantry position corresponding to each target display angle, the motion path of the imaging device is fitted.

[0146] (05) In response to a click operation on the motion path, generate one or more control points in the motion path that can set exposure parameters.

[0147] Combination Figure 9 As shown, after fitting the motion path of the imaging device, the motion path can be displayed. The user can select 5 control points in the motion path, which are points N1 to N5.

[0148] (06) In response to information editing operations, configure exposure information for each control point.

[0149] (07) Control the imaging device to move along the motion path and expose the heart at the control point according to the exposure parameters.

[0150] Combination Figure 10 As shown, this embodiment of the present disclosure provides a scanning device 1000, which includes a path generation module 1001, a control point setting module 1002, and an exposure imaging module 1003.

[0151] The path generation module 1001 is configured to generate the motion path of the imaging device.

[0152] The control point setting module 1002 is configured to determine one or more control points in the motion path where exposure parameters can be set.

[0153] The exposure imaging module 1003 is configured to control the imaging device to move along the motion path and to perform exposure imaging on the scanned object at the control point according to the exposure parameters.

[0154] The scanning apparatus provided in this disclosure can pre-generate a motion path for the imaging device of the scanning equipment, and determine one or more control points in the motion path where exposure parameters can be set, thereby associating the motion process of the imaging device with exposure control. In this way, the imaging device can perform exposure imaging on the scanned object according to the exposure parameters at the control points while moving along the motion path, thereby obtaining relevant information about the scanned object during the motion process, which helps in the accurate analysis of the scanned object.

[0155] In some embodiments, the path generation module 1001 is configured to:

[0156] Obtain the target 3D model of the scanned object, and the display angle of the target 3D model corresponds to the position of the frame carrying the imaging device;

[0157] Based on the target's 3D model, obtain multiple target display angles;

[0158] Based on multiple target display angles, the motion path of the imaging device is generated.

[0159] In some embodiments, the path generation module 1001 is configured to:

[0160] Obtain the target 3D model of the scanned object;

[0161] Determine the type of the object being scanned, as well as the shape and size characteristics of the target 3D model;

[0162] The shape features, size features, and type of the scanned object are input into the path generation model, and the motion path of the imaging device is generated based on the path generation model.

[0163] In some embodiments, obtaining the target 3D model of the scanned object includes:

[0164] Based on the imaging equipment, multiple first data points of the scanned object are acquired, and each first data point corresponds to a rack position;

[0165] A three-dimensional reconstruction is performed based on multiple sets of primary data to obtain the target three-dimensional model.

[0166] In some embodiments, the path generation module 1001 is configured to:

[0167] Obtain the initial 3D model of the object being scanned by a preset scanning device;

[0168] Acquire second data of the scanned object when the imaging device is in different gantry positions;

[0169] The second data is registered with the initial 3D model to associate the rack position with the initial 3D model, thus obtaining the target 3D model.

[0170] In some embodiments, the path generation module 1001 is configured to:

[0171] In response to a rotation operation on the target 3D model, rotate the target 3D model;

[0172] Multiple display angles selected during the rotation of the target 3D model will be used as the target display angles; or,

[0173] Based on the target 3D model, obtain the shape and size features of the scanned object;

[0174] The shape and size features are input into the display angle recommendation model, and multiple target display angles are obtained based on the display angle recommendation model.

[0175] In some embodiments, the path generation module 1001 is configured to:

[0176] Obtain the target rack position corresponding to each target display angle;

[0177] Based on the target gantry position, the motion path of the imaging device is fitted.

[0178] In some embodiments, generating the motion path of the imaging device includes: generating the motion path of the imaging device based on the coordinate data of multiple path points set by the user.

[0179] In some embodiments, the control point setting module 1002 is configured to:

[0180] In response to a click action on the motion path, one or more control points are generated in the motion path, where exposure parameters can be set.

[0181] In some embodiments, the motion path includes multiple candidate control points; the control point setting module 1002 is configured to:

[0182] Based on the target 3D model, obtain the projection image corresponding to each candidate control point;

[0183] Extract image features from each projected image;

[0184] The image features corresponding to each candidate point are matched with preset feature conditions, and one or more control points that can be used to set exposure parameters are determined from multiple candidate points based on the matching results.

[0185] In some embodiments, the exposure parameters include at least one of rack dwell time, exposure frame rate, exposure field of view, and exposure mode.

[0186] Combination Figure 11 As shown, this disclosure provides a scanning device 2000, which includes a processor 2001 and a memory 2002. Optionally, the device may further include a communication interface 2003 and a bus 2004. The processor 2001, communication interface 2003, and memory 2002 can communicate with each other via the bus 2004. The communication interface 2003 can be used for information transmission. The processor 2001 can call logical instructions in the memory 2002 to execute the scanning method of the corresponding embodiment described above.

[0187] Furthermore, the logic instructions in the aforementioned memory 2002 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0188] The memory 2002, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 2001 executes functional applications and data processing by running the program instructions / modules stored in the memory 2002, that is, it implements the scanning method of the corresponding embodiments described above.

[0189] The memory 2002 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 2002 may include high-speed random access memory and may also include non-volatile memory.

[0190] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the method described above. The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0191] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, including: a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0192] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this disclosure is for descriptive purposes only and is not intended to limit the claims. As used in the description of the embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this disclosure means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this disclosure, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section of the embodiments, the relevant parts can be referred to the description of the method section.

[0193] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0194] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0195] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A scanning method, characterized in that, include: Generate a motion path for the imaging device, the motion path including multiple candidate control points; Based on the target 3D model of the scanned object, obtain the projection image corresponding to each candidate control point; Extract image features from the projected image corresponding to each candidate control point, and determine the similarity between the image features corresponding to each candidate control point and the image features in the image feature library, wherein the image feature library is established based on historical data of similar objects of the current scanning object; Based on the similarity matching result between the image features corresponding to each candidate control point and the image features in the image feature library, one or more control points that can set exposure parameters are determined from the multiple candidate control points. The imaging device is controlled to move along the motion path, and the scanned object is exposed and imaged at the control point according to the exposure parameters.

2. The method according to claim 1, characterized in that, The generation of the motion path of the imaging device includes: Obtain a target 3D model of the object to be scanned, wherein the display angle of the target 3D model corresponds to the position of the frame supporting the imaging device; Based on the target 3D model, multiple target display angles are obtained; The motion path of the imaging device is generated based on multiple target display angles.

3. The method according to claim 1, characterized in that, The generation of the motion path of the imaging device includes: Obtain the target 3D model of the scanned object; Determine the type of the scanned object, as well as the shape and size features of the target 3D model; The shape features, the size features, and the type of the scanned object are input into the path generation model, and the motion path of the imaging device is generated based on the path generation model.

4. The method according to claim 2 or 3, characterized in that, The acquisition of the target 3D model of the scanned object includes: Based on the imaging device, multiple first data points of the scanned object are acquired, and each first data point corresponds to a rack position; Based on multiple sets of the first data, a three-dimensional reconstruction is performed to obtain the target three-dimensional model.

5. The method according to claim 2 or 3, characterized in that, The acquisition of the target 3D model of the scanned object includes: Obtain an initial three-dimensional model of the object being scanned by a preset scanning device; Acquire second data of the scanned object when the imaging device is in different rack positions; The second data is registered with the initial 3D model to associate the rack position with the initial 3D model, thereby obtaining the target 3D model.

6. The method according to claim 2, characterized in that, Based on the target 3D model, multiple target display angles are obtained, including: In response to a rotation operation on the target 3D model, the target 3D model is rotated; Multiple display angles selected during the rotation of the target 3D model are respectively used as target display angles; or, Based on the target 3D model, obtain the shape and size features of the scanned object; The shape features and size features are input into the display angle recommendation model, and multiple target display angles are obtained based on the display angle recommendation model.

7. The method according to claim 2, characterized in that, The step of generating the motion path of the imaging device based on multiple target display angles includes: Obtain the target rack position corresponding to each target display angle; Based on the target gantry position, the motion path of the imaging device is fitted.

8. The method according to claim 1, characterized in that, The process of generating the motion path of the imaging device includes: generating the motion path of the imaging device based on the coordinate data of multiple path points set by the user.

9. The method according to claim 1, characterized in that, The exposure parameters include at least one of rack dwell time, exposure frame rate, exposure field of view, and exposure mode.

10. A scanning device, characterized in that, include: The path generation module is configured to generate a motion path for the imaging device, the motion path including multiple candidate control points; The control point setting module is configured to: acquire the projected image corresponding to each candidate control point based on the target 3D model of the scanned object; extract the image features of the projected image corresponding to each candidate control point, determine the similarity between the image features corresponding to each candidate control point and the image features in the image feature library, wherein the image feature library is established based on historical data of similar objects of the current scanned object; and determine one or more control points from multiple candidate control points that can be used to set exposure parameters based on the similarity matching results between the image features corresponding to each candidate control point and the image features in the image feature library. An exposure imaging module is configured to control the imaging device to move along the motion path and to perform exposure imaging on the scanned object at the control point according to the exposure parameters.

11. A scanning device, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to perform the scanning method as described in any one of claims 1 to 9 when executing the program instructions.

12. A storage medium storing program instructions, characterized in that, When the program instructions are executed, they perform the scanning method as described in any one of claims 1 to 9.

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