Imaging method and imaging system

Abstract

The application provides an imaging method and an imaging system. The imaging method is used for image imaging of an imaging region, the imaging region comprises at least two key parts and a non-key part between the at least two key parts, and the imaging method comprises the following steps: performing fine scanning on the at least two key parts to obtain three-dimensional image data of the at least two key parts; performing rapid scanning on the imaging region to obtain standard two-dimensional image data containing the key parts and the non-key part, collecting and recording the height and angle of the key parts in the standard two-dimensional image data; and performing image reconstruction on the three-dimensional image data of all the key parts in the imaging region based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region. The imaging method has the advantages of high speed, high accuracy and small radiation dose.

Description

Technical Field

[0001] This invention relates to the field of CT imaging technology, and more particularly to an imaging method and imaging system. Background Technology

[0002] Currently, X-ray imaging systems are widely used in the medical field, such as DR (Digital Radiography) and CT (Computed Tomography) equipment. In DR and CT, the patient is fixed between the X-ray source and the detector. The X-ray source emits X-rays, and the detector receives the X-ray signals passing through the patient and creates an image. DR is two-dimensional projection imaging; the basic process of a CT scan involves the X-ray source and detector being fixed in relative positions and rotating around the object, emitting X-rays and acquiring projection data. Each projection is then filtered and back-projected to reconstruct a three-dimensional structure.

[0003] During a CT scan, the patient's imaging area needs to be scanned to obtain a complete three-dimensional image. Some areas within this area are critical and require detailed, high-resolution images, while others are less critical and do not require such detailed, high-resolution images. If the same acquisition method is used to scan both critical and non-critical areas, it would be time-consuming and expose the patient to a higher radiation dose, which is unsafe. Furthermore, the extended scanning time can cause patient movement, leading to inaccurate measurements of parameters such as force lines.

[0004] In view of this, it is indeed necessary to provide a new imaging method and imaging system to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid, accurate imaging method with low radiation dose.

[0006] To achieve the above objectives, the present invention provides an imaging method for imaging an imaging region, the imaging region comprising at least two key regions and non-key regions located between the at least two key regions, the imaging method comprising: At least two of the key areas are scanned in detail to obtain three-dimensional image data of at least two of the key areas; The imaging area is rapidly scanned to obtain standard two-dimensional image data containing the key parts and the non-key parts. The height and angle of the key parts in the standard two-dimensional image data are collected and recorded. Based on the standard two-dimensional image data, the three-dimensional image data of all key parts in the imaging area are reconstructed to obtain a complete imaging image of the imaging area.

[0007] As a further improvement of the present invention, the method for reconstructing the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region includes: Find the three-dimensional image data in the three-dimensional image data that is closest to the height and angle of the key part in the standard two-dimensional image data, and obtain the two-dimensional projection image data of the closest three-dimensional image data; Based on the standard two-dimensional image data, the two-dimensional projected image data is reconstructed to obtain a complete imaging image of the imaging area.

[0008] As a further improvement of the present invention, the method for reconstructing the two-dimensional projected image data based on the standard two-dimensional image data to obtain the imaging image of the imaging region includes: Based on the height and angle of key parts in the standard two-dimensional image data, the two-dimensional projection image data of at least two key parts are stitched together, and the two-dimensional projection image data is compensated using the data of the three-dimensional phantom to compensate for the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

[0009] As a further improvement of the present invention, the method for reconstructing the two-dimensional projected image data based on the standard two-dimensional image data to obtain the imaging image of the imaging region includes: Based on the height and angle of key parts in the standard two-dimensional image data, the two-dimensional projection image data is compensated using the difference method to obtain the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

[0010] As a further improvement of the present invention, it is compared and determined whether the height and angle of the key part in the complete two-dimensional image data of the imaging region are consistent with the height and angle of the key part in the standard two-dimensional image data. If they match, the image of the imaging area is output; If there is a discrepancy, the three-dimensional image data is calibrated until the height and angle of the key parts in the complete two-dimensional image data mapped from the three-dimensional image data are consistent with the height and angle of the key parts in the standard two-dimensional image data.

[0011] As a further improvement of the present invention, the method for calibrating the three-dimensional image data includes: Adjust the 3D image data of one or more key areas; In the adjusted 3D image data, find the 3D image data that is closest to the height and angle of the key part in the standard 2D image data, and obtain the 2D projection image data of the closest 3D image data. The two-dimensional image data is stitched and compensated based on standard two-dimensional image data to obtain complete two-dimensional image data.

[0012] As a further improvement of the present invention, the three-dimensional image data of one or more key parts are adjusted based on the height and angle of the key parts in the standard two-dimensional image data.

[0013] As a further improvement of the present invention, the method for performing fine scanning on at least two key areas to obtain three-dimensional image data of at least two key areas includes: A circular scan is performed on the at least two key areas to obtain a series of two-dimensional image data; The series of two-dimensional image data are reconstructed to obtain three-dimensional image data of at least two of the key areas.

[0014] As a further improvement of the present invention, a method for rapidly scanning the imaging region to obtain standard two-dimensional image data includes: Three or more standard two-dimensional image data are acquired for the imaging area, and the three or more standard two-dimensional image data have different heights and different angles.

[0015] As a further improvement of the present invention, the rapid scanning method is a spiral scanning method, including Z-shaped scanning or zigzag scanning; or, the rapid scanning method is a vertical scanning method, including linear scanning along the direction perpendicular to the ground.

[0016] Another object of the present invention is to provide an imaging system that performs image imaging using the imaging method described above.

[0017] To achieve the above objectives, the present invention provides an imaging system comprising: Data acquisition module: includes a radiation generating device and a signal receiving device. The radiation generating device is used to emit X-rays and includes a first robotic arm and an X-ray emitter disposed on the first robotic arm. The signal receiving device is used to receive X-rays and includes a second robotic arm and a detector disposed on the second robotic arm. Image reconstruction module: connected to the data acquisition module by signal, used for image reconstruction to obtain an image of the imaging area; Control module: It is signal-connected to both the data acquisition module and the image reconstruction module, and is used to execute the imaging method described above.

[0018] The beneficial effects of this invention are as follows: Compared with the prior art, the imaging method of this invention performs fine scanning of key areas in the imaging region and rapid scanning of the entire imaging region. Based on the standard two-dimensional image data obtained by rapid scanning, it reconstructs the three-dimensional image data of all key areas in the imaging region to obtain a complete imaging image of the imaging region. Thus, while meeting the requirement of detailed and high-definition images of key areas, it quickly obtains the imaging image of the imaging region, shortens the scanning time, reduces the radiation dose suffered by the patient, and improves safety. At the same time, it can effectively avoid the problem of inaccurate scanning results caused by patient movement, and improve the accuracy of scanning results. Attached Figure Description

[0019] Figure 1 This is a schematic flowchart of the imaging method of the present invention.

[0020] Figure 2 This is a detailed flowchart illustrating the imaging method of the present invention.

[0021] Figure 3 This is a framework diagram of the imaging system of the present invention.

[0022] Figure 4 This refers to partial two-dimensional image data of the knee joint and the resulting three-dimensional image data in a preferred embodiment of the present invention.

[0023] Figure 5 This refers to partial two-dimensional image data of the ankle joint and the resulting three-dimensional image data in a preferred embodiment of the present invention.

[0024] Figure 6 This is standard two-dimensional image data of the imaging area in a preferred embodiment of the present invention.

[0025] Figure 7 It is a comparison between two-dimensional projection image data of the knee joint and standard two-dimensional image data.

[0026] Figure 8 It is a comparison between two-dimensional projection image data of the ankle joint and standard two-dimensional image data.

[0027] Figure 9 It is a comparison of the imaging areas before and after stitching. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0030] Additionally, it should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Please see Figures 1 to 3 and combined Figures 4 to 9 As shown, the present invention provides an imaging method applied to an imaging system 100, which uses the imaging method to perform image imaging.

[0032] The imaging system 100 includes a data acquisition module 10, an image reconstruction module 20, and a control module 30. The data acquisition module 10 is used for data acquisition. The image reconstruction module 20 is signal-connected to the data acquisition module 10 and performs CT image reconstruction based on the data acquired by the data acquisition module 10 to obtain an imaging image of the imaging area. The control module 30 is signal-connected to both the data acquisition module 10 and the image reconstruction module 20, and performs image imaging by executing the imaging method of the present invention.

[0033] The data acquisition module 10 includes a radiation generating device 11 and a signal receiving device 12. The radiation generating device 11 emits X-rays and includes a first robotic arm 111 and an X-ray emitter 112 mounted on the first robotic arm 111. The signal receiving device receives X-rays and includes a second robotic arm 121 and a detector 122 mounted on the second robotic arm 121. Specifically, both the first robotic arm 111 and the second robotic arm 121 are robotic arms with 4 to 8 six degrees of freedom, that is, both have 4 to 8 independently driven joints. This configuration allows for good operational flexibility of the first robotic arm 111 and the second robotic arm 121, enabling them to flexibly drive the X-ray emitter 112 or the detector 122 to a predetermined position or move along a pre-set motion trajectory (i.e., a scanning trajectory), thereby allowing the imaging system 100 of the present invention to achieve multiple scanning modes.

[0034] Imaging system 100 utilizes the imaging method of the present invention to reconstruct an image of an imaging region. The imaging region includes at least two key regions and non-key regions located between the at least two key regions. The key regions refer to areas requiring detailed, high-resolution images, while the non-key regions refer to areas that do not require detailed, high-resolution images.

[0035] The imaging method includes: S1: Perform detailed scanning on at least two of the key areas to obtain three-dimensional image data of at least two of the key areas; S2: Quickly scan the imaging area to obtain standard two-dimensional image data containing the key parts and the non-key parts, and collect and record the height and angle of the key parts in the standard two-dimensional image data; S3: Based on the standard two-dimensional image data, perform image reconstruction on the three-dimensional image data of all key parts in the imaging area to obtain a complete imaging image of the imaging area.

[0036] By performing detailed scanning of key areas within the imaging region and rapid scanning of the entire imaging region (including both key and non-key areas), and then reconstructing the three-dimensional image data of all key areas based on the standard two-dimensional image data obtained from the rapid scanning, a complete imaging image of the imaging region is obtained. This allows for the rapid acquisition of imaging images of the imaging region while meeting the requirement for detailed, high-definition images of key areas, shortening scanning time, reducing the radiation dose to the patient, and improving safety. Furthermore, it effectively avoids inaccurate scanning results caused by patient movement, thus improving the accuracy of the scanning results.

[0037] Specifically, in step S1: the method for performing detailed scanning on at least two key areas to obtain three-dimensional image data of at least two key areas includes: S11: Perform a circumferential scan on the at least two key areas to obtain a series of two-dimensional image data; S12: Reconstruct the series of two-dimensional image data to obtain three-dimensional image data of at least two of the key parts.

[0038] That is, the first robotic arm 111 and the second robotic arm 121 drive the X-ray emitter and detector 122 to perform circumferential scanning around each key area in the imaging region. The circumferential scanning takes a relatively long time and acquires a large amount of two-dimensional image data, thus enabling detailed scanning of the key areas. After obtaining a series of two-dimensional image data of the key areas, the image reconstruction module 20 can perform image reconstruction on the series of two-dimensional image data of the key areas to obtain three-dimensional image data of at least two of the key areas.

[0039] Further, in step S2, the imaging area (including key and non-key areas) is rapidly scanned to obtain standard two-dimensional image data containing the key and non-key areas. The height and angle of the key areas in the standard two-dimensional image data are collected and recorded. That is, the entire imaging area (including key and non-key areas) is rapidly scanned again using a spiral scan or vertical scan. The spiral scan includes Z-shaped scanning or zigzag scanning, while the vertical scan includes straight-line scanning along the direction perpendicular to the ground. The entire imaging area is rapidly scanned using a spiral scan or vertical scan. This scanning method requires less acquisition time and acquires fewer two-dimensional images. Preferably, three or more standard two-dimensional image data are acquired for the imaging area, and the three or more standard two-dimensional image data have different heights and different angles. When the first robotic arm 111 and the second robotic arm 121 drive the X-ray emitter 112 and the detector 122 to rapidly scan, the height and angle of each key area in the imaging area are collected and recorded. Because rapid scanning takes less time, the likelihood of patient movement is lower. Furthermore, since rapid scanning can accommodate movement from at least two angles, it results in more accurate scans of the imaging area. Rapid scanning also reduces the radiation dose received by the patient, improving safety.

[0040] Further, step S3: the method for reconstructing the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region includes: S31: Find the three-dimensional image data in the three-dimensional image data that is closest to the height and angle of the key part in the standard two-dimensional image data, and obtain the two-dimensional projection image data of the closest three-dimensional image data. S32: Based on the standard two-dimensional image data, perform image reconstruction on the two-dimensional projected image data to obtain a complete imaging image of the imaging area.

[0041] By finding the three-dimensional image data in the three-dimensional image data that is closest in height and angle to the key part in the standard two-dimensional image data, and obtaining the two-dimensional projection image data of the closest three-dimensional image data, it is possible to avoid projecting the entire three-dimensional image data, reduce the amount of calculation and processing time, and improve the working efficiency of the imaging system 100.

[0042] Since standard two-dimensional image data includes both key and non-key areas, image reconstruction based on standard two-dimensional image data of two-dimensional projected image data can quickly obtain a complete image of the imaging area.

[0043] In a preferred embodiment of the present invention, step S32: the method for reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain the imaging image of the imaging region includes: S321: Based on the height and angle of the key parts in the standard two-dimensional image data, stitch together the two-dimensional projection image data of at least two key parts, and use the data of the three-dimensional phantom to compensate the two-dimensional projection image data to obtain the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

[0044] Specifically, based on the height and angle of each key part in the standard two-dimensional image, the height and angle of each key part can be determined in the two-dimensional projection image. The key parts are placed in the same space, and the number of slices required between two key parts is roughly calculated based on their heights. Then, the height and angle of the key parts are adjusted using the standard two-dimensional image data. Since the two-dimensional projection image only contains images of the key parts and does not display the non-key parts between them, and the standard two-dimensional image data is obtained by rapid scanning by the imaging system 100, it contains some key and non-key parts, and the structure of the non-key parts is relatively simple with little difference between different parts of the body, after obtaining the key two-dimensional projection image data using the height and angle of the key parts in the standard two-dimensional image data, the images of the non-key parts in the three-dimensional phantom stored in the imaging system 100 can be used to stitch together the images of the two key parts to reveal the non-key parts between them, thus obtaining the complete two-dimensional image data of the imaging area.

[0045] In another preferred embodiment of the present invention, the difference method can also be used to stitch and compensate for non-critical parts between two critical parts. That is, the imaging method includes step S32: the method of reconstructing the two-dimensional projection image data based on the standard two-dimensional image data to obtain the imaging image of the imaging area includes: S321': Based on the height and angle of the key parts in the standard two-dimensional image data, the two-dimensional projection image data of at least two key parts are stitched together, and the two-dimensional projection image data is compensated by the difference method to obtain the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

[0046] In this embodiment, similarly, the height and angle of each key part in the standard two-dimensional image are first used to determine the height and angle of each key part in the two-dimensional projection image. All key parts are placed in the same space, and the required number of tomographic cuts between two key parts is roughly calculated based on their heights. Then, the height and angle of the key parts are adjusted using the standard two-dimensional image data. Finally, the two-dimensional projection image data is compensated using the difference method to obtain the two-dimensional image data of the non-key parts, thus obtaining the complete two-dimensional image data of the imaging area.

[0047] Furthermore, after obtaining a complete two-dimensional image of the imaging area, step S4 is required: comparing and determining whether the height and angle of the key part in the complete two-dimensional image data of the imaging area are consistent with the height and angle of the key part in the standard two-dimensional image data. If they match, the image of the imaging area is output; If there is a discrepancy, the three-dimensional image data is calibrated until the height and angle of the key parts in the complete two-dimensional image data mapped from the three-dimensional image data are consistent with the height and angle of the key parts in the standard two-dimensional image data.

[0048] That is, the stitched and compensated complete two-dimensional image data is compared with standard two-dimensional projection data. If the height and angle of the key parts are consistent, the image reconstruction module 20 converts the two-dimensional image into a three-dimensional image for output. If they are inconsistent, the three-dimensional image data needs to be calibrated.

[0049] Furthermore, the method for calibrating the three-dimensional image data includes: S41: Adjust the three-dimensional image data of one or more key areas; preferably, the adjustment method is to adjust the three-dimensional image data based on the standard two-dimensional image data obtained by rapid scanning by translating, moving left and right, moving up and down, or rotating along the XYZ axes. Specifically, the three-dimensional image data of one key area can be adjusted based on the height and angle of the key area in the standard two-dimensional image data, or the three-dimensional image data of multiple key areas can be adjusted.

[0050] S42: Find the three-dimensional image data in the adjusted three-dimensional image data that is closest to the height and angle of the key part in the standard two-dimensional image data, and obtain the two-dimensional projection image data of the closest three-dimensional image data. S43: The two-dimensional image data is stitched and compensated based on standard two-dimensional image data to obtain complete two-dimensional image data.

[0051] It should be noted that the imaging method of the imaging system 100 described above is an imaging method of a preferred embodiment of the present invention, but it is not limited thereto. In other embodiments, the various steps in the imaging method may be rearranged, deleted, merged or combined as needed, and the present invention does not limit them in this regard.

[0052] Please see Figures 3 to 9 and combined Figures 1 to 2 The image shown illustrates a specific embodiment of the imaging method of the present invention. In this embodiment, the imaging area is a lower limb imaging area, specifically including two key areas—the knee and ankle joints—and a non-key area located between the knee and ankle joints. Of course, in other embodiments, the imaging area can be a full-length lower limb imaging area, that is, the imaging area includes three key areas—the hip, knee, and ankle joints—and a non-key area located between the hip and knee joints, as well as another non-key area located between the knee and ankle joints. Alternatively, the imaging area can also be a full-length spinal imaging or a whole-body imaging; the present invention does not limit this.

[0053] Please see Figures 4 to 9 and combined Figures 1 to 3 As shown, the patient stands in the center of the imaging system 100. The first robotic arm 111 drives the X-ray emitter 112 to perform a circular scan (i.e., a fine scan) around the knee joint, using the human body as the rotation axis. The detector 122, driven by the second robotic arm 121, moves corresponding to the X-ray emitter 112. During this movement, the optical axis of the X-ray emitter 112 always points towards the detector 122, acquiring a series (e.g., hundreds) of two-dimensional image data of the knee joint. The image reconstruction system then converts this series of two-dimensional image data into three-dimensional image data. Figure 4 .in, Figure 4 The left side of the image shows two-dimensional image data of the knee joint from different angles, while the right side shows the reconstructed three-dimensional image data of the knee joint. Similarly, the data acquisition module 10 of the imaging system 100 acquires a series of two-dimensional image data of the ankle joint. The image reconstruction system then converts this series of two-dimensional image data into three-dimensional image data, as shown below. Figure 5 .in, Figure 5 The left side of the image shows two-dimensional image data of the ankle joint from different angles, while the right side shows the reconstructed three-dimensional image data of the ankle joint.

[0054] Then, the first robotic arm 111 drives the X-ray emitter 112 to rapidly move from the knee joint to the ankle joint (or vice versa) around the human body as the rotation axis, forming a "Z"-shaped trajectory motion (spiral scan) in the direction of the rotation axis extension, quickly acquiring several (e.g., three or more) standard two-dimensional image data containing key and non-key areas, see... Figure 6Furthermore, during the acquisition of standard two-dimensional image data, different heights and angles of the knee and ankle joints were collected and recorded. It's important to note that the number of images acquired using helical scanning is far less than the number acquired using circular scanning.

[0055] Then, from the 3D image data of the knee and ankle joints, we find the 3D image data that most closely matches the height and angle of the knee and ankle joints in the standard 2D image data, and obtain the 2D projection image data of the closest 3D image data. (See...) Figure 7 and Figure 8 .in, Figure 7 The left side shows standard two-dimensional image data of the knee joint in a spiral scan, while the right side shows two-dimensional projection image data of the three-dimensional image data that most closely matches the height and angle of the knee joint in the spiral scan. Figure 7 The left side shows standard two-dimensional image data of the ankle joint included in a spiral scan, while the right side shows two-dimensional projection image data of the three-dimensional image data that most closely matches the height and angle of the ankle joint in the spiral scan.

[0056] Based on the height and angle of the knee and ankle joints in the standard two-dimensional image data, the two-dimensional projection image data of the knee and ankle joints are stitched together, and the two-dimensional projection image data is compensated using the difference method to obtain the two-dimensional image data of the non-critical parts, thereby obtaining the complete two-dimensional image data of the imaging area. (See...) Figure 9 As shown. Among them Figure 9 The two images on the left are two-dimensional data of the knee and ankle joints from different angles, without stitching or compensation. Figure 9 The two figures on the right are the two-dimensional data of the knee and ankle joints after stitching and compensation. Figure 9 It can be seen that the above imaging method can obtain imaging images of the imaging area at least two angles, thereby improving the accuracy of the imaging image.

[0057] Furthermore, comparison Figure 9 The system analyzes the height and angle of the knee and ankle joints, as well as the height and angle of non-critical areas between the knee and ankle joints, to determine whether calibration of the 3D image data is necessary. If the height and angle are consistent, no calibration is required, and the image reconstruction module 20 outputs complete 3D image data of the imaging area. If the height and angle are consistent, one or both of the 3D image data of the knee and ankle joints can be adjusted. This adjustment can involve translation, left-right movement, up-down movement, or rotation along the XYZ axes. The adjusted 3D image data is then stitched, compensated, and calibrated again using the aforementioned imaging method to finally output complete 3D image data of the imaging area.

[0058] In summary, the imaging method of the present invention performs detailed scanning of key areas within the imaging region and rapid scanning of the entire imaging region. Based on the standard two-dimensional image data obtained from the rapid scanning, it reconstructs the three-dimensional image data of all key areas within the imaging region to obtain a complete imaging image of the imaging region. This allows for the rapid acquisition of imaging images of the imaging region while meeting the requirement for detailed, high-definition images of key areas, shortening scanning time, reducing the radiation dose to the patient, and improving safety. Furthermore, it effectively avoids inaccurate scanning results caused by patient movement, thus improving the accuracy of the scanning results.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An imaging method for image imaging of an imaging region, characterized in that, The imaging region includes at least two key areas and non-key areas located between the at least two key areas, and the imaging method includes: At least two of the key areas are scanned in detail to obtain three-dimensional image data of at least two of the key areas; The imaging area is rapidly scanned to obtain standard two-dimensional image data containing the key parts and the non-key parts. The height and angle of the key parts in the standard two-dimensional image data are collected and recorded. Based on the standard two-dimensional image data, the three-dimensional image data of all key parts in the imaging area are reconstructed to obtain a complete imaging image of the imaging area; The method for reconstructing the three-dimensional image data based on the standard two-dimensional image data to obtain a complete imaging image of the imaging region includes: Find the three-dimensional image data in the three-dimensional image data that is closest to the height and angle of the key part in the standard two-dimensional image data, and obtain the two-dimensional projection image data of the closest three-dimensional image data; Based on the standard two-dimensional image data, the two-dimensional projected image data is reconstructed to obtain a complete imaging image of the imaging area.

2. The imaging method according to claim 1, characterized in that, The method for reconstructing the two-dimensional projected image data based on the standard two-dimensional image data to obtain the imaging image of the imaging region includes: Based on the height and angle of key parts in the standard two-dimensional image data, the two-dimensional projection image data of at least two key parts are stitched together, and the two-dimensional projection image data is compensated using the data of the three-dimensional phantom to compensate for the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

3. The imaging method according to claim 1, characterized in that, The method for reconstructing the two-dimensional projected image data based on the standard two-dimensional image data to obtain the imaging image of the imaging region includes: Based on the height and angle of key parts in the standard two-dimensional image data, the two-dimensional projection image data is compensated using the difference method to obtain the two-dimensional image data of the non-key parts, so as to obtain the complete two-dimensional image data of the imaging area.

4. The imaging method according to claim 2 or 3, characterized in that, Compare and determine whether the height and angle of the key part in the complete two-dimensional image data of the imaging area are consistent with the height and angle of the key part in the standard two-dimensional image data. If they match, the image of the imaging area is output; If there is a discrepancy, the three-dimensional image data is calibrated until the height and angle of the key parts in the complete two-dimensional image data mapped from the three-dimensional image data are consistent with the height and angle of the key parts in the standard two-dimensional image data.

5. The imaging method according to claim 4, characterized in that, The method for calibrating the three-dimensional image data includes: Adjust the 3D image data of one or more key areas; In the adjusted 3D image data, find the 3D image data that is closest to the height and angle of the key part in the standard 2D image data, and obtain the 2D projection image data of the closest 3D image data. The two-dimensional image data is stitched and compensated based on standard two-dimensional image data to obtain complete two-dimensional image data.

6. The imaging method according to claim 5, characterized in that, The three-dimensional image data of one or more key parts are adjusted based on the height and angle of the key parts in the standard two-dimensional image data.

7. The imaging method according to claim 1, characterized in that, The method for performing detailed scanning on at least two key areas to obtain three-dimensional image data of at least two key areas includes: A circular scan is performed on the at least two key areas to obtain a series of two-dimensional image data; The series of two-dimensional image data are reconstructed to obtain three-dimensional image data of at least two of the key areas.

8. The imaging method according to claim 1, characterized in that, Methods for rapidly scanning the imaging area to obtain standard two-dimensional image data include: Three or more standard two-dimensional image data are acquired for the imaging area, and the three or more standard two-dimensional image data have different heights and different angles.

9. The imaging method according to claim 1, characterized in that: The rapid scanning method is a spiral scan, including a Z-shaped scan or a zigzag scan; or, the rapid scanning method is a vertical scan, including a straight-line scan along the direction perpendicular to the ground.

10. An imaging system, characterized in that, include: Data acquisition module: includes a radiation generating device and a signal receiving device. The radiation generating device is used to emit X-rays and includes a first robotic arm and an X-ray emitter disposed on the first robotic arm. The signal receiving device is used to receive X-rays and includes a second robotic arm and a detector disposed on the second robotic arm. Image reconstruction module: connected to the data acquisition module by signal, used for image reconstruction to obtain an image of the imaging area; Control module: It is signal-connected to both the data acquisition module and the image reconstruction module, and is used to execute the imaging method according to any one of claims 1 to 9.

Images