CBCT image acquisition method, apparatus and device

Abstract

The application discloses a CBCT image acquisition method, device and equipment and a storage medium, relates to the medical technical field, and aims at at least solving the problems of long time consumption caused by the self-rotation range limitation of a rotating gantry and the angle synchronization problem of the rotating gantry and a fixed gantry. The method is applied to an image acquisition equipment, the image acquisition equipment comprises a fixed gantry, a rotating gantry, an angle detection device and a slip ring device, the fixed gantry and the rotating gantry are connected through the slip ring device; the angle detection device is arranged on the fixed gantry and comprises the following steps: the rotating gantry is controlled to receive a first acquisition angle sent by the fixed gantry according to a preset period in real time; the first acquisition angle is a rotation angle of the rotating gantry acquired by the angle detection device; a second acquisition angle of the rotating gantry at a current time is determined according to the first acquisition angle of a previous preset period of a current period in which the current time is located; and a target image of a target object is acquired according to the second acquisition angle.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to CBCT image acquisition methods, devices, and equipment. Background Technology

[0002] CBCT (Cone Beam Computed Tomography) uses cone-beam X-ray scanning, which significantly improves X-ray utilization. It only requires a 360° rotation (one full rotation) to acquire all the raw data needed for reconstruction, unlike traditional CT scans which use axial or helical scanning and multi-slice acquisition. The efficiency of CBCT's cone-beam scanning is far superior to CT, and the patient's radiation dose is also greatly reduced.

[0003] In relevant CBCT image acquisition methods, the rotating gantry is connected to the fixed gantry via a cable chain structure, with angle sensor information transmitted to the rotating gantry via cables. The drawback of this method is that the rotating gantry cannot rotate continuously; it can only rotate left and right, meaning the rotation range is limited to ±180 degrees. To ensure the range of acquired images, the rotating gantry needs to switch its rotation path in both positive and negative directions to achieve a 360-degree rotation range. The gantry must return to its starting position before the next acquisition. Due to the inherent rotation range limitation of the rotating gantry, the gantry movement time is long during multiple CBCT acquisitions, resulting in low image acquisition efficiency.

[0004] Another method is to use a slip ring structure, which solves the problem of the cable chain structure not being able to rotate continuously as mentioned above. However, angle sensors are placed at both the fixed and rotating ends for angle measurement. The drawback of this method is that it uses two sensors, which increases the equipment cost. Furthermore, using two sensors to detect the movement of the same component requires comparative calibration of the two sensors, adding extra workload and increasing the risk factor of the equipment. Summary of the Invention

[0005] This invention provides a CBCT image acquisition method, apparatus, and device to at least solve the technical problems in related technologies, such as the limitation of the rotation range of the rotating gantry itself and the need for simultaneous calibration of multiple sensors. The technical solution of this invention is as follows:

[0006] According to a first aspect of the present invention, a CBCT image acquisition method is provided, applied to an image acquisition device. The image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring structure. The angle detection device is disposed on the fixed frame. The method includes: controlling the rotating frame to receive a first acquisition angle sent by the fixed frame in real time according to a preset period; the first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device; determining a second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset number of preset periods in the current period; and acquiring a target image of a target object based on the second acquisition angle.

[0007] In one possible implementation, the second acquisition angle of the rotating frame at the current time is determined based on the first acquisition angle of the current period preceding a preset number of preset periods, including:

[0008] Based on the first acquisition angle of the previous preset cycles, determine the target mapping relationship between time and angle in the current cycle; based on the target mapping relationship, determine the angle corresponding to the current time mapping as the second acquisition angle.

[0009] In another possible implementation, the target mapping relationship between time and angle in the current cycle is determined based on the first acquisition angle of the previous preset cycles, including: obtaining the angular velocity of the previous cycle based on the change value of the first acquisition angle in the previous cycle; and determining the target mapping relationship based on the first acquisition angle and angular velocity of the previous cycle.

[0010] In another possible implementation, acquiring a target image of the target object based on a second acquisition angle includes: acquiring the target image when it is determined that the second acquisition angle reaches the exposure angle.

[0011] In another possible implementation, the method further includes: when it is determined that the second acquisition angle has not reached the exposure angle, receiving the first acquisition angle again, and redetermining the second acquisition angle based on the re-received first acquisition angle, until the redetermined second acquisition angle reaches the exposure angle.

[0012] In another possible implementation, before controlling the rotating frame to receive the first acquisition angle sent by the fixed frame according to a preset period in real time, the method further includes: when the rotating frame rotates by a preset angle, controlling the fixed frame to send the first acquisition angle acquired by the angle detection device at the corresponding acquisition time to the rotating frame according to a preset period.

[0013] In another possible implementation, before acquiring the target image of the target object according to the second acquisition angle, the method further includes: adjusting the position of the target object based on the first acquisition angle acquired in real time from the fixed rack.

[0014] According to a second aspect of the present invention, a CBCT image acquisition device is provided, applied to an image acquisition equipment. The image acquisition equipment includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring type structure. The angle detection device is disposed on the fixed frame and includes: a control unit for controlling the rotating frame to receive a first acquisition angle sent by the fixed frame in real time according to a preset period; the first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device; an angle prediction unit for determining a second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset number of preset periods in the current period; and an image acquisition unit for acquiring a target image of a target object based on the second acquisition angle.

[0015] In one possible implementation, the angle prediction unit is specifically used to: determine the target mapping relationship between time and angle in the current period based on the first acquisition angle of the previous preset number of preset periods; and determine the angle corresponding to the current time mapping as the second acquisition angle based on the target mapping relationship.

[0016] In another possible implementation, the angle prediction unit is specifically used to: obtain the angular velocity of the previous cycle based on the change value of the first acquisition angle in the previous cycle; and determine the target mapping relationship based on the first acquisition angle and angular velocity of the previous cycle.

[0017] In another possible implementation, the image acquisition unit is specifically used to acquire a target image when the second acquisition angle is determined to reach the exposure angle.

[0018] In another possible implementation, the image acquisition unit is specifically used to: when it is determined that the second acquisition angle has not reached the exposure angle, re-receive the first acquisition angle, and redetermine the second acquisition angle based on the re-received first acquisition angle, until the redetermined second acquisition angle reaches the exposure angle.

[0019] In another possible implementation, the control unit is specifically used to: control the fixed frame to send the first acquisition angle acquired by the angle detection device at the corresponding acquisition time to the rotating frame when the rotating frame rotates by a preset angle, according to a preset cycle.

[0020] In another possible implementation, the image acquisition unit is specifically used to: adjust the position of the target object based on the first acquisition angle acquired in real time from the fixed frame.

[0021] According to a third aspect of the present invention, an image acquisition device is provided, comprising a fixed frame, a rotating frame, an angle detection device, and a slip ring device, wherein the fixed frame and the rotating frame are connected by the slip ring device, and the slip ring device is a slip ring type structure; the angle detection device is disposed on the fixed frame; and is used to implement the CBCT image acquisition method as described in the first aspect and any possible implementation thereof.

[0022] According to a fourth aspect of the present invention, a medical device is provided. The medical system device includes an image acquisition device. The image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring structure. The angle detection device is disposed on the fixed frame and is used to implement the CBCT image acquisition method as described in the first aspect and any possible implementation thereof.

[0023] According to a fifth aspect of the present invention, a computer-readable storage medium is provided, on which instructions are stored, which, when executed by a processor of a medical device, enable the medical device to perform a CBCT image acquisition method as described in the first aspect and any possible implementation thereof.

[0024] According to a sixth aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on a medical device, cause the medical device to perform the CBCT image acquisition method of the first aspect and any possible implementation thereof.

[0025] The technical solution provided by the embodiments of the present invention brings at least the following beneficial effects: Due to the limitations of the rack structure, a rack based on a cable chain cannot rotate continuously, but can only swing ±180 degrees. Therefore, the image acquisition device of this application adopts a rack with a slip ring structure, thereby enabling the rotating rack to rotate continuously 360 degrees, thus greatly improving the rack rotation positioning time. High-speed rotation requires a higher angle refresh rate to ensure high-speed image acquisition. Based on this, the first acquisition angle of the rotating rack, acquired by the angle detection device of the fixed rack at a preset period corresponding to the current time, is used to quickly predict the rotation angle of the rotating rack at the current time (i.e., the second acquisition angle). This is because the prediction of the rotation angle at the current time is based on the acquisition angle at a preset period prior to the current time. Therefore, based on the first acquisition angle from the previous time, the rotation angle of the rotating frame at the current time can be predicted in real time. This allows the acquisition time of the second acquisition angle to be unaffected by the transmission time of angle information from the fixed frame to the rotating frame. The acquired rotation angle can be updated in real time at any time within the current cycle, thus avoiding the impact of transmission time delaying the acquisition of the second acquisition angle. This greatly improves the frequency of rotation angle acquisition and refresh, thereby increasing the number of matching with the exposure angle and reducing the number of times the rotation angle matching the exposure angle is missed. This improves the image acquisition speed and the accuracy of the image acquisition process. At the same time, it ensures the consistency and real-time nature of the data between the first acquisition angle acquired on the fixed frame and the second acquisition angle acquired on the rotating frame, thus ensuring the accuracy of the image acquisition process.

[0026] Furthermore, the image acquisition method described above only requires angle measurement using an angle detection device on one side of the fixed frame, compared to placing angle detection devices on both the fixed and rotating frames. This method only requires one angle detection device for the same rotating frame, eliminating the need for two devices. This saves equipment costs and avoids the need for comparative calibration of two angle detection devices, reducing additional workload and lowering the risk factor for the equipment.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0029] Figure 1 This is a schematic diagram of a CBCT image acquisition device according to an exemplary embodiment;

[0030] Figure 2 This is a flowchart illustrating a CBCT image acquisition method according to an exemplary embodiment. Figure 1 ;

[0031] Figure 3 This is a flowchart illustrating a CBCT image acquisition method according to an exemplary embodiment. Figure 2 ;

[0032] Figure 4 This is a flowchart illustrating a CBCT image acquisition method according to an exemplary embodiment. Figure 3 ;

[0033] Figure 5 This is a block diagram illustrating a CBCT image acquisition device according to an exemplary embodiment;

[0034] Figure 6 This is a schematic diagram illustrating a medical device according to an exemplary embodiment. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0036] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0037] Furthermore, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. The collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals shall be provided for users to choose to authorize or refuse.

[0038] Before providing a detailed description of the CBCT image acquisition method provided in the embodiments of this application, a brief introduction will be given to the application scenarios and implementation architecture involved in the embodiments of this application.

[0039] First, the application scenarios of the embodiments of this application will be described as follows.

[0040] CT scans use an X-ray tube and detector array to acquire data by rotating the X-ray tube and detector once (sometimes less than once) to reconstruct a two-dimensional image, representing that specific layer of the image. Through multiple scans (whether helical or axial), data is repeatedly acquired to obtain multiple cross-sectional CT images, ultimately resulting in a three-dimensional image. In short, CT uses rotating X-rays and a detector array to acquire images; X-rays pass through the body part, the detector receives and measures the intensity of the transmitted X-rays, and then the data is calculated and reconstructed into a three-dimensional image.

[0041] However, while CBCT also uses X-rays, it uses a conical X-ray beam and only requires a single rotational scan to acquire images, allowing CBCT to generate three-dimensional images by reconstructing these projected images.

[0042] In relevant CBCT image acquisition methods, the rotating gantry is connected to the fixed gantry via a cable chain structure, with angle sensor information transmitted through cables. The drawback of this method is that the rotating gantry cannot rotate continuously; it can only rotate left and right, meaning the rotation range is limited to 180 degrees. To ensure the range of image acquisition, the rotating gantry needs to switch its rotation path in both positive and negative directions to achieve a 360-degree rotation range. Due to this inherent limitation in the gantry's rotation range, multiple image acquisition operations are time-consuming, resulting in low image acquisition efficiency.

[0043] To address the aforementioned issues, this application provides a CBCT image acquisition method. It utilizes a fixed gantry angle detection device to acquire a first acquisition angle of the rotating gantry at a time corresponding to a preset period prior to the current time, and then rapidly predicts the rotation angle of the rotating gantry at the current time (i.e., the second acquisition angle). Because the prediction of the current time's rotation angle is based on the acquisition angle of a preset period prior to the current time, the rotation angle of the rotating gantry at the current time can be predicted in real-time based on the first acquisition angle from a previous time. This ensures that the acquisition time of the second acquisition angle is not limited by the transmission time of angle information from the fixed gantry to the rotating gantry, and the acquired rotation angle can be updated in real-time at any time within the current period. This avoids the impact of transmission time delaying the acquisition of the second acquisition angle, significantly improving the frequency of rotation angle acquisition and refresh, thereby increasing the number of matches with the exposure angle and reducing the number of missed detections of rotation angles matching the exposure angle. This improves the image acquisition speed and the accuracy of the image acquisition process. Simultaneously, it ensures the data consistency and real-time performance of the first acquisition angle acquired on the fixed gantry and the second acquisition angle acquired on the rotating gantry, thus guaranteeing the accuracy of the image acquisition process.

[0044] Furthermore, the image acquisition method described above only requires angle measurement using an angle detection device on one side of the fixed frame, compared to placing angle detection devices on both the fixed and rotating frames. This method only requires one angle detection device for the same rotating frame, eliminating the need for two devices. This saves equipment costs and avoids the need for comparative calibration of two angle detection devices, reducing additional workload and lowering the risk factor for the equipment.

[0045] Secondly, the implementation architecture involved in this application will be briefly introduced below.

[0046] Figure 1 This is a schematic diagram of a CBCT image acquisition device 10 provided in this application. Figure 1 As shown, the CBCT image acquisition device includes a fixed frame 101, a rotating frame 102, an angle detection device 103, a slip ring device 104, and a CBCT acquisition control device 105. The fixed frame 101 and the rotating frame 102 are connected by the slip ring device 104, which is a slip ring structure. The angle detection device 103 is mounted on the fixed frame 101. The CBCT acquisition control device 105 is connected to the rotating frame 102.

[0047] In some embodiments, the fixed frame 101, rotating frame 102, angle detection device 103, slip ring device 104, and CBCT acquisition control device 105 are all components of a slip ring linear accelerator. An angle sensor is used as the angle detection device 103. The angle sensor is mounted on the fixed frame end, and the fixed frame 101 can obtain the rotation angle of the rotating frame in real time based on this angle sensor. After obtaining the rotation angle, the rotation angle-related data is transmitted to the rotating frame end through the slip ring device 104, and the rotating frame 102 transmits the aforementioned related data to the CBCT acquisition control device 105. The CBCT acquisition control device 105 combines the aforementioned related data with a control algorithm to realize CBCT acquisition at high frame rotation speeds.

[0048] The CBCT image acquisition method provided in this application can be applied to the aforementioned CBCT image acquisition equipment or medical devices. The CBCT image acquisition equipment includes a fixed gantry, a rotating gantry, an angle detection device, and a slip ring device. The fixed gantry and the rotating gantry are connected by the slip ring device, which is a slip ring type structure. The angle detection device is mounted on the fixed gantry. For ease of understanding, the CBCT image acquisition method provided in this application will be described in detail below with reference to the accompanying drawings.

[0049] Figure 2 This is a flowchart illustrating a CBCT image acquisition method according to an exemplary embodiment, such as... Figure 2As shown, the CBCT image acquisition method includes the following steps.

[0050] S21 controls the rotating frame to receive the first acquisition angle sent by the fixed frame in real time according to a preset cycle.

[0051] The first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device.

[0052] In some embodiments, the aforementioned preset period is used to determine the transmission speed of information between the fixed frame and the rotating frame. Further, to ensure the real-time performance and rationality of the rotation angle data transmission, the time interval between two preset periods, i.e., the duration of the preset period, is set as the transmission time of information between the fixed frame and the rotating frame. The transmission time is the ratio of the transmission distance between the fixed frame and the rotating frame to the transmission speed.

[0053] For example, the preset period can be 100 milliseconds. The rotation angle of the rotating frame collected by the angle detection device can be collected in real time, or the rotation angle can be collected according to the preset period. The fixed frame will obtain the rotation angle at the corresponding moment every 100 milliseconds and send it to the rotating frame, so that the rotating frame receives the first collected angle according to the preset period.

[0054] It should be noted that due to the impact of information transmission time between the fixed frame and the rotating frame, there is a certain delay when the rotating frame acquires the first acquisition angle.

[0055] In some implementations, the rotating frame is also called the rotor; the fixed frame is also called the stator.

[0056] Optionally, to avoid the large variations in the rotation angle of the rotating frame during the initial time period, which is within an unstable range—that is, to avoid rotation time intervals where the rotation angle changes irregularly or with poor regularity—and to ensure the accuracy of subsequent acquisition based on the first acquisition angle to predict the second acquisition angle, sufficient acceleration interval for the initial movement is reserved when the rotating frame rotates to the preset angle before the fixed frame sends the first acquisition angle according to the preset cycle. The fixed frame is then controlled to send the first acquisition angle acquired by the angle detection device at the corresponding acquisition time to the rotating frame according to the preset cycle. In other words, the acquisition and transmission of the first acquisition angle and the prediction of the second acquisition angle begin at the preset angle. The preset angle can be understood as the initial angle, which is the initial rotation angle known to both the fixed frame and the rotating frame.

[0057] In some embodiments, the data is collected starting from 0 degrees. The rotor needs a certain acceleration time to go from rest to the actual rotational speed. In order to avoid the unstable speed range, the rotor is rotated to 300 degrees. That is, the time from 0 degrees to 300 degrees is used to accelerate to the ideal rotational speed.

[0058] S22, determine the second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset cycles of the current cycle.

[0059] Based on the mapping relationship between time and rotation angle represented by the preset first acquisition angle corresponding to the previous preset cycles of the current cycle, the rotation angle of the current time, i.e. the second acquisition angle, is determined.

[0060] S23, acquire the target image of the target object according to the second acquisition angle.

[0061] The acquisition time of the target image is determined based on the second acquisition angle.

[0062] In some embodiments, the image acquisition device serves a medical device for acquiring target images of a target object (e.g., a patient seeking medical treatment or a user undergoing a physical examination) on the medical device.

[0063] To ensure that the target image of the target object is better matched with the shooting angle under the rotation angle, so as to obtain an image that is more in line with expectations, before acquiring the target image, the position of the target object is adjusted based on the first acquisition angle of real-time acquisition on a fixed frame or acquisition according to a preset cycle.

[0064] For example, there is a preset correspondence between the first acquisition angle and the position of the target object. When the target object is receiving treatment on the treatment bed of the medical device, the moving distance and direction of the treatment bed are adjusted according to the acquired first acquisition angle.

[0065] Through the above implementation method, the first acquisition angle of the rotating frame, acquired by the angle detection device of the fixed frame at a time corresponding to a preset period before the current time, is used to quickly predict the rotation angle of the rotating frame at the current time (i.e., the second acquisition angle). Because the prediction of the rotation angle at the current time is based on the acquisition angle of a preset period before the current time, the rotation angle of the rotating frame at the current time can be predicted in real time based on the first acquisition angle at a previous time. This ensures that the acquisition time of the second acquisition angle is not limited by the transmission time of angle information from the fixed frame to the rotating frame, and the acquired rotation angle can be updated in real time at any time within the current period. This avoids the impact of transmission time delaying the acquisition of the second acquisition angle, greatly improving the frequency of rotation angle acquisition and refresh, thereby increasing the number of matching with the exposure angle and reducing the number of missed detections of rotation angles matching the exposure angle. This improves the image acquisition speed and the accuracy of the image acquisition process. Simultaneously, it ensures the data consistency and real-time performance of the first acquisition angle acquired on the fixed frame and the second acquisition angle acquired on the rotating frame, thus guaranteeing the accuracy of the image acquisition process.

[0066] Furthermore, the image acquisition method described above only requires angle measurement using an angle detection device on one side of the fixed frame, compared to placing angle detection devices on both the fixed and rotating frames. This method only requires one angle detection device for the same rotating frame, eliminating the need for two devices. This saves equipment costs and avoids the need for comparative calibration of two angle detection devices, reducing additional workload and lowering the risk factor for the equipment.

[0067] As a refinement and extension of the specific implementation of the above embodiments, in order to fully illustrate the specific implementation process of this embodiment, this application provides some other implementation methods for trajectory generation.

[0068] Combination Figure 2 like Figure 3 As shown, the method for predicting the second acquisition angle in step S22 above can be implemented through the following steps.

[0069] S221, Based on the first acquisition angle of the previous preset cycles, determine the target mapping relationship between time and angle within the current cycle.

[0070] The correspondence between time and rotation angle represented by the first collected angle data of the previous preset period is determined as the target mapping relationship between time and angle in the current period.

[0071] To ensure that the target mapping relationship more accurately reflects the correspondence between time and rotation angle within the current cycle, the angle change of the current cycle is determined by utilizing the angle change of the cycle closest to the current cycle. Thus, the previous preset cycle is set as the previous preset cycle, i.e., the preset cycle adjacent to the current cycle. For ease of explanation, the previous preset cycle is simply referred to as the previous cycle.

[0072] Specifically, the angular velocity of the previous cycle is first obtained based on the change of the first acquisition angle with respect to the preset cycle. The angular velocity can be the ratio of the angle difference between the two previous preset cycles to the preset cycle itself; this angle difference is the angle difference between the first acquisition angle in the previous preset cycle and the first acquisition angle of the two previous preset cycles. Then, based on the first acquisition angle and angular velocity of the previous cycle, the target mapping relationship is determined. This can be understood as using the first acquisition angle of the previous preset cycle as the initial angle and using angular velocity to characterize the rate of change of the second acquisition angle with time, to construct the mapping relationship between the second acquisition angle and the first acquisition angle with time.

[0073] For ease of understanding, this application uniformly interprets the first acquisition angle received at the beginning of the current preset cycle as the first acquisition angle of the previous cycle.

[0074] As one implementation method, the preset period is T. From the first preset period to the nth preset period, the first acquisition angle corresponding to each preset period is A1, A2, A3, ..., An, respectively. The angular velocity of any preset period is V. The relationship between the angular velocity V and the first acquisition angle of two adjacent preset periods is the following formula (1).

[0075]

[0076] Furthermore, the second acquisition angle for the current cycle is determined based on the following formula (2).

[0077] B m =A n +V n *T m Formula (2)

[0078] Where B represents the second acquisition angle of the current cycle, and A n V represents the first acquisition angle received by the rotating gantry at the beginning of the current cycle. n T is the angular velocity of the current period. m This refers to the subdivided time within the current period, which is the time change relative to the initial moment of the current period.

[0079] S222, based on the target mapping relationship, the angle corresponding to the current time mapping is determined as the second acquisition angle.

[0080] Based on the above implementation method, by substituting any current time in the current cycle into formula (2), the rotation angle of the rotating frame at the current time can be obtained.

[0081] For example, the fixed frame sends the first acquisition angle every 1 second. The first acquisition angle at the beginning of the previous preset cycle is 90°, and the first acquisition angle at the beginning of the current cycle T is 95°. Then, according to the above formula, the angular velocity is V = (95-90) / 1 = 5 degrees per second. The CBCT acquisition control device calculates the angle every 0.1 seconds. Then, 0.1 seconds after the current cycle, i.e., (T+0.1) seconds later, the rotation angle (second acquisition angle) of the rotating frame is B = 95 + 5 * 0.1 = 95.5°.

[0082] In another specific example, if the preset angle is 300 degrees, the prediction process for the second acquisition angle will only begin. Prediction starts when the rotor is at the 300-degree position. Based on the newly acquired angle every 10ms, the rotor angle at a certain point in time before the next cycle arrives is calculated. Specifically, the rotor starts rotating; the current rotor angle is 330 degrees. After 10ms, the rotor angle reported is 330.5 degrees. This means the rotational speed of the previous cycle was (330.5-330) / 0.01 = 50 degrees / second. Because the rotor is heavy and has high inertia, its speed is approximated as constant within 10ms. Therefore, this speed of 50 degrees / second is used to estimate the angle change within 10ms before the next cycle arrives. For example, if the change time is 2ms, the corresponding angle change is 50 degrees / second * 2ms = 0.1 degrees; then the estimated value of the second acquisition angle at 10.2ms is 330.5 + 0.1 = 330.6 degrees. Therefore, the estimated value of the second acquisition angle at 10.4 milliseconds is 330.5 + 0.2 = 330.7.

[0083] As one possible implementation, if the rotating frame has a constant angular velocity when it is rotating stably, then it is not necessary to further determine the angular velocity. The second acquisition angle can be obtained simply by taking the aforementioned constant angular velocity and the first acquisition angle of the previous cycle.

[0084] Combination Figure 2 like Figure 4 As shown, the method of acquiring the target image in step S23 above can be implemented through the following steps.

[0085] S21 controls the rotating frame to receive the first acquisition angle sent by the fixed frame in real time according to a preset cycle.

[0086] S22, determine the second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset cycles of the current cycle.

[0087] S231, determine whether the second acquisition angle has reached the exposure angle; if so, proceed to step S232, otherwise proceed to step S21.

[0088] The exposure angle is usually preset. For example, in a patient's treatment plan, the exposure angle is preset according to the patient's required shooting location and shooting angle.

[0089] If it is determined that the second acquisition angle has not reached the exposure angle, return to step S21.

[0090] Understandably, when it is determined that the second acquisition angle has not reached the exposure angle, the first acquisition angle is re-acquired, and the second acquisition angle is re-determined based on the re-acquired first acquisition angle, until the re-determined second acquisition angle reaches the exposure angle.

[0091] S232, when the second acquisition angle reaches the exposure angle, acquire the target image.

[0092] The above implementation methods ensure that target images can be acquired at different exposure angles in different scenarios.

[0093] To achieve the above functions, the CBCT image acquisition device includes corresponding hardware structures and / or software modules for performing each function. Those skilled in the art will readily recognize that, based on the algorithmic steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] This application embodiment also provides a method such as Figure 5 The CBCT image acquisition device 50 shown is applied to an image acquisition equipment. The image acquisition equipment includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by a slip ring device, which is a slip ring type structure. The angle detection device is set on the fixed frame and includes a control unit 501, an angle prediction unit 502, and an image acquisition device 503.

[0095] Control unit 501 is used to control the rotating frame to receive the first acquisition angle sent by the fixed frame in real time according to a preset period; the first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device. Angle prediction unit 502 is used to determine the second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset number of preset periods. Image acquisition unit 503 is used to acquire the target image of the target object according to the second acquisition angle.

[0096] In one possible implementation, the angle prediction unit 502 is specifically used to: determine the target mapping relationship between time and angle in the current period based on the first acquisition angle of the previous preset number of preset periods; and determine the angle corresponding to the current time mapping as the second acquisition angle based on the target mapping relationship.

[0097] In another possible implementation, the angle prediction unit 502 is specifically used to: obtain the angular velocity of the previous cycle based on the change value of the first acquisition angle in the previous cycle; and determine the target mapping relationship based on the first acquisition angle and angular velocity of the previous cycle.

[0098] In another possible implementation, the image acquisition unit 503 is specifically used to: acquire a target image when it is determined that the second acquisition angle has reached the exposure angle.

[0099] In another possible implementation, the image acquisition unit 503 is specifically used to: when it is determined that the second acquisition angle has not reached the exposure angle, re-receive the first acquisition angle, and re-determine the second acquisition angle based on the re-received first acquisition angle, until the re-determined second acquisition angle reaches the exposure angle.

[0100] In another possible implementation, the control unit 501 is specifically used to: control the fixed frame to send the first acquisition angle acquired by the angle detection device at the corresponding acquisition time to the rotating frame when the rotating frame rotates by a preset angle, according to a preset cycle.

[0101] In another possible implementation, the image acquisition unit 503 is further used to: adjust the position of the target object based on the first acquisition angle acquired in real time from the fixed frame.

[0102] Regarding the apparatus in the above embodiments, the specific manner in which each unit module performs its operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0103] Figure 6 This is a schematic diagram of a medical device provided in this application. Figure 6The medical device 60 may include at least one processor 601 and a memory 603 for storing processor-executable instructions. The processor 601 is configured to execute the instructions in the memory 603 to implement the CBCT image acquisition method in the following embodiments.

[0104] In addition, the medical device 60 may also include a communication bus 602, at least one communication interface 604, an input device 606, and an output device 605.

[0105] The processor 601 may be a processor (central processing unit, CPU), a microprocessor unit, an ASIC, or one or more integrated circuits for controlling the execution of the program of the present application.

[0106] The communication bus 602 may include a path for transmitting information between the aforementioned components.

[0107] Communication interface 604 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0108] Input device 606 is used to receive input signals and output device 605 is used to output signals.

[0109] The memory 603 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory may exist independently and be connected to the processing unit via a bus. The memory may also be integrated with the processing unit.

[0110] The memory 603 stores instructions for executing the scheme of this application, and the processor 601 controls the execution. The processor 601 executes the instructions stored in the memory 603 to realize the functions of the method of this application.

[0111] In a specific implementation, as one embodiment, the processor 601 may include one or more CPUs, for example... Figure 6 CPU0 and CPU1 in the CPU.

[0112] In a specific implementation, as one example, the medical device 60 may include multiple processors, such as... Figure 6 Processors 601 and 607 are described herein. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor here may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0113] The medical device, such as Figure 6 The diagram includes a processor 601 and a memory 603 for storing executable instructions of the processor 601; wherein the processor 601 is configured to execute executable instructions to implement the CBCT image acquisition method as described in any of the possible embodiments above. And it can achieve the same technical effect, so to avoid repetition, it will not be described again here.

[0114] This application also provides a computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by the processor of a CBCT image acquisition device or medical device, the CBCT image acquisition device or medical device is able to perform the CBCT image acquisition method as described in any of the possible embodiments above. And it can achieve the same technical effect; to avoid repetition, it will not be described again here.

[0115] This application also provides a computer program product, including a computer program or instructions, which are executed by a processor as described in any of the possible implementations of the CBCT image acquisition method above. Since the same technical effects can be achieved, further details are omitted here to avoid repetition.

[0116] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0117] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A CBCT image acquisition method, characterized in that, The image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring type structure. The angle detection device is mounted on the fixed frame, and the method includes: The rotating frame is controlled to receive the first acquisition angle sent by the fixed frame in real time according to a preset period; the first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device. Based on the first acquisition angle of the previous preset cycle in which the current time is located, the second acquisition angle of the rotating frame at the current time is determined; The target image of the target object is acquired based on the second acquisition angle.

2. The CBCT image acquisition method according to claim 1, characterized in that, Determining the second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset period in which the current time is located includes: Based on the first acquisition angle of the previous preset cycle, determine the target mapping relationship between time and angle in the current cycle; Based on the target mapping relationship, the angle corresponding to the current time mapping is determined as the second acquisition angle.

3. The CBCT image acquisition method according to claim 2, characterized in that, Based on the first acquisition angle of the previous preset cycle, determine the target mapping relationship between time and angle within the current cycle, including: Based on the change value of the first acquisition angle in the previous preset cycle, the angular velocity of the previous preset cycle is obtained. The target mapping relationship is determined based on the first acquisition angle and the angular velocity of the previous preset cycle.

4. The CBCT image acquisition method according to claim 1, characterized in that, The step of acquiring the target image of the target object according to the second acquisition angle includes: When the second acquisition angle reaches the exposure angle, the target image is acquired.

5. The CBCT image acquisition method according to claim 4, characterized in that, The method further includes: If it is determined that the second acquisition angle has not reached the exposure angle, the first acquisition angle is received again, and the second acquisition angle is re-determined based on the re-received first acquisition angle, until the re-determined second acquisition angle reaches the exposure angle.

6. The CBCT image acquisition method according to any one of claims 1 to 5, characterized in that, Before the rotating frame receives the first acquisition angle sent by the fixed frame at a preset period in real time, the method further includes: When the rotating frame rotates to a preset angle, the fixed frame is controlled to send the first acquisition angle acquired by the angle detection device at the corresponding acquisition time to the rotating frame according to a preset cycle.

7. The CBCT image acquisition method according to any one of claims 1 to 5, characterized in that, Before acquiring the target image of the target object according to the second acquisition angle, the method further includes: Based on the first acquisition angle collected in real time by the fixed frame, the position of the target object is adjusted.

8. A CBCT image acquisition device, characterized in that, The image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring type structure. The angle detection device is mounted on the fixed frame, and the device includes: The control unit is used to control the rotating frame to receive the first acquisition angle sent by the fixed frame in real time according to a preset period; the first acquisition angle is the rotation angle of the rotating frame acquired by the angle detection device; An angle prediction unit is used to determine the second acquisition angle of the rotating frame at the current time based on the first acquisition angle of the previous preset number of preset cycles in which the current time is located. The image acquisition unit is used to acquire a target image of the target object according to the second acquisition angle.

9. An image acquisition device, characterized in that, The image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device. The fixed frame and the rotating frame are connected by the slip ring device, which is a slip ring structure. The angle detection device is mounted on the fixed frame. The image acquisition device is configured to perform the CBCT image acquisition method as described in any one of claims 1-7.

10. A medical device, characterized in that, The medical device includes the image acquisition device; the image acquisition device includes a fixed frame, a rotating frame, an angle detection device, and a slip ring device, the fixed frame and the rotating frame are connected by the slip ring device, the slip ring device is a slip ring type structure; the angle detection device is disposed on the fixed frame; the medical device is configured to perform the CBCT image acquisition method as described in any one of claims 1-7.

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