Method and device for generating X-ray perspective image and X-ray perspective inspection system

Abstract

The invention relates to an X-ray fluoroscopic image generation method and device and an X-ray fluoroscopic examination system. The generation method comprises the steps that a target sight vector for a target organ is determined according to observation requirements and the target position where the target organ of a living body needing to be detected is located; determining a primary rotation angle and a secondary rotation angle of an imaging arm in the X-ray fluoroscopy equipment based on the target sight line vector, and determining a primary rotation matrix and a secondary rotation matrix; determining a target projection matrix conforming to a target projection geometrical relationship based on the primary rotation matrix and the secondary rotation matrix; and based on the target projection matrix and pre-acquired three-dimensional computed tomography (CT) data of the target organ, performing volume rendering to obtain a two-dimensional target X-ray perspective image under the target observation view angle. According to the generation method and device of the X-ray perspective image and the X-ray perspective inspection system, the X-ray perspective image under the expected observation view angle can be freely generated based on the three-dimensional CT data obtained in advance.

Description

Technical Field

[0001] The present disclosure relates to the field of image processing technology, and in particular to a method and device for generating an X-ray fluoroscopic image, and an X-ray fluoroscopic inspection system. Background Art

[0002] X-ray fluoroscopy is a traditional method for guiding transcatheter interventional treatment. It has real-time imaging capabilities and can display medical devices in the patient's body, such as catheters, stents, and instruments. However, there are many challenges in X-ray fluoroscopy, mainly including the two-dimensional projection properties of the image and poor soft tissue contrast, which makes the X-ray fluoroscopy image quality low and difficult to obtain X-ray fluoroscopy images under free viewing angles. In the related art, there are fusion functions provided on commercial X-ray fluoroscopy systems to cope with these challenges, but there are still many factors that hinder its widespread application. For example, data transmission between different system manufacturers is incompatible, and a dedicated positioning system and additional equipment are required. There are also methods using ray tracing and Monte Carlo (MC) simulation in the related art. However, the ray tracing method has image quality problems due to the inability to simulate the statistical process in the image formation process, and the MC method has the problem of high computational cost. Summary of the invention

[0003] In view of this, the present disclosure proposes a method and device for generating an X-ray fluoroscopic image, and an X-ray fluoroscopic inspection system, which can freely generate clear X-ray fluoroscopic images at a desired observation angle based on pre-acquired three-dimensional CT data.

[0004] According to one aspect of the present disclosure, a method for generating an X-ray fluoroscopic image is provided, the method comprising: determining a target sight line vector for the target organ according to an observation requirement and a target position of a target organ of a biological body to be detected, the observation requirement comprising a target observation position for a user to observe the target organ and a target observation angle corresponding to the sight line of the user; determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector, and determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle; determining a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, the target projection matrix representing respective positions and postures of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body; performing volume rendering based on the target projection matrix and pre-acquired three-dimensional computed tomography (CT) data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

[0005] In this way, high-quality, high-resolution two-dimensional X-ray fluoroscopic images under the desired observation angle can be freely generated based on the pre-acquired three-dimensional CT data. This image generation method based on precise geometric relationships effectively reduces image distortion and artifacts, improves image clarity and diagnostic value, and fully considers the user's observation position and viewing angle requirements, so that the generated X-ray fluoroscopic images can directly meet the user's specific observation needs, enhancing the doctor's or researcher's intuitive feeling and diagnostic efficiency during the image analysis process.

[0006] In one possible implementation, a target sight line vector for the target organ is determined based on observation requirements and the target position of the target organ of the organism to be detected, including: determining a first vector pointing from the target observation position to the target position based on first coordinate information of the target observation position and second coordinate information of the target position, the first coordinate information and the second coordinate information being in the same target world coordinate system; and determining a unit vector corresponding to the first vector as the target sight line vector.

[0007] In this way, the target line of sight vector can be accurately calculated by directly using the specific coordinate information of the target observation position and the target organ's location. This direct calculation method based on coordinates greatly improves the accuracy of line of sight positioning and lays the foundation for the accuracy of subsequent image generation.

[0008] In a possible implementation, determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector includes: determining the secondary rotation angle based on a Z component of the target sight line vector, and determining the primary rotation angle based on an X component and a Y component of the target sight line vector according to a preset rule, wherein the preset rule includes: if the X component is less than a preset first threshold and the Y component is equal to a preset second threshold, determining a preset first angle as the primary rotation angle; if the X component is greater than or equal to the first threshold and the Y component is equal to the second threshold, determining a preset second angle as the primary rotation angle; and if the Y component is greater than or less than the second threshold, determining the primary rotation angle based on the X component and the Y component.

[0009] In this way, preset rules are designed based on the changes of the target sight line vector in different directions. In particular, different main rotation angle determination methods are formulated for different situations of the X component and Y component of the target sight line vector, so that it can adapt to different observation needs and changes in target positions.

[0010] In a possible implementation, determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: determining a primary rotation matrix corresponding to the primary rotation angle according to a preset primary rotation matrix calculation method; determining a target secondary rotation axis corresponding to the secondary rotation angle based on the primary rotation matrix and an initial secondary rotation axis, and determining the secondary rotation matrix based on the secondary rotation angle, the target secondary rotation axis, and a first matrix calculated according to the target secondary rotation axis.

[0011] In this way, a rotation matrix capable of accurately describing the rotation state of the imaging arm is calculated through the primary rotation angle and the secondary rotation angle corresponding to the target observation angle, thereby ensuring the quality of the subsequently generated X-ray fluoroscopic image.

[0012] In a possible implementation, a target projection matrix conforming to a target projection geometric relationship is determined based on the primary rotation matrix and the secondary rotation matrix, including: determining target information corresponding to the organism based on the target position and the position of the X-ray fluoroscopy device, wherein the target information includes the distance between an X-ray source in the X-ray fluoroscopy device and the organism, and position information of a hospital bed where the organism is located; determining the target projection matrix according to the target information, the primary rotation matrix, the secondary rotation matrix, and preset device information of the X-ray fluoroscopy device, wherein the device information includes an imaging image size and a diagonal length corresponding to a detector in the X-ray fluoroscopy device, and a distance between the X-ray source and an imaging plane corresponding to the detector.

[0013] In this way, by comprehensively considering the target position, the position of the X-ray fluoroscopy equipment, the target information and the equipment information, the target projection matrix that conforms to the target projection geometric relationship can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only takes into account the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully integrates the specific conditions of the target position and the organism. It can adapt to scenarios with different organisms, different inspection requirements and different equipment configurations, and is highly adaptable and flexible.

[0014] In a possible implementation, the CT data includes CT values ​​at multiple positions on the target organ; wherein, volume rendering is performed based on the target projection matrix and the pre-acquired three-dimensional computed tomography CT data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle, including: according to a preset volume rendering method, based on the target projection matrix, determining each projection light directed from the X-ray source to each reconstruction point in the detector imaging plane; using each of the projection lights and the CT data to determine the attenuation coefficient of each sampling point on the corresponding projection light and the intersection length of each sampling voxel; calculating the pixel value of each reconstruction point based on the attenuation coefficient of each sampling point on the projection light and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image according to the pixel value of each reconstruction point.

[0015] In this way, by accurately calculating the projected light from the X-ray source to each reconstruction point in the detector imaging plane, and combining the CT value at each position in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light, and then calculating the pixel value of each reconstruction point, a two-dimensional X-ray fluoroscopic image is finally generated. This process fully considers the physical attenuation characteristics of X-rays and the density distribution of biological tissues, ensuring the accuracy of image generation. In addition, since volume rendering is based on real CT data, the generated X-ray fluoroscopic image can truly reflect the three-dimensional structure and density information of the target organ and has the advantages of high resolution, low noise, and few artifacts, which helps doctors or researchers observe the lesion area more clearly.

[0016] According to another aspect of the present disclosure, a device for generating an X-ray fluoroscopic image is provided, comprising: a vector determination module, for determining a target sight line vector for a target organ according to an observation requirement and a target position of a target organ of a biological body to be detected, wherein the observation requirement includes a target observation position for a user to observe the target organ and a target observation angle corresponding to the sight line of the user; a first matrix determination module, for determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector, and determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle; a second matrix determination module, for determining a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, wherein the target projection matrix represents the respective positions and postures of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body; and a volume rendering module, for performing volume rendering based on the target projection matrix and pre-acquired three-dimensional computed tomography (CT) data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

[0017] In this way, high-quality, high-resolution two-dimensional X-ray fluoroscopic images under the desired observation angle can be freely generated based on the pre-acquired three-dimensional CT data. This image generation method based on precise geometric relationships effectively reduces image distortion and artifacts, improves image clarity and diagnostic value, and fully considers the user's observation position and viewing angle requirements, so that the generated X-ray fluoroscopic images can directly meet the user's specific observation needs, enhancing the doctor's or researcher's intuitive feeling and diagnostic efficiency during the image analysis process.

[0018] In one possible implementation, a target sight line vector for the target organ is determined based on observation requirements and the target position of the target organ of the organism to be detected, including: determining a first vector pointing from the target observation position to the target position based on first coordinate information of the target observation position and second coordinate information of the target position, the first coordinate information and the second coordinate information being in the same target world coordinate system; and determining a unit vector corresponding to the first vector as the target sight line vector.

[0019] In this way, the target line of sight vector can be accurately calculated by directly using the specific coordinate information of the target observation position and the target organ's location. This direct calculation method based on coordinates greatly improves the accuracy of line of sight positioning and lays the foundation for the accuracy of subsequent image generation.

[0020] In a possible implementation, determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector includes: determining the secondary rotation angle based on a Z component of the target sight line vector, and determining the primary rotation angle based on an X component and a Y component of the target sight line vector according to a preset rule, wherein the preset rule includes: if the X component is less than a preset first threshold and the Y component is equal to a preset second threshold, determining a preset first angle as the primary rotation angle; if the X component is greater than or equal to the first threshold and the Y component is equal to the second threshold, determining a preset second angle as the primary rotation angle; and if the Y component is greater than or less than the second threshold, determining the primary rotation angle based on the X component and the Y component.

[0021] In this way, preset rules are designed based on the changes of the target sight line vector in different directions. In particular, different main rotation angle determination methods are formulated for different situations of the X component and Y component of the target sight line vector, so that it can adapt to different observation needs and changes in target positions.

[0022] In a possible implementation, determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: determining a primary rotation matrix corresponding to the primary rotation angle according to a preset primary rotation matrix calculation method; determining a target secondary rotation axis corresponding to the secondary rotation angle based on the primary rotation matrix and an initial secondary rotation axis, and determining the secondary rotation matrix based on the secondary rotation angle, the target secondary rotation axis, and a first matrix calculated according to the target secondary rotation axis.

[0023] In this way, a rotation matrix capable of accurately describing the rotation state of the imaging arm is calculated through the primary rotation angle and the secondary rotation angle corresponding to the target observation angle, thereby ensuring the quality of the subsequently generated X-ray fluoroscopic image.

[0024] In a possible implementation, a target projection matrix conforming to a target projection geometric relationship is determined based on the primary rotation matrix and the secondary rotation matrix, including: determining target information corresponding to the organism based on the target position and the position of the X-ray fluoroscopy device, wherein the target information includes the distance between an X-ray source in the X-ray fluoroscopy device and the organism, and position information of a hospital bed where the organism is located; determining the target projection matrix according to the target information, the primary rotation matrix, the secondary rotation matrix, and preset device information of the X-ray fluoroscopy device, wherein the device information includes an imaging image size and a diagonal length corresponding to a detector in the X-ray fluoroscopy device, and a distance between the X-ray source and an imaging plane corresponding to the detector.

[0025] In this way, by comprehensively considering the target position, the position of the X-ray fluoroscopy equipment, the target information and the equipment information, the target projection matrix that conforms to the target projection geometric relationship can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only takes into account the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully integrates the specific conditions of the target position and the organism. It can adapt to scenarios with different organisms, different inspection requirements and different equipment configurations, and is highly adaptable and flexible.

[0026] In a possible implementation, the CT data includes CT values ​​at multiple positions on the target organ; wherein, volume rendering is performed based on the target projection matrix and the pre-acquired three-dimensional computed tomography CT data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle, including: according to a preset volume rendering method, based on the target projection matrix, determining each projection light directed from the X-ray source to each reconstruction point in the detector imaging plane; using each of the projection lights and the CT data to determine the attenuation coefficient of each sampling point on the corresponding projection light and the intersection length of each sampling voxel; calculating the pixel value of each reconstruction point based on the attenuation coefficient of each sampling point on the projection light and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image according to the pixel value of each reconstruction point.

[0027] In this way, by accurately calculating the projected light from the X-ray source to each reconstruction point in the detector imaging plane, and combining the CT value at each position in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light, and then calculating the pixel value of each reconstruction point, a two-dimensional X-ray fluoroscopic image is finally generated. This process fully considers the physical attenuation characteristics of X-rays and the density distribution of biological tissues, ensuring the accuracy of image generation. In addition, since volume rendering is based on real CT data, the generated X-ray fluoroscopic image can truly reflect the three-dimensional structure and density information of the target organ and has the advantages of high resolution, low noise, and few artifacts, which helps doctors or researchers observe the lesion area more clearly.

[0028] According to another aspect of the present disclosure, an X-ray fluoroscopic examination system is provided, comprising an X-ray fluoroscopic examination device and the above-mentioned apparatus for generating an X-ray fluoroscopic image.

[0029] According to another aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0030] According to another aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions implement the above method when executed by a processor.

[0031] According to another aspect of the present disclosure, a computer program product is provided, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0032] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0034] Figure 1 A schematic diagram showing a method for generating an X-ray fluoroscopic image according to an embodiment of the present disclosure is shown.

[0035] Figure 2a A schematic diagram showing a sight line vector of a virtual camera in a three-dimensional space provided according to an embodiment of the present disclosure.

[0036] Figure 2b A schematic diagram showing different target observation angles in a three-dimensional space provided according to an embodiment of the present disclosure.

[0037] Figure 3a A schematic diagram of an X-ray fluoroscopic examination device provided according to an embodiment of the present disclosure is shown.

[0038] Figure 3b A schematic diagram showing a main rotation angle provided according to an embodiment of the present disclosure.

[0039] Figure 3c A schematic diagram showing a secondary rotation angle provided according to an embodiment of the present disclosure.

[0040] Figure 4 A schematic diagram showing the projection geometric relationship of an X-ray fluoroscopic examination device provided according to an embodiment of the present disclosure.

[0041] Figure 5 A schematic diagram showing a volume rendering process provided according to an embodiment of the present disclosure is shown.

[0042] Figure 6 A schematic diagram showing a target X-ray fluoroscopic image provided according to an embodiment of the present disclosure.

[0043] Figures 7 and 8 A schematic diagram of a device for generating an X-ray fluoroscopic image according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0044] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0045] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0046] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0047] In order to facilitate those skilled in the art to understand the technical solution provided by the embodiments of the present disclosure, the technical environment in which the technical solution is implemented is described below.

[0048] X-ray fluoroscopy equipment mainly includes imaging arms, X-ray sources, detectors and other components. The types of imaging arms include C-arms, O-arms and G-arms. The specific difference between these three types of imaging arms lies in their structure. Taking the C-arm as an example, the C-arm is usually composed of a fixed articulated arm and a movable X-ray detector, and its shape is similar to the letter "C". The shapes of the O-arm and the G-arm are similar to those of the C-arm. The specific use and imaging process of the X-ray fluoroscopy equipment can be determined according to the actual situation such as the equipment model. X-ray fluoroscopy images can be obtained through the X-ray fluoroscopy equipment, but due to the physical structure limitations of the X-ray fluoroscopy equipment itself, the corresponding X-ray fluoroscopy images cannot be obtained according to the actual required observation angle. X-ray fluoroscopy images that meet the expected observation angle are of great significance for doctors to deal with patient problems.

[0049] At present, the relevant technology relies on the fusion function provided on the commercial X-ray fluoroscopy system to cope with the challenges such as the low quality of the generated X-ray fluoroscopy images and the difficulty in obtaining X-ray fluoroscopy images under free viewing angle. However, there are still many factors that hinder its widespread application. For example, the fusion function is limited to a single or a limited number of applications, and the data transmission between different equipment manufacturers or even between software packages of the same equipment manufacturer is incompatible; it also requires the use of a dedicated positioning system and the addition of additional equipment, which will significantly increase costs.

[0050] Traditional methods for generating digitally reconstructed radiographs (DRRs) find the detector response given a specific imaging geometry based on the Beer-Lambert law. Methods for generating DRRs can be divided into analytical and statistical methods, namely ray tracing and Monte Carlo (MC) simulation. Ray tracing methods are computationally efficient because the attenuated photon flux of a detector pixel is determined by calculating the total attenuation along a three-dimensional ray, which is then applied to all photons emitted along that direction. However, since ray tracing is analytical, it cannot simulate statistical processes in the image formation process, such as scattering, which makes ray tracing methods likely to introduce image artifacts and degrade image quality. MC methods simulate single-photon transmission by evaluating the probability of a photon interacting with matter, and the order of the interaction determines the attenuation. Since the probability of interaction is essentially dependent on the material and energy, MC simulations require material decomposition in computed tomography (CT). Although the results generated by MC methods are more realistic, the computational cost is too high.

[0051] In order to solve the above technical problems, the embodiment of the present disclosure provides a method for generating an X-ray fluoroscopic image, the method comprising determining a target sight line vector for a target organ according to observation requirements and a target position of a target organ of a biological body to be detected, the observation requirements comprising a target observation position for a user to observe the target organ and a target observation angle corresponding to the user's sight line; determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector, and determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle; determining a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, the target projection matrix representing the respective positions and postures of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body; performing volume rendering based on the target projection matrix and pre-acquired three-dimensional computed tomography CT data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle. In this way, a clear X-ray fluoroscopic image under a desired observation angle can be freely generated based on pre-acquired three-dimensional CT data.

[0052] Figure 1 A schematic diagram showing a method for generating an X-ray fluoroscopic image provided according to an embodiment of the present disclosure. Figure 2a A schematic diagram showing a sight line vector of a virtual camera in a three-dimensional space provided according to an embodiment of the present disclosure. Figure 2b A schematic diagram showing different target observation angles in a three-dimensional space provided according to an embodiment of the present disclosure. Figure 3aA schematic diagram of an X-ray fluoroscopic examination device provided according to an embodiment of the present disclosure is shown. Figure 3b A schematic diagram showing a main rotation angle provided according to an embodiment of the present disclosure. Figure 3c A schematic diagram showing a secondary rotation angle provided according to an embodiment of the present disclosure. Figure 4 A schematic diagram showing the projection geometric relationship of an X-ray fluoroscopic examination device provided according to an embodiment of the present disclosure. Figure 5 A schematic diagram showing a volume rendering process provided according to an embodiment of the present disclosure is shown. Figure 6 A schematic diagram of a target X-ray fluoroscopic image provided according to an embodiment of the present disclosure is shown. Figures 1 to 6 The method for generating an X-ray fluoroscopic image provided by an embodiment of the present disclosure is schematically described.

[0053] like Figure 1 As shown, the method for generating an X-ray fluoroscopic image may include the following steps S101 to S104.

[0054] Step S101 : determining a target sight line vector for the target organ according to observation requirements and the target position of the target organ of the organism to be detected.

[0055] The observation requirement may include the target observation position of the user observing the target organ and the target observation angle corresponding to the user's line of sight, wherein the target organ and the target observation angle are determined according to actual requirements. The user's line of sight is the observation line of sight actually expected by the doctor. In other words, the observation requirement is to ensure that the X-ray fluoroscopic image under the expected observation angle can be finally obtained.

[0056] For example, a perspective projection model can be used to model a virtual camera. In this virtual three-dimensional scene, the virtual camera can be rotated and / or translated in any direction through certain user operations (such as sliding a finger on a virtual trackball or on the surface of a trackball). In this way, the camera is used to replace the user's observation perspective, and the observation perspective can be freely changed in the virtual scene without being restricted to rotation or translation along a fixed axis in the actual environment. Figure 2a As shown, the sight vector of the observation angle can be determined based on the position of the virtual camera and the target position of the target organ corresponding to the known CT data.

[0057] The target observation position and the target observation angle of the target observation position can be determined according to actual needs. Step S101 may include: determining a first vector pointing from the target observation position to the target position according to the first coordinate information of the target observation position and the second coordinate information of the target position, wherein the first coordinate information and the second coordinate information are in the same target world coordinate system; determining the unit vector corresponding to the first vector as the target sight line vector. For example, if you select Figure 2bThe observation position C1 in the world coordinate system is taken as the current target observation position. Then, the corresponding target sight line vector v=(v x ,v y ,v z ), the calculation formula can be Where v represents the unit vector pointing from the target observation position to the target position, T represents the target position, C1 represents the target observation position, and ‖T-C1‖ represents the distance between the target position T and the target observation position C1 (this distance is obtained by calculating the Euclidean distance between T and C1 in the world coordinate system, which will not be repeated here). Figure 2b The observation position C2 in is used as the target observation position, and the corresponding target sight line vector is determined in the same way as the observation position C1. For the sake of brevity, this article will not repeat it here. In this way, the target sight line vector can be accurately calculated by directly using the specific coordinate information of the target observation position and the position of the target organ. This direct calculation method based on coordinates greatly improves the accuracy of sight line positioning and lays the foundation for the accuracy of subsequent image generation.

[0058] Step S102: determining a primary rotation angle and a secondary rotation angle of an imaging arm in the X-ray fluoroscopic examination device based on the target sight line vector, and determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle.

[0059] The projection direction of the imaging arm can be determined based on the primary rotation angle and the secondary rotation angle. Now, taking the imaging arm as a C-shaped arm as an example, the primary rotation angle and the secondary rotation angle are briefly explained. Figure 3a , Figure 3b As shown in FIG. 1 , α is the main rotation angle of the C-arm, and the rotation around the main rotation angle is generally described by the left anterior oblique (LAO) or the right anterior oblique (RAO), as shown in FIG. Figure 3a , Figure 3c As shown in the figure, β is the secondary rotation angle of the C-arm. The rotation around the secondary rotation angle is generally described by the head position (cranial, CRAN) or the foot position (caudal, CAUD). In other words, the direction of the C-arm relative to the world coordinate system is defined by LAO / RAO and CRAN / CAUD. The isocenter of the X-ray fluoroscopy equipment (refers to the position where the center of the inspected part coincides with the center of the hole in the frame during the operation of the medical imaging equipment) coincides with the origin of the world coordinate system. When the X-ray fluoroscopy equipment is in the initial position, the primary rotation angle and the secondary rotation angle are both equal to zero. The target sight vector can be used to determine the virtual projection direction corresponding to the primary rotation angle and the secondary rotation angle.

[0060] After the target sight line vector is determined in step S101, the target sight line vector v can be converted into a primary rotation angle α and a secondary rotation angle β of an imaging arm in an X-ray fluoroscopic examination device. Determining the primary rotation angle and the secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector in step S102 may include: based on the Z component v of the target sight line vector z The secondary rotation angle can be determined, for example, by β = arcsin (v z ) calculates the secondary rotation angle β, where v z represents the Z component of the target sight vector, arcsin represents the inverse sine function, and according to the preset rules, the main rotation angle is determined based on the X component and Y component of the target sight vector, wherein the preset rules include: if the X component v of the target sight vector x The Y component v of the target sight vector is less than the preset first threshold value. y is equal to the preset second threshold, the preset first angle is determined as the main rotation angle; if the X component v of the target sight vector x The Y component v of the target sight vector is greater than or equal to the first threshold y is equal to the second threshold, the preset second angle is determined as the main rotation angle; if the Y component v of the target sight vector y is greater than or less than the second threshold, then based on the X component v of the target sight vector x and Y component v y The main rotation angle is determined. For example, the first threshold and the second threshold can both be set to 0, and the first angle can be set to The second angle can be set to Based on this, the preset rule can be expressed by the following formula 1:

[0061]

[0062] In formula 1, α represents the main rotation angle, arctan represents the inverse tangent function, and v x Represents the X component of the target's sight line vector, v y In this way, preset rules are designed based on the changes of the target sight line vector in different directions, and in particular, different main rotation angle determination methods are formulated for different situations of the X component and Y component of the target sight line vector, so as to adapt to different observation requirements and changes in target positions.

[0063] After the primary rotation angle and the secondary rotation angle are obtained based on the target sight line vector conversion, the primary rotation matrix corresponding to the primary rotation angle and the secondary rotation matrix corresponding to the secondary rotation angle can be further determined. Determining the primary rotation matrix and the secondary rotation matrix based on the primary rotation angle and the secondary rotation angle in step S102 may include: determining the primary rotation matrix corresponding to the primary rotation angle according to a preset primary rotation matrix calculation method; determining the target secondary rotation axis corresponding to the secondary rotation angle based on the primary rotation matrix and the initial secondary rotation axis, and determining the secondary rotation matrix based on the secondary rotation angle, the target secondary rotation axis, and the first matrix calculated according to the target secondary rotation axis. Among them, the preset primary rotation matrix calculation method can be expressed by the following formula 2:

[0064]

[0065] In formula 2, R α represents the main rotation matrix, cos represents the cosine function, sin represents the sine function, and α represents the main rotation angle. After the main rotation matrix is ​​determined, the target secondary rotation axis can be determined based on the main rotation matrix and the initial secondary rotation axis, for example, by u=R α u0 calculates the target secondary rotation axis u=(u x ,u y ,u z ), where R α represents the main rotation matrix, u0 represents the initial secondary rotation axis. In this example, the target secondary rotation axis and the initial secondary rotation axis are both vectors. The initial secondary rotation axis u0 can be preset to [-1 0 0] T , and the target secondary rotation axis u can be calculated. Then, the secondary rotation matrix can be determined based on the secondary rotation angle, the target secondary rotation axis, and the first matrix calculated according to the target secondary rotation axis by combining the Rodriguez rotation formula. For example, the secondary rotation matrix can be obtained by R β =cos(β)I+(1-cos(β))uu T +sin(β)[u] × Calculate the secondary rotation matrix R β , where cos represents the cosine function, β represents the secondary rotation angle, I represents the third-order unit matrix, u represents the target secondary rotation axis, T represents the transpose, sin represents the sine function, and [u] × represents the first matrix, [u] × It can be expressed by the following formula 3:

[0066]

[0067] In formula 3, [u] × represents the first matrix, u x The X component of the target secondary rotation axis, u y Indicates the Y component of the target secondary rotation axis, u zIn this way, the virtual projection direction v(α, β) = R can be obtained when the primary rotation angle of the imaging arm is α and the secondary rotation angle is β. β R α v0, where R α represents the main rotation matrix, R β represents the secondary rotation matrix, v0 represents the initial main rotation axis. In this example, the initial main rotation axis is also a vector. The initial main rotation axis v0 can be pre-set to [0 0 1] T In this way, the rotation matrix that can accurately describe the rotation state of the imaging arm is calculated through the primary rotation angle and the secondary rotation angle corresponding to the target observation angle, thereby ensuring the quality of the subsequent generated X-ray fluoroscopic image.

[0068] Step S103: Determine a target projection matrix that meets the target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix.

[0069] The target projection matrix represents the positions and postures of the X-ray source and the detector imaging plane in the X-ray fluoroscopic inspection device. In other words, the target projection matrix determined in step S102 can determine the spatial position and posture of the X-ray source and the spatial position and posture of the detector imaging plane.

[0070] The target projection geometric relationship is determined based on the X-ray fluoroscopy device and the organism to be detected. In the process of determining the target projection matrix based on the primary rotation matrix and the secondary rotation matrix, the target projection matrix that conforms to the target projection geometric relationship can be calculated in combination with the target information of the organism and the device information of the X-ray fluoroscopy device. The target information may include the distance between the X-ray source and the organism in the X-ray fluoroscopy device (source-to-patient distance, SPD), and the position information of the bed where the organism is located, wherein the distance between the X-ray source and the organism may be specifically the distance between the X-ray source and the target organ of the organism. Since the physiological information of different organisms and the organs to be detected may be different, the target information may be determined according to the actual situation. The device information may include the imaging image size and diagonal length corresponding to the detector in the X-ray fluoroscopy device, and the distance between the imaging image corresponding to the X-ray source and the detector (source-image distance, SID). These device information are related to the actual model of the actual X-ray fluoroscopy device and are specifically determined according to the actual situation.

[0071] Step S103 may include: determining target information of the corresponding organism based on the target position and the position of the X-ray fluoroscopy device; determining a target projection matrix according to the target information, the primary rotation matrix, the secondary rotation matrix, and the device information of the preset X-ray fluoroscopy device. Figure 4As shown, the origin of the world coordinate system coincides with the scanning center point of the X-ray fluoroscopic inspection device, the origin of the ray source coordinate system is fixed at the X-ray radiation source point of the X-ray source, the origin of the detector coordinate system is fixed at the center of the detector imaging plane, and the origin of the image coordinate system is located at the upper left corner of the image obtained by imaging. In this example, the projection of a three-dimensional (3D) object onto a two-dimensional (2D) image plane is described by a pinhole camera model. The scanned object, that is, the organism, is located between the X-ray source and the image plane. The target projection matrix can be calculated by the following formula 4:

[0072]

[0073] In Formula 4, P represents the target projection matrix, which is a 3×3 matrix of perspective projection (i.e. ) and a 3×4 matrix describing the orientation of the imaging system relative to the world coordinate system (i.e. ), n u and n v represents the image size of the preset detector in pixels, SID represents the distance between the X-ray source and the image corresponding to the detector, FD represents the diagonal length of the preset detector, R α represents the main rotation matrix, R β represents the secondary rotation matrix, t x ,t y ,t z It represents the position information of the bed where the organism is located. The position information can be expressed by a translation vector t=(t x ,t y ,t z ), the translation vector is determined by the coordinate information of the movable bed in the world coordinate system, and SPD represents the distance between the X-ray source and the biological body.

[0074] In this way, by comprehensively considering the target position, the position of the X-ray fluoroscopy equipment, the target information and the equipment information, the target projection matrix that conforms to the target projection geometric relationship can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only takes into account the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully integrates the specific conditions of the target position and the organism. It can adapt to scenarios with different organisms, different inspection requirements and different equipment configurations, and is highly adaptable and flexible.

[0075] Step S104: performing volume rendering based on the target projection matrix and the pre-acquired three-dimensional computed tomography (CT) data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

[0076] The CT data of the target organ of the organism acquired in advance is three-dimensional data, which may include CT values ​​at multiple positions on the target organ. The generation method is to freely generate a two-dimensional virtual perspective image at any imaging angle based on the three-dimensional CT data or CT image, that is, to convert the three-dimensional CT data in the world coordinate system into two-dimensional projection data (i.e., the target X-ray perspective image) in the image coordinate system. Among them, the process of generating a virtual perspective image can adopt volume rendering technology, such as ray casting method, the basic principle of which is to form a projection ray corresponding to the line of sight and passing through the volume data (i.e., CT data) based on each pixel point of the projection image plane (i.e., the detector imaging plane in the following text), and then perform equidistant sampling on the ray according to a certain step size, and then generate the final display image based on the sampling point.

[0077] Step S104 may include: according to a preset volume rendering method, determining each projection light directed from the X-ray source to each reconstruction point in the detector imaging plane based on the target projection matrix, wherein the number of each reconstruction point in the detector imaging plane may be flexibly set according to the required image quality, one reconstruction point corresponds to one projection light, and the projection light corresponding to the reconstruction point may be determined based on the posture of the detector imaging plane where the reconstruction point is located and the posture of the X-ray source, and the posture of the detector imaging plane and the posture of the X-ray source may be determined by the target projection matrix determined in step S103; then, using each projection light and CT data, determining the attenuation coefficient of each sampling point on the corresponding projection light and the intersection length of each sampling voxel, wherein the projection light The number and interval of the sampling points can be flexibly set according to actual needs. The sampling voxel in the volume rendering technology is the basic operation unit in the three-dimensional data field. In this embodiment, each sampling point and each sampling voxel can be used to calculate the influence of the three-dimensional CT data on the final generated image. The influence can be represented by the attenuation coefficient of each sampling point and the intersection length of each sampling voxel. The attenuation coefficient can represent the absorption or scattering degree of the object at the corresponding sampling point position to the X-ray. The intersection length refers to the length of the intersection of the projected light and the corresponding sampling voxel; then, the pixel value of each reconstruction point is calculated based on the attenuation coefficient of each sampling point on each projected light and the intersection length of each sampling voxel; finally, the target X-ray fluoroscopic image can be obtained according to the pixel value of each reconstruction point. Among them, the calculation process of the pixel value of each reconstruction point can be represented by the following formula 5:

[0078]

[0079] In Formula 5, d(i, j) represents the pixel value at the reconstruction point (i, j) in the i-th row and j-th column in the detector imaging plane (or projection data), N(i, j) represents the number of sampling points on the projection light corresponding to the reconstruction point (i, j), n∈N and n is a positive integer, ρ represents the attenuation coefficient, and s n(i, j) represents the sampling position of the nth sampling point on the projection ray corresponding to the reconstructed point (i, j), ρ(s n (i,j)) represents the CT data at the sampling position s n The attenuation coefficient at (i,j), l n (i, j) represents the length of the intersection of the projection ray corresponding to the reconstruction point (i, j) and the sampling voxel corresponding to the nth sampling point. The projection ray corresponding to the reconstruction point (i, j) is based on the reconstruction point (i, j) and the X-ray source. The projection ray, sampling position, detector imaging plane, etc. can be found in Figure 5 . Figure 6 is the target X-ray fluoroscopic image obtained by this generation method, Figure 6 LAO32.2 and CAU 32.0 in the upper right corner represent the primary rotation angle and secondary rotation angle of the current target X-ray fluoroscopic image, respectively. LAO 32.2 means that the left anterior oblique angle is 32.2 degrees, and CAU 32.0 means that the coronary angle is 32.0 degrees. CAU 32.0 can also be CAUD32.0. It has been verified that the coronary artery morphology of the generated virtual target X-ray fluoroscopic image is consistent with that of the actual acquired image.

[0080] In this way, by accurately calculating the projected light from the X-ray source to each reconstruction point in the detector imaging plane, and combining the CT value at each position in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light, and then calculating the pixel value of each reconstruction point, a two-dimensional X-ray fluoroscopic image is finally generated. This process fully considers the physical attenuation characteristics of X-rays and the density distribution of biological tissues, ensuring the accuracy of image generation. In addition, since volume rendering is based on real CT data, the generated X-ray fluoroscopic image can truly reflect the three-dimensional structure and density information of the target organ and has the advantages of high resolution, low noise, and few artifacts, which helps doctors or researchers observe the lesion area more clearly.

[0081] Through the above steps S101 to S104, high-quality, high-resolution two-dimensional X-ray fluoroscopic images under the desired observation angle can be freely generated based on the pre-acquired three-dimensional CT data. This image generation method based on precise geometric relationships effectively reduces image distortion and artifacts, improves image clarity and diagnostic value, and fully considers the user's observation position and viewing angle requirements, so that the generated X-ray fluoroscopic images can directly meet the user's specific observation needs, enhancing the intuitive experience and diagnostic efficiency of doctors or researchers during the image analysis process.

[0082] The method for generating X-ray fluoroscopic images provided in the embodiment of the present disclosure aims to freely generate virtual fluoroscopic images at any angle based on three-dimensional CT data, and realize the cross-modal image fusion of the 2D projection image provided by the X-ray fluoroscopic examination and the 3D patient anatomical structure model. The specific process of the generation method at least includes converting the target sight vector under the desired observation angle into the main rotation angle and the secondary rotation angle of the X-ray fluoroscopic examination device, obtaining the target projection matrix corresponding to the projection geometric relationship of the X-ray fluoroscopic examination device, performing volume rendering based on the target projection matrix, and converting the three-dimensional CT data in the world coordinate system into the two-dimensional projection data of the image coordinate system, that is, the target X-ray fluoroscopic image. In this way, the method for generating X-ray fluoroscopic images provided in the embodiment of the present disclosure can realize the effective reconstruction of DRR, fuse and visualize the image information from the CT scan in a common coordinate system, and obtain the X-ray fluoroscopic image under any observation angle, which lays the foundation for further research on subsequent X-ray guided interventional treatment.

[0083] The disclosed embodiment also provides a device for generating an X-ray fluoroscopic image. Figure 7 FIG. 1 is a schematic diagram showing a device for generating an X-ray fluoroscopic image according to an embodiment of the present disclosure. Figure 7 As shown, the X-ray fluoroscopic image generation device 100 may include the following vector determination module 101, a first matrix determination module 102, a second matrix determination module 103, and a volume rendering module 104.

[0084] The vector determination module 101 is used to determine the target sight line vector for the target organ according to the observation requirements and the target position of the target organ of the organism to be detected. The observation requirements include the target observation position of the target organ observed by the user and the target observation angle corresponding to the user's sight line.

[0085] The first matrix determination module 102 is used to determine the primary rotation angle and the secondary rotation angle of the imaging arm in the X-ray fluoroscopic examination device based on the target sight line vector, and determine the primary rotation matrix and the secondary rotation matrix based on the primary rotation angle and the secondary rotation angle.

[0086] The second matrix determination module 103 is used to determine a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, wherein the target projection matrix represents the respective positions of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body.

[0087] The volume rendering module 104 is used to perform volume rendering based on the target projection matrix and the pre-acquired three-dimensional computed tomography (CT) data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

[0088] In one possible implementation, a target sight line vector for the target organ is determined based on observation requirements and the target position of the target organ of the organism to be detected, including: determining a first vector pointing from the target observation position to the target position based on first coordinate information of the target observation position and second coordinate information of the target position, the first coordinate information and the second coordinate information being in the same target world coordinate system; and determining a unit vector corresponding to the first vector as the target sight line vector.

[0089] In a possible implementation, determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector includes: determining the secondary rotation angle based on a Z component of the target sight line vector, and determining the primary rotation angle based on an X component and a Y component of the target sight line vector according to a preset rule, wherein the preset rule includes: if the X component is less than a preset first threshold and the Y component is equal to a preset second threshold, determining a preset first angle as the primary rotation angle; if the X component is greater than or equal to the first threshold and the Y component is equal to the second threshold, determining a preset second angle as the primary rotation angle; and if the Y component is greater than or less than the second threshold, determining the primary rotation angle based on the X component and the Y component.

[0090] In a possible implementation, determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: determining a primary rotation matrix corresponding to the primary rotation angle according to a preset primary rotation matrix calculation method; determining a target secondary rotation axis corresponding to the secondary rotation angle based on the primary rotation matrix and an initial secondary rotation axis, and determining the secondary rotation matrix based on the secondary rotation angle, the target secondary rotation axis, and a first matrix calculated according to the target secondary rotation axis.

[0091] In a possible implementation, a target projection matrix conforming to a target projection geometric relationship is determined based on the primary rotation matrix and the secondary rotation matrix, including: determining target information corresponding to the organism based on the target position and the position of the X-ray fluoroscopy device, wherein the target information includes the distance between an X-ray source in the X-ray fluoroscopy device and the organism, and position information of a hospital bed where the organism is located; determining the target projection matrix according to the target information, the primary rotation matrix, the secondary rotation matrix, and preset device information of the X-ray fluoroscopy device, wherein the device information includes an imaging image size and a diagonal length corresponding to a detector in the X-ray fluoroscopy device, and a distance between the X-ray source and an imaging plane corresponding to the detector.

[0092] In a possible implementation, the CT data includes CT values ​​at multiple positions on the target organ; wherein, volume rendering is performed based on the target projection matrix and the pre-acquired three-dimensional computed tomography CT data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle, including: according to a preset volume rendering method, based on the target projection matrix, determining each projection light directed from the X-ray source to each reconstruction point in the detector imaging plane; using each of the projection lights and the CT data to determine the attenuation coefficient of each sampling point on the corresponding projection light and the intersection length of each sampling voxel; calculating the pixel value of each reconstruction point based on the attenuation coefficient of each sampling point on the projection light and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image according to the pixel value of each reconstruction point.

[0093] In some embodiments, the functions or modules included in the X-ray fluoroscopic image generation device provided in the embodiments of the present disclosure can be used to execute the generation method described in the above method embodiment. Its specific implementation can refer to the description of the above generation method embodiment. For the sake of brevity, it will not be repeated here.

[0094] The embodiment of the present disclosure also provides an X-ray fluoroscopic inspection system, including an X-ray fluoroscopic inspection device and a device for generating the above-mentioned X-ray fluoroscopic image. In some embodiments, the functions or modules included in the X-ray fluoroscopic inspection system provided by the embodiment of the present disclosure can be used to execute the generation method described in the above method embodiment, and its specific implementation can refer to the description of the above generation method embodiment, and for the sake of brevity, it will not be repeated here.

[0095] The embodiment of the present disclosure also provides a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above method when executed by a processor. The computer-readable storage medium can be a volatile or non-volatile computer-readable storage medium.

[0096] An embodiment of the present disclosure further proposes an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0097] The embodiments of the present disclosure also provide a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0098] Figure 8 A schematic diagram of a device for generating an X-ray fluoroscopic image according to an embodiment of the present disclosure is shown. For example, the device 1900 may be provided as a server or a terminal device. Figure 8 , the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions, such as an application, that can be executed by the processing component 1922. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

[0099] The device 1900 may also include a power supply component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input / output interface 1958 (I / O interface). The device 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server 2000. TM , MacOS X TM , Unix TM ,Linux TM , FreeBSD TM or similar.

[0100] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the device 1900 to perform the above method.

[0101] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0102] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0103] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0104] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0105] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0106] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0107] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0108] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0109] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating an X-ray fluoroscopic image, characterized in that: include: Determining a target sight line vector for the target organ according to an observation requirement and a target position of a target organ of a biological body to be detected, wherein the observation requirement includes a target observation position for a user to observe the target organ and a target observation angle corresponding to the sight line of the user; Determine a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector, and determine a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle; Determining a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, wherein the target projection matrix represents the respective positions of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body; Volume rendering is performed based on the target projection matrix and pre-acquired three-dimensional computed tomography (CT) data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

2. The method according to claim 1, characterized in that According to the observation requirements and the target position of the target organ of the organism to be detected, a target sight line vector for the target organ is determined, including: Determine a first vector pointing from the target observation position to the target position according to first coordinate information of the target observation position and second coordinate information of the target position, wherein the first coordinate information and the second coordinate information are in the same target world coordinate system; A unit vector corresponding to the first vector is determined as the target sight line vector.

3. The method according to claim 2, characterized in that Determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic inspection device based on the target sight line vector includes: The secondary rotation angle is determined based on the Z component of the target sight line vector, and the primary rotation angle is determined based on the X component and the Y component of the target sight line vector according to a preset rule, wherein the preset rule includes: If the X component is less than a preset first threshold and the Y component is equal to a preset second threshold, the preset first angle is determined as the main rotation angle; If the X component is greater than or equal to the first threshold and the Y component is equal to the second threshold, determining the preset second angle as the main rotation angle; If the Y component is greater than or less than the second threshold, the main rotation angle is determined based on the X component and the Y component.

4. The method according to claim 1, characterized in that: Determining a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: Determine the main rotation matrix corresponding to the main rotation angle according to a preset main rotation matrix calculation method; Based on the primary rotation matrix and the initial secondary rotation axis, a target secondary rotation axis corresponding to the secondary rotation angle is determined, and based on the secondary rotation angle, the target secondary rotation axis, and a first matrix calculated according to the target secondary rotation axis, the secondary rotation matrix is ​​determined.

5. The method according to any one of claims 1 to 4, characterized in that: Determining a target projection matrix that conforms to the target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix includes: Determining target information corresponding to the organism based on the target position and the position of the X-ray fluoroscopic examination device, wherein the target information includes the distance between the X-ray source in the X-ray fluoroscopic examination device and the organism, and the position information of the bed where the organism is located; The target projection matrix is ​​determined according to the target information, the primary rotation matrix, the secondary rotation matrix, and equipment information of a preset X-ray fluoroscopic examination device, wherein the equipment information includes an imaging image size and a diagonal length corresponding to a detector in the X-ray fluoroscopic examination device, and a distance between the X-ray source and an imaging plane corresponding to the detector.

6. The method according to any one of claims 1 to 4, characterized in that The CT data includes CT values ​​at multiple locations on the target organ; Wherein, volume rendering is performed based on the target projection matrix and pre-acquired three-dimensional computed tomography CT data of the target organ to obtain a two-dimensional target X-ray perspective image under the target observation angle, including: According to a preset volume rendering method, determining, based on the target projection matrix, each projection light directed from the X-ray source to each reconstruction point in the detector imaging plane; Determine the attenuation coefficient of each sampling point on the corresponding projection light and the intersection length of each sampling voxel by using each projection light and the CT data; Calculating the pixel value of each reconstruction point based on the attenuation coefficient of each sampling point on each projection light and the intersection length of each sampling voxel; The target X-ray fluoroscopic image is obtained according to the pixel value of each reconstruction point.

7. A device for generating an X-ray fluoroscopic image, characterized in that: include: A vector determination module, configured to determine a target sight line vector for a target organ according to an observation requirement and a target position of a target organ of a biological body to be detected, wherein the observation requirement includes a target observation position for a user to observe the target organ and a target observation angle corresponding to the user's sight line; A first matrix determination module is used to determine a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopic examination device based on the target sight line vector, and to determine a primary rotation matrix and a secondary rotation matrix based on the primary rotation angle and the secondary rotation angle; A second matrix determination module is used to determine a target projection matrix that conforms to a target projection geometric relationship based on the primary rotation matrix and the secondary rotation matrix, wherein the target projection matrix represents the respective positions of an X-ray source and a detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometric relationship is determined based on the X-ray fluoroscopic examination device and the biological body; A volume rendering module is used to perform volume rendering based on the target projection matrix and pre-acquired three-dimensional computer tomography CT data of the target organ to obtain a two-dimensional target X-ray fluoroscopic image under the target observation angle.

8. An X-ray fluoroscopic inspection system, characterized in that: The invention comprises an X-ray fluoroscopic inspection device and the device for generating an X-ray fluoroscopic image as claimed in claim 7.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method described in any one of claims 1 to 6 when executing the instructions stored in the memory.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

Images