Method and apparatus for generating x-ray fluoroscopic images, x-ray fluoroscopic examination system

Abstract

The present disclosure relates to an X-ray fluoroscopy image generation method and device, and an X-ray fluoroscopy system. The generation method comprises determining a target line-of-sight vector for a target organ according to an observation requirement and a target position of the target organ of a biological subject to be detected; determining a primary rotation angle and a secondary rotation angle of an imaging arm in an X-ray fluoroscopy device and determining a primary rotation matrix and a secondary rotation matrix based on the target line-of-sight vector; determining a target projection matrix that conforms to a target projection geometry based on the primary rotation matrix and the secondary rotation matrix; and 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 fluoroscopy image under a target observation view angle. The X-ray fluoroscopy image generation method and device and the X-ray fluoroscopy system of the present disclosure can freely generate an X-ray fluoroscopy image under a desired observation view angle based on pre-acquired three-dimensional CT data.

Description

Technical Field

[0001] This disclosure relates to the field of image processing technology, and in particular to a method and apparatus for generating X-ray fluoroscopic images and an X-ray fluoroscopic examination system. Background Technology

[0002] X-ray fluoroscopy is a traditional method for guiding transcatheter interventional procedures. It offers real-time imaging capabilities and can display medical devices within the patient's body, such as catheters, stents, and other instruments. However, X-ray fluoroscopy faces several challenges, primarily the two-dimensional projection nature of the images and poor soft tissue contrast, resulting in low-quality images and difficulty in obtaining free-view X-ray images. Some technologies utilize the fusion capabilities of commercially available X-ray fluoroscopy systems to address these challenges, but several factors still hinder its widespread adoption. For example, data transmission incompatibility between different system manufacturers necessitates the use of dedicated positioning systems and additional equipment. Other technologies utilize ray tracing and Monte Carlo (MC) simulations. However, ray tracing suffers from image quality issues due to its inability to simulate the statistical processes involved in image formation, while MC methods are computationally expensive. Summary of the Invention

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

[0004] According to one aspect of this disclosure, a method for generating an X-ray fluoroscopic image is provided. The method includes: determining a target line-of-sight vector for the target organ based on observation requirements and the target location of the target organ of the organism to be detected, wherein the observation requirements 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; determining the principal rotation angle and the secondary rotation angle of the imaging arm in the X-ray fluoroscopic examination device based on the target line-of-sight vector, and determining the principal rotation matrix and the secondary rotation matrix based on the principal rotation angle and the secondary rotation angle; determining a target projection matrix that conforms to the target projection geometry based on the principal rotation matrix and the secondary rotation matrix, wherein the target projection geometry represents the respective poses of the imaging planes of the X-ray source and the detector in the X-ray fluoroscopic examination device, wherein the target projection geometry is determined based on the X-ray fluoroscopic examination device and the organism; and 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 can be freely generated from the desired observation angle 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 feeling and diagnostic efficiency of doctors or researchers in the image analysis process.

[0006] In one possible implementation, a target line-of-sight vector is determined for the target organ based on the observation requirements and the target location of the target organ of the organism to be detected. This includes: 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, wherein the first coordinate information and the second coordinate information are in the same target world coordinate system; and determining the unit vector corresponding to the first vector as the target line-of-sight vector.

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

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

[0009] In this way, preset rules are designed based on the changes of the target line-of-sight vector in different directions. In particular, different methods for determining the principal rotation angle are formulated for different cases of the X and Y components of the target line-of-sight vector, so as to adapt to different observation needs and changes in the target position.

[0010] In one possible implementation, determining the primary rotation matrix and the secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: 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 a first matrix calculated according to the target secondary rotation axis.

[0011] In this way, a rotation matrix that can accurately describe the rotation state of the imaging arm is calculated by using the primary and secondary rotation angles corresponding to the target observation viewpoint, thereby ensuring the quality of the subsequently generated X-ray fluoroscopic images.

[0012] In one possible implementation, determining a target projection matrix that conforms to the target projection geometry 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 fluoroscopy equipment, wherein the target information includes the distance between the X-ray source in the X-ray fluoroscopy equipment and the organism, and the position information of the 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 equipment information of the X-ray fluoroscopy equipment, wherein the equipment information includes the imaging image size and diagonal length corresponding to the detector in the X-ray fluoroscopy equipment, and the distance between the X-ray source and the imaging plane corresponding to the detector.

[0013] In this way, by comprehensively considering the target location, the location of the X-ray fluoroscopy equipment, the target information, and the equipment information, the target projection matrix that conforms to the target projection geometry can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only considers the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully incorporates the specific situation of the target location and the organism. It can adapt to different organisms, different examination needs, and different equipment configurations, and has high adaptability and flexibility.

[0014] In one possible implementation, 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 fluoroscopic image from the target observation perspective, including: determining, according to a preset volume rendering method, each projection ray pointing from the X-ray source to each reconstruction point in the detector imaging plane from the target projection matrix; determining, using each projection ray and the CT data, the attenuation coefficient of each sampling point on the corresponding projection ray 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 each projection ray and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image based on the pixel values ​​of each reconstruction point.

[0015] In this way, by accurately calculating the projected light rays from the X-ray source to each reconstructed point in the detector imaging plane, and combining the CT values ​​at each location in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light rays, the pixel value of each reconstructed point is calculated, and finally a two-dimensional X-ray fluoroscopic image is 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. Furthermore, since the 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 to observe the lesion area more clearly.

[0016] According to another aspect of this disclosure, an apparatus for generating X-ray fluoroscopic images is provided, comprising: a vector determination module, configured to determine a target line-of-sight vector for the target organ based on observation requirements and the target location of the target organ of the organism to be detected, wherein the observation requirements include a target observation position for the user to observe the target organ and a target observation angle corresponding to the user's line of sight; a first matrix determination module, configured to determine a principal rotation angle and a secondary rotation angle of the imaging arm in the X-ray fluoroscopic examination device based on the target line-of-sight vector, and to determine a principal rotation matrix and a secondary rotation matrix based on the principal rotation angle and the secondary rotation angle; a second matrix determination module, configured to determine a target projection matrix conforming to the target projection geometry based on the principal rotation matrix and the secondary rotation matrix, wherein the target projection matrix represents the respective poses of the X-ray source and the detector imaging plane in the X-ray fluoroscopic examination device, wherein the target projection geometry is determined based on the X-ray fluoroscopic examination device and the organism; and a volume rendering module, configured to perform 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 can be freely generated from the desired observation angle 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 feeling and diagnostic efficiency of doctors or researchers in the image analysis process.

[0018] In one possible implementation, a target line-of-sight vector is determined for the target organ based on the observation requirements and the target location of the target organ of the organism to be detected. This includes: 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, wherein the first coordinate information and the second coordinate information are in the same target world coordinate system; and determining the unit vector corresponding to the first vector as the target line-of-sight vector.

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

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

[0021] In this way, preset rules are designed based on the changes of the target line-of-sight vector in different directions. In particular, different methods for determining the principal rotation angle are formulated for different cases of the X and Y components of the target line-of-sight vector, so as to adapt to different observation needs and changes in the target position.

[0022] In one possible implementation, determining the primary rotation matrix and the secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: 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 a first matrix calculated according to the target secondary rotation axis.

[0023] In this way, a rotation matrix that can accurately describe the rotation state of the imaging arm is calculated by using the primary and secondary rotation angles corresponding to the target observation viewpoint, thereby ensuring the quality of the subsequently generated X-ray fluoroscopic images.

[0024] In one possible implementation, determining a target projection matrix that conforms to the target projection geometry 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 fluoroscopy equipment, wherein the target information includes the distance between the X-ray source in the X-ray fluoroscopy equipment and the organism, and the position information of the 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 equipment information of the X-ray fluoroscopy equipment, wherein the equipment information includes the imaging image size and diagonal length corresponding to the detector in the X-ray fluoroscopy equipment, and the distance between the X-ray source and the imaging plane corresponding to the detector.

[0025] In this way, by comprehensively considering the target location, the location of the X-ray fluoroscopy equipment, the target information, and the equipment information, the target projection matrix that conforms to the target projection geometry can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only considers the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully incorporates the specific situation of the target location and the organism. It can adapt to different organisms, different examination needs, and different equipment configurations, and has high adaptability and flexibility.

[0026] In one possible implementation, 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 fluoroscopic image from the target observation perspective, including: determining, according to a preset volume rendering method, each projection ray pointing from the X-ray source to each reconstruction point in the detector imaging plane from the target projection matrix; determining, using each projection ray and the CT data, the attenuation coefficient of each sampling point on the corresponding projection ray 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 each projection ray and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image based on the pixel values ​​of each reconstruction point.

[0027] In this way, by accurately calculating the projected light rays from the X-ray source to each reconstructed point in the detector imaging plane, and combining the CT values ​​at each location in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light rays, the pixel value of each reconstructed point is calculated, and finally a two-dimensional X-ray fluoroscopic image is 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. Furthermore, since the 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 to observe the lesion area more clearly.

[0028] According to another aspect of this disclosure, an X-ray fluoroscopy examination system is provided, including an X-ray fluoroscopy examination device and the above-described X-ray fluoroscopy image generation apparatus.

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

[0030] According to another aspect of this disclosure, a non-volatile computer-readable storage medium is provided that stores computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement the above-described method.

[0031] According to another aspect of this disclosure, a computer program product is provided, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

[0032] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

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

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

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

[0036] Figure 2b This diagram illustrates different target observation perspectives in three-dimensional space according to embodiments of the present disclosure.

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

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

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

[0040] Figure 4 A schematic diagram showing the projection geometry of an X-ray fluoroscopy examination apparatus provided according to an embodiment of the present disclosure is shown.

[0041] Figure 5 A schematic diagram of a volume drawing 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 to 8 A schematic diagram of an apparatus for generating X-ray fluoroscopic images according to an embodiment of the present disclosure is shown. Detailed Implementation

[0044] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0045] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0046] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0047] To facilitate understanding of the technical solutions provided by the embodiments of this disclosure by those skilled in the art, the technical environment for implementing the technical solutions will be described below.

[0048] X-ray fluoroscopy equipment mainly consists of an imaging arm, an X-ray source, a detector, and other components. Imaging arms are categorized into C-arms, O-arms, and G-arms. The specific differences between these three types lie in their construction. For example, a C-arm typically consists of a fixed hinged arm and a movable X-ray detector, resembling the letter "C". O-arms and G-arms are similar in shape to C-arms. The specific use and imaging process of X-ray fluoroscopy equipment can be determined based on the equipment model and other practical considerations. While X-ray fluoroscopy equipment can produce X-ray images, due to the limitations of its physical structure, it's impossible to obtain X-ray images from the exact viewing angle required. However, X-ray images from the desired viewing angle are crucial for doctors in addressing patient issues.

[0049] Currently, related technologies utilize the fusion function provided by commercial X-ray fluoroscopy systems to address challenges such as low-quality generated X-ray fluoroscopy images and difficulty in obtaining X-ray fluoroscopy images from free-viewpoint perspectives. However, several factors still hinder its widespread application. For example, the fusion function is limited to a single or a limited number of applications; data transmission is incompatible between different equipment manufacturers and even between software packages from the same equipment manufacturer; and dedicated positioning systems and additional equipment are required, which significantly increases costs.

[0050] Traditional methods for generating digitally reconstructed radiographs (DRRs) rely on the Beer-Lambert law to find the detector response given a specific imaging geometry. DRR generation methods can be categorized into analytical and statistical methods, namely ray tracing and Monte Carlo (MC) simulations. Ray tracing is computationally efficient because the attenuated photon flux of a detector pixel is determined by calculating the total attenuation along a three-dimensional ray and then applying it to all photons emitted along that direction. However, since ray tracing is analytical, it cannot simulate statistical processes in image formation, such as scattering, which can introduce image artifacts and degrade image quality. MC methods simulate single-photon transport by evaluating the probability of photon-matter interactions, where the order of interactions determines attenuation. Because the probability of interactions inherently depends on material and energy, MC simulations require material decomposition in computed tomography (CT). While MC methods produce more realistic results, their computational cost is prohibitively high.

[0051] To address the aforementioned technical problems, this disclosure provides a method for generating X-ray fluoroscopic images. The method includes: determining a target line-of-sight vector for the target organ based on observation requirements and the target location of the target organ in the organism to be detected; determining a principal rotation angle and a secondary rotation angle of the imaging arm in the X-ray fluoroscopic examination device based on the target line-of-sight vector; determining a principal rotation matrix and a secondary rotation matrix based on the principal rotation angle and the secondary rotation angle; determining a target projection matrix that conforms to the target projection geometry based on the principal rotation matrix and the secondary rotation matrix; and 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 from the target observation perspective. This allows for the free generation of clear X-ray fluoroscopic images from the desired observation perspective based on pre-acquired three-dimensional CT data.

[0052] Figure 1 A schematic diagram illustrating a method for generating X-ray fluoroscopic images according to an embodiment of the present disclosure is shown. Figure 2a A schematic diagram showing the gaze vector of a virtual camera in three-dimensional space according to an embodiment of the present disclosure is provided. Figure 2b This diagram illustrates different target observation perspectives in three-dimensional space according to embodiments of the present disclosure. Figure 3aA schematic diagram of an X-ray fluoroscopy examination apparatus provided according to an embodiment of the present disclosure is shown. Figure 3b A schematic diagram showing the principal rotation angle provided according to an embodiment of the present disclosure is shown. Figure 3c A schematic diagram showing a secondary rotation angle provided according to an embodiment of the present disclosure is shown. Figure 4 A schematic diagram showing the projection geometry of an X-ray fluoroscopy examination apparatus provided according to an embodiment of the present disclosure is shown. Figure 5 A schematic diagram of a volume drawing process provided according to an embodiment of the present disclosure is shown. Figure 6 A schematic diagram showing a target X-ray fluoroscopic image provided according to an embodiment of the present disclosure is illustrated. Now, in conjunction with... Figures 1 to 6 The method for generating X-ray fluoroscopic images provided in the embodiments of this disclosure is illustrated.

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

[0054] Step S101: Based on the observation requirements and the target location of the target organ of the organism to be detected, determine the target line-of-sight vector for the target organ.

[0055] Observational requirements may include the target observation location of the target organ and the target observation angle corresponding to the user's line of sight. The specific target organ and target observation angle are determined based on actual needs. The user's line of sight refers to the doctor's actual desired line of sight; in other words, observational requirements are to ensure that X-ray fluoroscopic images can ultimately be obtained from the desired observation angle.

[0056] For example, a perspective projection model can be used to model a virtual camera. In this virtual 3D 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 its surface). Thus, by using the camera to replace the user's viewing perspective, the viewing angle can be freely changed in the virtual scene, without being limited by rotation or translation along a fixed axis in the real environment. Figure 2a As shown, the line-of-sight vector of the observation viewpoint 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] Based on actual needs, the target observation position and the target observation viewpoint at that position can be determined. Step S101 may include: determining a first vector pointing from the target observation position to the target position based on 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; and determining the unit vector corresponding to the first vector as the target line-of-sight vector. For example, if selecting... Figure 2bIf the observation position C1 is taken as the current target observation position, then the corresponding target line-of-sight vector v = (v_1, y_1, z_1) can be calculated based on the first coordinate information (x_1, y_1, z_1) of the target observation position C1 in the world coordinate system and the second coordinate information (x_0, y_0, z_0) of the target position T in the world coordinate system. 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 elaborated here). If you choose Figure 2b The observation position C2 is used as the target observation position, and the corresponding target line-of-sight vector is determined similarly to that of observation position C1. For the sake of simplicity, this will not be elaborated further here. In this way, by directly using the specific coordinate information of the target observation position and the location of the target organ, the target line-of-sight vector can be accurately calculated. This direct calculation method based on coordinates greatly improves the accuracy of line-of-sight localization and lays the foundation for the accuracy of subsequent image generation.

[0058] Step S102: Determine the primary and secondary rotation angles of the imaging arm in the X-ray fluoroscopy equipment based on the target line-of-sight vector, and determine the primary and secondary rotation matrices based on the primary and secondary rotation angles.

[0059] The projection direction of the imaging arm can be determined based on the principal rotation angle and the secondary rotation angle. Taking a C-shaped imaging arm as an example, the principal and secondary rotation angles will be briefly explained below. Figure 3a , Figure 3b As shown, α is the principal rotation angle of the C-arm, which is generally described by the left anterior oblique (LAO) or right anterior oblique (RAO) position, such as... Figure 3a , Figure 3c As shown, β is the secondary rotation angle of the C-arm, generally described by the cranial (CRAN) or caudal (CAUD) position, representing rotation around this secondary rotation angle. In other words, the orientation 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 (the position where the center of the examined area coincides with the center of the opening in the gantry during medical imaging operation) coincides with the origin of the world coordinate system. When the X-ray fluoroscopy equipment is in its initial position, both the primary and secondary rotation angles are zero. The target line-of-sight vector can be used to determine the virtual projection direction corresponding to the primary and secondary rotation angles.

[0060] After determining the target line-of-sight vector in step S101, the target line-of-sight vector v can be converted into the principal rotation angle α and secondary rotation angle β of the imaging arm in the X-ray fluoroscopy equipment. Determining the principal and secondary rotation angles of the imaging arm in the X-ray fluoroscopy equipment based on the target line-of-sight vector in step S102 may include: based on the Z component v of the target line-of-sight vector. z The rotation angle can be determined, for example, by β = arcsin(v z Calculate the second rotation angle β, where v z Let Z represent the Z component of the target line-of-sight vector, and arcsin represent the arcsine function. Based on the X and Y components of the target line-of-sight vector, the principal rotation angle is determined according to preset rules. These preset rules include: if the X component of the target line-of-sight vector v... x The Y component v of the target gaze vector is less than a preset first threshold. y If the value equals the preset second threshold, then the preset first angle is determined as the main rotation angle; if the X component v of the target line-of-sight vector... x The Y component v of the target gaze vector is greater than or equal to the first threshold. y If the value equals the second threshold, then the preset second angle is determined as the main rotation angle; if the Y component of the target's line-of-sight vector v y If the value is greater than or less than the second threshold, then the X component v based on the target gaze vector... x and Y component v y The main rotation angle is determined; for example, both the first and second thresholds can be set to 0, and the first angle can be set to... The second angle can be set as Based on this, the preset rule can be expressed by the following equation 1:

[0061]

[0062] In Equation 1, α represents the principal rotation angle, arctan represents the arctangent function, and v x V represents the X component of the target gaze vector. y Let Y represent the target line-of-sight vector, and ∧ represent Y and Y. Thus, based on the variation of the target line-of-sight vector in different directions, preset rules are designed, especially different methods for determining the principal rotation angle for different cases of the X and Y components of the target line-of-sight vector, enabling adaptation to different observation needs and changes in target position.

[0063] After obtaining the primary and secondary rotation angles based on the target line-of-sight vector transformation, 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. Step S102, determining the primary and secondary rotation matrices based on the primary and secondary rotation angles, 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. The preset primary rotation matrix calculation method can be expressed by the following formula 2:

[0064]

[0065] In Equation 2, R α Let represent the principal rotation matrix, cos represent the cosine function, sin represent the sine function, and α represent the principal rotation angle. After determining the principal rotation matrix, the target secondary rotation axis can be determined based on the principal rotation matrix and the initial secondary rotation axis, for example, through u = R. α u0 is calculated to obtain the target secondary rotation axis u = (u x ,u y ,u z ), where R α Let u0 represent the primary rotation matrix, and u0 represent the initial secondary rotation axis. In this example, both the target secondary rotation axis and the initial secondary rotation axis are vectors. The initial secondary rotation axis u0 can be preset to [-1 0 0]. T Therefore, the target secondary rotation axis u can be calculated. Then, using Rodriguez's rotation formula, the secondary rotation matrix can be determined based on the secondary rotation angle, the target secondary rotation axis, and the first matrix calculated from the target secondary rotation axis. For example, it can be obtained through R... β =cos(β)I+(1-cos(β))uu T +sin(β)[u] × The rotation matrix R is calculated. β Where cos represents the cosine function, β represents the second rotation angle, I represents the 3rd order identity matrix, u represents the target second rotation axis, T represents the transpose, and sin represents the sine function, [u] × Let [u] represent the first matrix. × This can be expressed by the following formula 3:

[0066]

[0067] In Equation 3, [u] × Let u represent the first matrix. x The x-component, u, represents the target's secondary rotation axis. y The Y component representing the target's secondary rotation axis, u zLet Z represent the secondary rotation axis of the target. Thus, the virtual projection direction v(α,β) = R can be obtained when the principal rotation angle is α and the secondary rotation angle is β. β R α v0, where R α Let R represent the principal rotation matrix. β Let v0 represent the secondary rotation matrix, and v0 represent the initial principal rotation axis. In this example, the initial principal rotation axis is also a vector, and v0 can be preset to [0 0 1]. T In this way, by calculating the primary and secondary rotation angles corresponding to the target observation viewpoint, a rotation matrix that can accurately describe the rotation state of the imaging arm is obtained, thereby ensuring the quality of the subsequently generated X-ray fluoroscopic images.

[0068] Step S103: Determine the target projection matrix that conforms to the target projection geometry based on the primary rotation matrix and the secondary rotation matrix.

[0069] The target projection matrix represents the pose of the X-ray source and the detector imaging plane in the X-ray fluoroscopy equipment. In other words, the spatial position and orientation of the X-ray source and the spatial position and orientation of the detector imaging plane can be determined by the target projection matrix determined in step S102.

[0070] The target projection geometry is determined based on the X-ray fluoroscopy equipment and the organism to be examined. In determining the target projection matrix based on the principal and secondary rotation matrices, the target information of the organism and the equipment information of the X-ray fluoroscopy equipment can be combined to calculate a target projection matrix that conforms to the target projection geometry. Target information may include the source-to-patient distance (SPD) between the X-ray source and the organism, and the location information of the patient's bed. Specifically, the distance between the X-ray source and the organism can be 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 examined may differ, the target information can be determined according to the actual situation. Equipment information may include the image size and diagonal length corresponding to the detector in the X-ray fluoroscopy equipment, and the source-image distance (SID) between the X-ray source and the detector. This equipment information is related to the actual model of the X-ray fluoroscopy equipment and is determined according to the actual situation.

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

[0072]

[0073] In Equation 4, P represents the target projection matrix, which is a 3×3 matrix of perspective projection (i.e., ) and the 3×4 matrix describing the imaging system's orientation relative to the world coordinate system (i.e. The product of n u and n v This indicates the preset image size of the detector in pixels; SID represents the distance between the X-ray source and the corresponding image of the detector; FD represents the preset diagonal length of the detector; R α Let R represent the principal rotation matrix. β Let t represent the second rotation matrix. x t y t z This represents the location information of the organism in the hospital bed, which can be represented by a translation vector t = (t x ,t y ,t z The translation vector is determined by the coordinates of the movable bed in the world coordinate system, and SPD represents the distance between the X-ray source and the organism.

[0074] In this way, by comprehensively considering the target location, the location of the X-ray fluoroscopy equipment, the target information, and the equipment information, the target projection matrix that conforms to the target projection geometry can be accurately calculated, laying the foundation for the subsequent generation of high-quality X-ray fluoroscopy images. It not only considers the physical characteristics and imaging parameters of the X-ray fluoroscopy equipment itself, but also fully incorporates the specific situation of the target location and the organism. It can adapt to different organisms, different examination needs, and different equipment configurations, and has high adaptability and flexibility.

[0075] Step S104: Based on the target projection matrix and the pre-acquired three-dimensional computed tomography CT data of the target organ, volume rendering is performed to obtain a two-dimensional X-ray fluoroscopic image of the target from the target observation perspective.

[0076] The pre-acquired CT data of the target organ of the organism is three-dimensional data, which may include CT values ​​at multiple locations on the target organ. This generation method is based on the three-dimensional CT data or CT images to freely generate a two-dimensional virtual perspective image at any imaging angle, that is, to convert the three-dimensional CT data in the world coordinate system into two-dimensional projection data (i.e., target X-ray perspective image) in the image coordinate system. The process of generating the virtual perspective image can use volume rendering techniques, such as ray casting. Its basic principle is to form a projected 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 sample at equal intervals along the ray with a certain step size, and then generate the final display image based on the sampled points.

[0077] Step S104 may include: determining, according to a preset volume rendering method, each projected ray pointing from the X-ray source to each reconstructed point in the detector imaging plane based on the target projection matrix, wherein the number of reconstructed points in the detector imaging plane can be flexibly set according to the required image quality, one reconstructed point corresponds to one projected ray, and the projected ray corresponding to the reconstructed point can be determined based on the pose of the detector imaging plane where the reconstructed point is located and the pose of the X-ray source, the pose of the detector imaging plane and the pose of the X-ray source can be determined by the target projection matrix determined in step S103; then, using each projected ray and CT data, determining the attenuation coefficient of each sampling point on the corresponding projected ray and the intersection length of each sampling voxel, wherein the projected ray... The number and interval of upsampling points can be flexibly set according to actual needs. In volume rendering technology, sampling voxels are the basic operational units in a three-dimensional data field. In this embodiment, each sampling point and each sampling voxel can be used to calculate the influence of three-dimensional CT data on the final generated image. This influence can be represented by the attenuation coefficient of each sampling point and the intersection length of each sampling voxel. The attenuation coefficient represents the degree of absorption or scattering of X-rays by the object at the corresponding sampling point location, and the intersection length refers to the length of the intersection between the projected ray and the corresponding sampling voxel. Then, based on the attenuation coefficient of each sampling point on each projected ray and the intersection length of each sampling voxel, the pixel value of each reconstructed point is calculated. Finally, the target X-ray fluoroscopic image can be obtained based on the pixel values ​​of each reconstructed point. The calculation process of the pixel value of each reconstructed point can be represented by the following formula:

[0078]

[0079] In Equation 5, d(i,j) represents the pixel value at the reconstructed point (i,j) in the i-th row and j-th column of the detector imaging plane (or projection data), N(i,j) represents the number of sampling points on the projected ray corresponding to the reconstructed 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 corresponding to 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 sampling location s. n The attenuation coefficient at (i,j), l n (i,j) represents the length of the intersection between the projected ray corresponding to the reconstructed point (i,j) and the sampling voxel corresponding to the nth sampling point. The projected ray corresponding to the reconstructed point (i,j) is formed based on the reconstructed point (i,j) and the X-ray source. For details regarding the projected ray, sampling position, and detector imaging plane, please refer to [reference needed]. Figure 5 . Figure 6 To obtain the target X-ray fluoroscopic image using this generation method, Figure 6 In the upper right corner, LAO32.2 and CAU 32.0 represent the primary and secondary rotation angles of the current target X-ray fluoroscopic image, respectively. LAO 32.2 indicates a left anterior oblique angle of 32.2 degrees, and CAU 32.0 indicates a coronal angle of 32.0 degrees. CAU 32.0 can also be written as CAUD32.0. It has been verified that the generated virtual target X-ray fluoroscopic image has the same coronary artery morphology as the real image.

[0080] In this way, by accurately calculating the projected light rays from the X-ray source to each reconstructed point in the detector imaging plane, and combining the CT values ​​at each location in the CT data to determine the attenuation coefficient and intersection length of each sampling point on the projected light rays, the pixel value of each reconstructed point is calculated, and finally a two-dimensional X-ray fluoroscopic image is 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. Furthermore, since the 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 to observe the lesion area more clearly.

[0081] Through 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 perspective requirements, so that the generated X-ray fluoroscopic images can directly meet the user's specific observation needs, enhancing the intuitive feeling and diagnostic efficiency of doctors or researchers in the image analysis process.

[0082] The X-ray fluoroscopy image generation method provided in this disclosure aims to freely generate virtual fluoroscopy images at arbitrary angles based on three-dimensional CT data, achieving cross-modal image fusion of 2D projection images provided by X-ray fluoroscopy and 3D patient anatomical models. The specific process of the generation method includes at least converting the target line-of-sight vector under the desired observation viewpoint into the principal and secondary rotation angles of the X-ray fluoroscopy equipment, obtaining the target projection matrix corresponding to the projection geometry of the X-ray fluoroscopy equipment, performing volume rendering based on the target projection matrix, and converting the three-dimensional CT data in the world coordinate system into two-dimensional projection data in the image coordinate system, i.e., the target X-ray fluoroscopy image. Thus, using the X-ray fluoroscopy image generation method provided in this disclosure, effective reconstruction of DRR can be achieved, image information from CT scans can be fused and visualized in a common coordinate system, and X-ray fluoroscopy images under arbitrary observation viewpoints can be obtained, laying the foundation for further research on X-ray guided interventional therapy.

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

[0084] The vector determination module 101 is used to determine the target line-of-sight vector for the target organ based on the observation requirements and the target location of the target organ of the organism to be detected. The observation requirements 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.

[0085] The first matrix determination module 102 is used to determine the main rotation angle and secondary rotation angle of the imaging arm in the X-ray fluoroscopy examination device based on the target line of sight vector, and to determine the main rotation matrix and secondary rotation matrix based on the main 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 the target projection geometry based on the primary rotation matrix and the secondary rotation matrix. The target projection matrix represents the pose of the X-ray source and the detector imaging plane in the X-ray fluoroscopy examination device. The target projection geometry is determined based on the X-ray fluoroscopy 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 X-ray fluoroscopic image of the target from the target observation perspective.

[0088] In one possible implementation, a target line-of-sight vector is determined for the target organ based on the observation requirements and the target location of the target organ of the organism to be detected. This includes: 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, wherein the first coordinate information and the second coordinate information are in the same target world coordinate system; and determining the unit vector corresponding to the first vector as the target line-of-sight vector.

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

[0090] In one possible implementation, determining the primary rotation matrix and the secondary rotation matrix based on the primary rotation angle and the secondary rotation angle includes: 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 a first matrix calculated according to the target secondary rotation axis.

[0091] In one possible implementation, determining a target projection matrix that conforms to the target projection geometry 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 fluoroscopy equipment, wherein the target information includes the distance between the X-ray source in the X-ray fluoroscopy equipment and the organism, and the position information of the 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 equipment information of the X-ray fluoroscopy equipment, wherein the equipment information includes the imaging image size and diagonal length corresponding to the detector in the X-ray fluoroscopy equipment, and the distance between the X-ray source and the imaging plane corresponding to the detector.

[0092] In one possible implementation, 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 fluoroscopic image from the target observation perspective, including: determining, according to a preset volume rendering method, each projection ray pointing from the X-ray source to each reconstruction point in the detector imaging plane from the target projection matrix; determining, using each projection ray and the CT data, the attenuation coefficient of each sampling point on the corresponding projection ray 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 each projection ray and the intersection length of each sampling voxel; and obtaining the target X-ray fluoroscopic image based on the pixel values ​​of each reconstruction point.

[0093] In some embodiments, the X-ray fluoroscopic image generation apparatus provided in this disclosure may have functions or include modules that can be used to execute the generation method described in the above method embodiments. The specific implementation can be referred to the description of the generation method embodiments above, and for the sake of brevity, it will not be repeated here.

[0094] This disclosure also provides an X-ray fluoroscopy examination system, including an X-ray fluoroscopy examination device and the aforementioned X-ray fluoroscopy image generation apparatus. In some embodiments, the functions or modules included in the X-ray fluoroscopy examination system provided in this disclosure can be used to execute the generation method described in the above method embodiments. Specific implementations can be referred to the description of the generation method embodiments above, and for brevity, will not be repeated here.

[0095] This disclosure also proposes a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the above-described method. The computer-readable storage medium can be volatile or non-volatile.

[0096] This disclosure also proposes an electronic device, including: 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.

[0097] This disclosure also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

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

[0099] Device 1900 may also include a power supply component 1926 configured to perform power management of device 1900, a wired or wireless network interface 1950 configured to connect device 1900 to a network, and an input / output interface 1958 (I / O interface). Device 1900 can operate on an operating system, such as Windows Server, stored in memory 1932. 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 that can be executed by a processing component 1922 of the device 1900 to perform the above-described method.

[0101] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0102] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

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

[0104] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent 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 the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving 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., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions to implement various aspects of this disclosure.

[0105] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of 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 to cause a series of operational steps to be 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 perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating X-ray fluoroscopic images, characterized in that, include: Based on the observation requirements and the target location of the target organ of the organism to be detected, a target line-of-sight vector is determined for the target organ. The observation requirements 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. Based on the target line-of-sight vector, the primary and secondary rotation angles of the imaging arm in the X-ray fluoroscopy equipment are determined, and the primary and secondary rotation matrices are determined based on the primary and secondary rotation angles. Based on the primary rotation matrix and the secondary rotation matrix, a target projection matrix that conforms to the target projection geometry is determined. The target projection matrix represents the pose of the X-ray source and the detector imaging plane in the X-ray fluoroscopy equipment. The target projection geometry is determined based on the X-ray fluoroscopy equipment and the biological body. Based on the target projection matrix and the pre-acquired three-dimensional computed tomography (CT) data of the target organ, volume rendering is performed to obtain a two-dimensional X-ray fluoroscopic image of the target from the observation perspective.

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

3. The method according to claim 2, characterized in that, Based on the target line-of-sight vector, the primary and secondary rotation angles of the imaging arm in the X-ray fluoroscopy equipment are determined, including: The secondary rotation angle is determined based on the Z component of the target gaze vector, and the primary rotation angle is determined based on the X and Y components of the target gaze 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, then 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, then the preset second angle is determined 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, The primary rotation matrix and the secondary rotation matrix are determined based on the primary rotation angle and the secondary rotation angle, including: The main rotation matrix corresponding to the main rotation angle is determined according to the preset main rotation matrix calculation method; Based on the primary rotation matrix and the initial secondary rotation axis, the target secondary rotation axis corresponding to the secondary rotation angle is determined, and the secondary rotation matrix is ​​determined based on the secondary rotation angle, the target secondary rotation axis, and the first matrix calculated according to the target secondary rotation axis.

5. The method according to any one of claims 1 to 4, characterized in that, Based on the primary rotation matrix and the secondary rotation matrix, a target projection matrix that conforms to the target projection geometry is determined, including: Based on the target location and the location of the X-ray fluoroscopy equipment, target information corresponding to the organism is determined, wherein the target information includes the distance between the X-ray source in the X-ray fluoroscopy equipment and the organism, and the location information of the bed where the organism is located; The target projection matrix is ​​determined based on the target information, the primary rotation matrix, the secondary rotation matrix, and the preset equipment information of the X-ray fluoroscopy equipment. The equipment information includes the imaging image size and diagonal length corresponding to the detector in the X-ray fluoroscopy equipment, and the distance between the X-ray source and the 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; Specifically, 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 X-ray fluoroscopic image of the target from the target observation perspective, including: According to the preset volume rendering method, based on the target projection matrix, each projected ray from the X-ray source to each reconstructed point in the detector imaging plane is determined; The attenuation coefficient of each sampling point on the corresponding projection ray and the intersection length of each sampling voxel are determined using the projection ray and the CT data. The pixel value of each reconstructed point is calculated based on the attenuation coefficient of each sampling point on each of the projected rays and the intersection length of each sampling voxel; The target X-ray image is obtained based on the pixel values ​​of each of the reconstructed points.

7. An apparatus for generating X-ray fluoroscopic images, characterized in that, include: The vector determination module is used to determine the target line-of-sight vector for the target organ based on the observation requirements and the target location of the target organ of the organism to be detected. The observation requirements 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. The first matrix determination module is used to determine the main rotation angle and the secondary rotation angle of the imaging arm in the X-ray fluoroscopy equipment based on the target line of sight vector, and to determine the main rotation matrix and the secondary rotation matrix based on the main rotation angle and the secondary rotation angle. The second matrix determination module is used to determine a target projection matrix that conforms to the target projection geometry based on the main rotation matrix and the secondary rotation matrix. The target projection matrix represents the pose of the X-ray source and the detector imaging plane in the X-ray fluoroscopy equipment. The target projection geometry is determined based on the X-ray fluoroscopy equipment and the biological body. The volume rendering module 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, so as to obtain a two-dimensional X-ray fluoroscopic image of the target from the observation perspective.

8. An X-ray fluoroscopy examination system, characterized in that, It includes an X-ray fluoroscopic examination device and an X-ray fluoroscopic image generation apparatus as described in claim 7.

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

10. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 6.

Images