Image system and control method and device thereof, computer medium and program product

Abstract

The invention relates to an image system, a control method and device thereof, a computer medium and a program product. The medical image system comprises at least one inspection part used for aligning a ray field with a target part of a to-be-detected object. The method comprises the following steps: acquiring contour information of a to-be-detected object and initial position information of the to-be-detected object relative to an inspection part; acquiring real-time position information of the inspection part; based on the contour information of the to-be-detected object, the initial position information of the to-be-detected object relative to the inspection part and the real-time position information of the inspection part, determining the part, located in the ray field, of the target part; based on the part, determining a target pose of a filter in a collimator assembly of the medical imaging system; and controlling the filter to move towards the target pose.

Description

Technical Field

[0001] The present disclosure relates to the field of medical equipment technology, and in particular to a filter control method and device for a medical imaging system, an imaging method for a medical imaging system, a medical imaging system, a non-transitory computer-readable storage medium, and a computer program product. Background Art

[0002] Medical imaging systems (such as magnetic resonance imaging systems, computerized tomography systems, digital subtraction angiography systems, etc.) can acquire and process images of human internal tissues in a non-invasive manner. Medical imaging systems can be used for interventional treatment, that is, under the guidance of the medical imaging system, medical devices are introduced into the body of the subject to be tested, so as to operate on the target part of the subject's body.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0004] According to one aspect of an embodiment of the present disclosure, a filter control method for a medical imaging system is provided, wherein the medical imaging system includes at least one inspection component for aligning a radiation field with a target part of an object to be measured. The method includes: obtaining contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component; obtaining real-time position information of the inspection component; determining a portion of the target part located in the radiation field based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component; determining a target posture of a filter in a collimator assembly of the medical imaging system based on the portion; and controlling the filter to move to the target posture.

[0005] According to another aspect of an embodiment of the present disclosure, there is provided an imaging method for a medical imaging system, comprising: controlling a filter using the above method; acquiring an actual posture of the filter in response to the controlled filter moving toward a target posture; and imaging a portion of a target area in response to determining that a relationship between the actual posture and the target posture satisfies a preset condition.

[0006] According to another aspect of an embodiment of the present disclosure, a filter control device for a medical imaging system is provided, wherein the medical imaging system includes at least one inspection component for aligning a radiation field with a target part of an object to be measured. The device includes: a first acquisition unit configured to acquire contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component; a second acquisition unit configured to acquire real-time position information of the inspection component; a first determination unit configured to determine the part of the target part located in the radiation field based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component; a second determination unit configured to determine the target posture of the filter in the collimator assembly of the medical imaging system based on the part; and a motion control unit configured to control the filter to move to the target posture.

[0007] According to another aspect of an embodiment of the present disclosure, a medical imaging system is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores a computer program, and the computer program implements the above method when executed by the at least one processor.

[0008] According to another aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing a computer program is provided, and the computer program implements the above method when executed by a processor.

[0009] According to another aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, and the computer program implements the above method when executed by a processor.

[0010] According to the embodiments of the present disclosure, on the one hand, there is no need for an operator to manually manipulate a joystick to control the filter in the collimator assembly, and the target position of the filter ultimately determined is not limited by the operator's skill or experience level, and has higher efficiency and accuracy; on the other hand, there is no need to pre-image the object to be measured, thereby reducing the radiation dose received by the object to be measured and reducing health damage to the object to be measured.

[0011] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0013] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can better understand the above and other features and advantages of the present disclosure. In the accompanying drawings:

[0014] Figure 1 shows a subtraction angiography image obtained using a related technique;

[0015] Figure 2 A flow chart of a filter control method for a medical imaging system according to an embodiment of the present disclosure is shown;

[0016] Figure 3 A flowchart showing a partial process of a filter control method for a medical imaging system according to an embodiment of the present disclosure;

[0017] Figure 4a and Figure 4b Schematic diagrams of virtual system models according to some exemplary embodiments of the present disclosure are shown from different angles respectively;

[0018] Figure 5 A flowchart showing a partial process of a filter control method for a medical imaging system according to an embodiment of the present disclosure;

[0019] Figure 6 A flowchart of an imaging method for a medical imaging system according to an embodiment of the present disclosure is shown;

[0020] Figure 7 shows a subtraction angiography image obtained by using an imaging method according to an embodiment of the present disclosure;

[0021] Figure 8 A schematic block diagram of a filter control device for a medical imaging system according to an embodiment of the present disclosure is shown; and

[0022] Fig. 9 is a block diagram illustrating an exemplary electronic device that can be applied to the exemplary embodiments. DETAILED DESCRIPTION

[0023] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0024] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0025] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0026] As mentioned above, in interventional surgery, the medical imaging system can be used to observe the in vivo conditions of the object to be tested in real time. In the example, the medical imaging system can be equipped with a C-arm X-ray machine, and the operator can control the movement of the C-arm X-ray machine around different axes by operating the joystick to align the emission position and orientation of the X-rays with the target part of the object to be tested, so that the target part can be imaged by radiography. In some scenarios, the emitted rays not only pass through the target part, but also pass through the area around the target part, which makes the result of radiography include not only the image of the target part, but also the image of the area around the target part. When the surrounding area is a cavity or has a low density, the image of the surrounding area may be overexposed, thereby affecting the normal observation of the target area.

[0027] For example, in a scenario where a medical imaging system is used to perform interventional surgery on a vascular system, the medical imaging system can assist in subtraction angiography. In the subtraction angiography process, a contrast agent that is clearly visible in an X-ray image can be applied to the blood circulation system of the subject to be tested, and a subtraction angiography image can be obtained by subtracting a mask image taken without the use of a contrast agent from an X-ray image in which the blood vessels are at least partially filled with a contrast agent. However, Figure 1 A subtraction angiography image 100 obtained by using the related technology is shown. Figure 1As shown, region 101 is an imaging of a partial region of the target part (e.g., the heart), in which the imaging of blood vessels can be observed; region 102 is an imaging of the surrounding area of ​​the target part, and region 102 may be a cavity or a part of an organ with low density (e.g., lungs containing air), so the imaging of region 102 is overexposed. It can be seen that the contrast between region 102 and region 101 is large, which has an adverse effect on the normal imaging of the target part. One way to avoid such overexposure is for the operator to manually manipulate the joystick to control one or more filters to move to region 102, and manually control the orientation of the filter so that it can shield region 102 to a large extent, thereby reducing the exposure dose of region 102 by filtering (shielding rays). However, this method not only places very high demands on the operator's operating skills, but also has low operating efficiency, because the operator may need to constantly change the position or orientation of the filter to adapt to the surgical needs during the interventional surgery. On the other hand, this method requires pre-imaging of the object to be measured to obtain approximate information (such as position information) of the target part of the object to be measured. Pre-imaging increases the radiation dose received by the object to be measured, and therefore has a certain impact on the health of the object to be measured.

[0028] In view of this, the present disclosure proposes a filter control method and device for a medical imaging system, an imaging method for a medical imaging system, a medical imaging system, a non-transitory computer-readable storage medium, and a computer program product.

[0029] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0030] Figure 2 A flow chart of a filter control method 200 for a medical imaging system according to an embodiment of the present disclosure is shown. The medical imaging system includes at least one movable inspection component for aligning the radiation field with the target part of the object to be measured. The medical imaging system may be an X-ray imaging device (e.g., a C-arm X-ray imaging device, etc.). At least one movable inspection component may include a radiation source (e.g., an X-ray tube), a detector for receiving radiation emitted by the radiation source, or an examination bed, etc. The object to be measured may be located on the examination bed, and the radiation from the radiation source will pass through the object to be measured and the examination bed to reach the detector and be received by the detector. The radiation source and the examination bed can be moved during actual use so as to be adjusted to a suitable position so that the radiation from the radiation source can pass through the target part to be measured of the object to be measured. Accordingly, the detector will also move to a position corresponding to the radiation source so as to receive the radiation passing through the object to be measured.

[0031] like Figure 2 As shown, the method 200 includes:

[0032] Step S210, obtaining contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component;

[0033] Step S220, obtaining real-time position information of the inspection component;

[0034] Step S230, determining the portion of the target part located in the radiation field based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component;

[0035] Step S240, determining a target position of a filter in a collimator assembly of a medical imaging system based on the portion; and

[0036] Step S250, controlling the filter to move toward the target posture.

[0037] In step S210, the contour information of the object to be tested and the initial position information of the object to be tested relative to the inspection component are obtained. Wherein, the object to be tested is, for example, a human body. The part to be tested of the object to be tested may refer to the part of the human body to be subjected to radiographic examination, such as a hand, a leg, a chest, etc. For example, an image including the inspection component and the object to be tested may be collected by a sensor attached to the ray source (for example, a camera such as a 3D camera or a depth camera, or a laser scanner) or an additional sensor placed independently of the ray source (for example, arranged on the wall of the inspection room), so as to obtain the contour information of the object to be tested and the initial relative position information of the object to be tested relative to the inspection component from the image. The initial relative position information of the object to be tested relative to the inspection component may also be measured by other sensors, such as sensors arranged on the inspection component. The initial relative position of the object to be tested relative to the inspection component refers to the relative position information of the object to be tested relative to the inspection component obtained initially (that is, after the object to be tested lies in an appropriate position on the inspection bed and no longer moves, that is, after the fixed position). In some examples, the initial relative position information of the object to be measured relative to the inspection component may be the relative position information of the object to be measured relative to the radiation source and / or the detector (for example, relative position coordinates or other relative position relationships), or may be the relative position information of the object to be measured relative to the inspection bed. The above relative position relationships can all reflect the relative position relationship of the object to be measured relative to each inspection component (because the position of each inspection component itself will also be acquired).

[0038] In the example, after obtaining the initial relative position information of the object to be measured relative to the inspection component, the relative position of the object to be measured and the inspection component in, for example, a virtual system model (described in detail below) can be updated based on the initial position information of the inspection component (i.e., corresponding to the initial relative position information of the object to be measured relative to the inspection component) and / or the real-time position information after movement, so that the virtual system model can reflect the actual relative position of the two, so as to facilitate the subsequent determination of the target posture of the filter.

[0039] In step S220, the real-time position information of the inspection component is obtained. The real-time position information of the inspection component is the position information of the inspection component obtained in real time, wherein "real-time acquisition" may refer to acquisition at a predetermined interval, or acquisition at the same time when the position of the inspection component changes, or acquisition when the inspection component moves to the target position. Since the inspection component can adjust its own position as needed, the medical imaging system needs to obtain the position information of the inspection component in real time to ensure the accuracy of the position information of the inspection component. The real-time position information of the inspection component may be the position information of the inspection component obtained at the time of executing step S220, or may be the position information of the inspection component obtained at the same time as executing step S220. In short, the real-time position information of the inspection component can reflect the latest position information of the inspection component at the time of executing step S220 (which may change based on the initial position of the inspection component, or may remain consistent with the initial position), so as to ensure that the actual relative position of the object to be tested and the inspection component is obtained, that is, the relative position fixed for exposure.

[0040] In some examples, a direct 3D camera or laser scanner may be used to photograph or scan the inspection component to directly obtain the real-time position information of the inspection component. In other examples, the real-time position information of the inspection component may be obtained based on the initial position information and motion information of the inspection component, wherein the initial position information of each inspection component in the medical imaging system, such as the initial relative position of each inspection component, is known, and the motion information of the inspection component, such as the displacement and rotation angle of each inspection component, may be obtained by a measuring unit, such as a displacement sensor and an angle sensor, or by reading a motion instruction sent to the inspection component.

[0041] In step S230, based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component, the portion of the target part located in the ray field is determined. For example, based on the initial position information of the object to be measured relative to the inspection component and the real-time position information of the inspection component, the real-time position information of the object to be measured relative to the inspection component (for example, relative position coordinates or other relative position relationships) can be determined. Since the initial position and orientation of the ray source used to emit rays in the inspection component are known, the real-time position of the object to be measured relative to the ray field formed by the rays can also be determined. Further, in combination with the contour information of the object to be measured, the portion of the target part in the object to be measured located in the ray field (for example, the coordinates of the portion of the target part in the object to be measured located in the ray field) can be determined.

[0042] In step S240, based on the portion of the target part in the object to be measured that is located in the ray field, the target position of the filter in the collimator assembly of the medical imaging system is determined. In the example, the target position of the filter can be determined, at which the filter can be positioned around the portion of the target part that is located in the ray field and can at least partially block the rays from passing through the periphery of the target part.

[0043] In step S250, the filter is controlled to move toward the target posture according to the determined target posture.

[0044] The above-mentioned implementation can automatically determine the target position of the filter in the collimator assembly of the medical imaging system based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, the real-time position information of the inspection component, etc. Therefore, on the one hand, there is no need for the operator to manually manipulate the joystick to control the filter in the collimator assembly, and the target position of the filter finally determined is not limited by the operator's skills or experience level, and has higher efficiency and accuracy. On the other hand, there is no need to pre-image the object to be measured, thereby reducing the radiation dose received by the object to be measured and reducing health damage to the object to be measured.

[0045] It will be understood that the shape of the "filter" in this article can be a sheet (for example, a filter with any thickness) or other shapes as long as it can filter (ie, at least partially block rays).

[0046] According to some embodiments, at the target position, the filter may be placed around the portion of the target part located in the ray field, so that the filter can just block the rays passing through the area around the target part without affecting the rays passing through the target part.

[0047] Figure 3 A flowchart showing a partial process of a filter control method for a medical imaging system according to an embodiment of the present disclosure is shown.

[0048] According to some embodiments, Figure 3 As shown, the above step S230 may include:

[0049] Step S310, determining a virtual system model of the medical imaging system based at least on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component, wherein the virtual system model includes a virtual object model corresponding to the object to be measured and a virtual component model corresponding to the inspection component; and

[0050] Step S320: Determine the portion of the target site located in the radiation field based on the virtual system model.

[0051] Figure 4a and Figure 4b Schematic diagrams of virtual system models according to some exemplary embodiments of the present disclosure are shown from different angles. Figure 4a and Figure 4b As shown, the virtual system model 400 may include a virtual object model 420 corresponding to the object to be tested and a virtual component model 410 corresponding to the inspection component. The virtual component model 410 corresponding to the inspection component may include a virtual ray source model 411 corresponding to the ray source and a virtual inspection bed model 413 corresponding to the inspection bed. The movement of the ray source and the inspection bed will affect the part of the object to be tested in the ray field. Additionally, the virtual component model 410 corresponding to the inspection component may also include a virtual detector model 412 corresponding to the detector. If the position of the ray source changes, the position of the detector will change accordingly to receive the ray emitted by the ray source. In some examples, the position information and size information of the part of the target part of the object to be tested in the ray field 430 may be determined based on the relative position relationship between the part to be tested of the object to be tested and the ray field 430 reflected in the virtual system model 400. Alternatively, the position information and size information of the part of the target part of the object to be tested in the ray field 430 may also be directly measured from the virtual system model 400. The virtual system model can be used to determine the position information and size information of the target part of the object to be measured in the ray field in a relatively simple, efficient and accurate manner, thereby further improving the efficiency and accuracy of subsequent determination of the target position of the filter.

[0052] Figure 5 A flowchart showing a partial process of a filter control method for a medical imaging system according to an embodiment of the present disclosure is shown.

[0053] According to some embodiments, Figure 5 As shown, the above step S310 may include:

[0054] Step S510: constructing a virtual component model based on the initial position of the inspection component;

[0055] Step S520: constructing a virtual object model located within the virtual component model based on at least the contour information of the object to be measured and the initial position information of the object to be measured relative to the inspection component; and

[0056] Step S530: Update the virtual component model based on the real-time position information of the inspection component.

[0057] In the example, a virtual component model can be constructed based on the initial position of the inspection component. Alternatively, the virtual component model can also be a virtual model pre-stored in the medical imaging system; and based on at least the initial relative position information and contour information of the object to be tested, a virtual object model located in the virtual component model can be constructed; and based on the real-time position information of the inspection component, the virtual component model can be updated. In other words, for example, in the case where a virtual component model of the inspection component is pre-stored in the medical imaging system, the positions of each part in the pre-stored virtual component model correspond to the initial positions of each component in the inspection component. At this time, a virtual object model corresponding to the contour of the object to be tested can be constructed based on the contour information of the object to be tested, and the virtual object model can be placed in the corresponding position in the virtual component model based on the initial relative position of the object to be tested relative to the inspection component. It should be understood that in order to construct a virtual system model including a virtual object model, the initial relative position information of the object to be tested relative to the inspection component can be the relative position information of the object to be tested relative to at least one of the detector, the radiation source, or the inspection bed. The above initial relative position information can satisfy the requirement of placing the virtual object model in the virtual component model at a position corresponding to the actual situation. Then, as Figure 4a and Figure 4b As shown, after the virtual object model 420 is placed in the virtual component model 410, the virtual component model 410 can be updated based on the real-time position information of the inspection component. This ensures that the relative position relationship between the virtual object model 420 and the virtual component model 410 in the virtual system model 400 is consistent with the relative position relationship between the actual object to be tested and the inspection component, regardless of whether the inspection component moves relative to its initial position.

[0058] According to some embodiments, the virtual object model may be obtained by: acquiring a three-dimensional contour of the object to be measured; acquiring an initial three-dimensional virtual model of the target part; and fusing the initial three-dimensional virtual model with the three-dimensional contour to acquire a virtual anatomical model.

[0059] In an example, a 3D camera, a depth camera, or a laser scanner may be used to acquire a three-dimensional profile of the object to be measured.

[0060] In the example, the initial three-dimensional virtual model of the target part can be a three-dimensional virtual model pre-stored in the medical imaging system, and the initial three-dimensional virtual model of the corresponding target part can be selected from the initial three-dimensional virtual models of multiple target parts pre-stored according to the operator's choice. It is known that in order to obtain the best image quality during the image shooting process of the patient, an imaging protocol is usually preset for the user in the medical imaging system, and the user can manually select the imaging protocol. There are multiple imaging protocols predefined for different imaging parts, patient sizes, and patient positions. These imaging protocols are usually related to the operating parameters to be implemented by the control device of the medical imaging system, such as the frame rate, radiation dose, noise processing, and signal post-processing of the X-ray generator, so that the user can provide the clearest image shooting mode based on the target part of the patient that needs to be photographed. This imaging protocol is also called "organ program (OGP)" in particular in the medical imaging system. In some examples, the initial three-dimensional virtual model of the target part corresponding to the organ program can be determined according to the organ program selected by the user.

[0061] In the example, an initial three-dimensional virtual model of the target part of the corresponding size can be obtained according to the body shape or weight of the object to be detected, and the initial three-dimensional virtual model of the target part can be fused to the corresponding position of the three-dimensional contour according to the body shape or weight of the object to be detected to obtain a virtual anatomical model.

[0062] According to some embodiments, the inspection component may include a collimator assembly and an inspection bed for carrying an object to be inspected, wherein the collimator assembly may include a filter (such as a rectangular filter, a wedge filter, or a finger filter) for limiting the radiation range of the rays, and obtaining the real-time position information of the inspection component may include:

[0063] Acquire the initial position information of the collimator assembly and the examination bed;

[0064] Obtaining real-time position information of the collimator assembly and the examination table; and

[0065] Based on the initial position information and the real-time position information of the collimator assembly and the examination bed, the real-time position information of the collimator assembly and the examination bed is determined.

[0066] In the example, the initial position information of the collimator assembly and the inspection bed may be known, and the real-time position information of the collimator assembly and the inspection bed may be the position information of the inspection component obtained at the time of executing step S220, or may be the position information of the inspection component obtained at the same time as executing step S220. In short, the real-time position information of the collimator assembly and the inspection bed can reflect the latest position information of the collimator assembly and the inspection bed at the time of executing step S220, so as to ensure that the actual relative position of the object to be tested and the collimator assembly and the inspection bed is obtained, that is, the relative position fixed for exposure.

[0067] According to some embodiments, the filter may include multiple types of filters, and the filter control method for a medical imaging system may further include:

[0068] Obtaining the input operation type for the target part; and

[0069] At least one corresponding filter is determined from a plurality of types of filters according to the input operation type.

[0070] As described above, multiple organ programs (OGP) are predefined for different imaging parts, patient sizes, and patient positions. The operation type can be defined in the organ program. In actual use, the operator can select the corresponding organ program (OGP) according to the organ / part to be detected through a human-computer interaction device (such as a touch screen, keyboard, mouse, etc.) to complete the input of the operation type for the target part. Accordingly, the medical imaging system can automatically determine at least one corresponding filter from multiple types of filters according to the selected organ program.

[0071] According to some embodiments, the operation type may include organ vascular imaging, and the plurality of types of filters may include a wedge filter and a finger filter. In an example, the organ vascular imaging may include at least one of cardiac vascular imaging, cerebral vascular imaging, and limb vascular imaging.

[0072] In an example, when the operation type is an interventional procedure for the heart, a wedge filter may be used to filter the periphery of the heart. In an example, when the operation type is an imaging procedure for lower limb blood vessels, a finger filter may be used to filter the gap between the two lower limbs.

[0073] According to some embodiments, the target posture may include a target position and a target orientation, and step S250 may include at least one of: controlling the filter to move toward the target position; and controlling the filter to rotate toward the target orientation.

[0074] In the example, the filter can be controlled to move to the target position or to rotate toward the target orientation. In the example, the filter can be controlled to move to the target position and to rotate toward the target orientation. By controlling the movement and rotation of the filter, the position or orientation of the filter can be fine-tuned, so that the filter can be controlled to reach the desired position more accurately.

[0075] According to some embodiments, the filter control method for a medical imaging system may further include:

[0076] In response to controlling the filter to move toward the target posture, obtaining the actual posture of the filter; and

[0077] In response to determining that the difference between the actual position and the target position of the filter exceeds a preset allowable range, an error prompt message is issued.

[0078] For example, the controller can send a target posture instruction to the actuator (e.g., a motor) of the filter to control the filter to move to the target posture. When the movement is completed, the controller can obtain the current position and steering angle of the motor from the actuator of the filter as the actual posture of the filter. When it is determined that the difference between the actual posture of the filter and the target posture exceeds the preset allowable range, an error prompt message is issued, which can promptly prompt the operator that the filter is not in the desired posture, so as to take remedial measures.

[0079] According to another aspect of the present disclosure, an imaging method for a medical imaging system is provided. Figure 6 A flowchart of an imaging method 600 for a medical imaging system according to an embodiment of the present disclosure is shown.

[0080] like Figure 6 As shown, the method 600 includes:

[0081] Step S610: Control the filter using the filter control method for a medical imaging system according to an embodiment of the present disclosure;

[0082] Step S620, in response to controlling the filter to move toward the target posture, obtaining the actual posture of the filter; and

[0083] Step S630: In response to determining that the relationship between the actual posture and the target posture meets a preset condition, imaging a portion of the target part.

[0084] In an example, the controller can send a target posture instruction to an actuator (e.g., a motor) of the filter to control the filter to move to the target posture. When the movement is completed, the controller can obtain the current position and steering angle of the motor from the actuator of the filter as the actual posture of the filter. When it is determined that the relationship between the actual posture and the target posture meets the preset conditions, part of the target part is imaged. In an example, the relationship between the actual posture and the target posture meets the preset conditions, which may include that the difference between the coordinates of the actual position of the filter and the coordinates of the target position is less than a preset threshold, and / or the difference between the actual orientation of the filter and the target orientation is less than a preset threshold.

[0085] Figure 7 A subtraction angiography image 700 obtained by using the imaging method according to an embodiment of the present disclosure is shown. Taking subtraction angiography as an example, using method 600, when it is determined that the relationship between the actual posture and the target posture meets the preset conditions, the image 700 can be obtained by imaging a portion of the target part. It can be seen that compared with image 100, the quality of image 700 is higher, the surrounding area of ​​the target part (such as the heart) is not overexposed, and the blood vessel distribution in the target part can be clearly observed in the entire image 700. Therefore, through method 600, there is no need for the operator to manually operate the joystick to control the filter in the collimator assembly, so that high-quality imaging can be obtained with higher efficiency, and the radiation dose received by the object to be measured can be reduced.

[0086] According to some embodiments, the medical imaging system may further include a ray emitter as a ray source, and step S630 may include:

[0087] In response to determining that the relationship between the actual posture and the target posture satisfies a preset condition, determining a conduction state of a ray emission switch of the ray emitter; and

[0088] In response to determining that the radiation emission switch is turned on, a portion of the target site is imaged.

[0089] The radiation emission switch may be controlled by a foot pedal, for example. When the operator steps on the foot pedal, the radiation emission switch of the radiation emitter is turned on; when the operator releases the foot pedal, the radiation emission switch of the radiation emitter is turned off.

[0090] According to some embodiments, the imaging method 600 for a medical imaging system may further include:

[0091] In response to determining that the ray emission switch is disconnected, a target position of a filter in a collimator assembly of the medical imaging system is re-determined.

[0092] Since the position or orientation of one or more components in the medical imaging system may change continuously during operation, when the radiation emission switch is disconnected, the operator may have released the foot pedal and is controlling the movement of one or more components in the medical imaging system (for example, controlling the rotation of the C-arm). By redetermining the target position of the filter in the collimator assembly of the medical imaging system, radiation exposure of the object to be measured at unexpected times can be avoided.

[0093] According to another aspect of the present disclosure, a filter control device for a medical imaging system is provided. The medical imaging system includes at least one movable inspection component for aligning a radiation field with a target part of an object to be inspected.

[0094] Figure 8 FIG. 8 is a schematic block diagram of a filter control device 800 for a medical imaging system according to an embodiment of the present disclosure. Figure 8 As shown, the device 800 includes:

[0095] A first acquisition unit 810 is configured to acquire contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component;

[0096] A second acquisition unit 820 is configured to acquire real-time position information of the inspection component;

[0097] A first determining unit 830 is configured to determine a portion of the target part located in the radiation field based on contour information of the object to be measured, initial position information of the object to be measured relative to the inspection component, and real-time position information of the inspection component;

[0098] A second determining unit 840 is configured to determine a target position of a filter in a collimator assembly of the medical imaging system based on the portion; and

[0099] The motion control unit 850 is configured to control the filter to move toward the target posture.

[0100] It should be understood that Figure 8 The various units of the device 800 shown in FIG. 8 can be used in conjunction with the reference Figure 2 Therefore, the operations, features and advantages described above for the method 200 are also applicable to the apparatus 800 and the units included therein. For the sake of brevity, some operations, features and advantages are not described in detail here.

[0101] According to another aspect of an embodiment of the present disclosure, an imaging device (not shown) for a medical imaging system is provided, comprising:

[0102] A filter control unit, configured to control the filter using the device 800;

[0103] an actual posture acquisition unit, configured to acquire the actual posture of the filter in response to controlling the filter to move toward the target posture; and

[0104] The imaging unit is configured to image a portion of the target part in response to determining that the relationship between the actual posture and the target posture meets a preset condition.

[0105] According to another aspect of the present disclosure, a medical imaging system is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program, and the computer program implements the method according to an embodiment of the present disclosure when executed by the at least one processor.

[0106] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing a computer program is provided, wherein the computer program implements the method according to an embodiment of the present disclosure when executed by a processor.

[0107] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program implements the method according to the embodiment of the present disclosure when being executed by a processor.

[0108] Fig. 9 is a block diagram showing an example of an electronic device 900 according to an exemplary embodiment of the present disclosure. It should be noted that, Fig. 9 The structure shown is only an example. According to the specific implementation, the electronic device of the present disclosure may only include Fig. 9 One or more of the components shown.

[0109] The electronic device 900 may be, for example, a general-purpose computer (e.g., a laptop computer, a tablet computer, or other computers), a mobile phone, or a personal digital assistant. According to some embodiments, the electronic device 900 may be a cloud computing device or a smart device. According to some embodiments, the electronic device 900 may be the above-mentioned medical imaging device, such as a C-arm X-ray imaging device.

[0110] According to some embodiments, the electronic device 900 may be configured to process an image, etc., and transmit the processing result to an output device and provide it to a user. The output device may be, for example, a display screen, a device including a display screen, or other output devices. For example, the electronic device 900 may be configured to perform target detection on an image, transmit the target detection result to a display device for display, and the electronic device 900 may also be configured to perform enhancement processing on the image, and transmit the enhancement result to a display device for display.

[0111] The electronic device 900 may include an image processing circuit 903, which may be configured to perform various image processing on the image. The image processing circuit 903 may, for example, be configured to perform at least one of the following image processing on the image: denoising the image, geometrically correcting the image, extracting features from the image, detecting and / or identifying objects in the image, and enhancing the image. The image processing circuit 903 may use custom hardware, and / or may be implemented in hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. For example, one or more of the various circuits described above may be implemented by programming hardware (e.g., a programmable logic circuit including a field programmable gate array (FPGA) and / or a programmable logic array (PLA)) using logic and algorithms according to the present disclosure in an assembly language or a hardware programming language (such as VERILOG, VHDL, C++).

[0112] According to some embodiments, the electronic device 900 may further include an output device 904, which may be any type of device for presenting information, including but not limited to a display screen, a terminal with a display function, headphones, a speaker, a vibrator and / or a printer, etc.

[0113] According to some embodiments, the electronic device 900 may further include an input device 905, which may be any type of device for inputting information into the electronic device 900, and may include but is not limited to various sensors, a mouse, a keyboard, a touch screen, buttons, a joystick, a microphone and / or a remote control, etc.

[0114] According to some embodiments, the electronic device 900 may also include a communication device 906, which may be any type of device or system that enables communication with an external device and / or with a network, and may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication device and / or a chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device and / or the like.

[0115] According to some embodiments, the electronic device 900 may further include a processor 901. The processor 901 may be any type of processor, and may include but is not limited to one or more general-purpose processors and / or one or more dedicated processors (e.g., special processing chips). The processor 901 may be, for example, but not limited to, a central processing unit CPU, a graphics processor GPU, or various dedicated artificial intelligence (AI) computing chips, etc. In an example where the electronic device 900 may be a magnetic resonance scanning imaging device, the processor 901 may be a processor of a main control machine of the magnetic resonance scanning imaging device.

[0116] The electronic device 900 may also include a working memory 902 and a storage device 907. The processor 901 may be configured to be able to obtain and execute computer-readable instructions stored in the working memory 902, the storage device 907, or other computer-readable media, such as program codes of an operating system 902a, program codes of an application 902b, etc. The working memory 902 and the storage device 907 are examples of computer-readable storage media for storing instructions, and the stored instructions can be executed by the processor 901 to implement the various functions described above. The working memory 902 may include both volatile memory and non-volatile memory (e.g., RAM, ROM, etc.). The storage device 907 may include a hard disk drive, a solid-state drive, a removable medium, including external and removable drives, memory cards, flash memory, floppy disks, optical disks (e.g., CDs, DVDs), storage arrays, network attached storage, storage area networks, etc. The working memory 902 and the storage device 907 may all be collectively referred to herein as memory or computer-readable storage media, and may be non-transitory media capable of storing computer-readable, processor-executable program instructions as computer program code, which may be executed by the processor 901 as a specific machine configured to implement the operations and functions described in the examples of this document.

[0117] According to some embodiments, the processor 901 may control and schedule the image processing circuit 903 and at least one of the other various devices and circuits included in the electronic device 900. According to some embodiments, Fig. 9 At least some of the various components in the system may be interconnected and / or communicate with each other via the bus 908 .

[0118] Software elements (programs) may be located in the working memory 902, including but not limited to an operating system 902a, one or more application programs 902b, drivers, and / or other data and code.

[0119] According to some embodiments, instructions for performing the aforementioned control and scheduling may be included in the operating system 902a or one or more application programs 902b.

[0120] According to some embodiments, instructions for executing the method steps of the present disclosure may be included in one or more applications 902b, and the various modules of the above-mentioned electronic device 900 may be implemented by reading and executing the instructions of one or more applications 902b by the processor 901. In other words, the electronic device 900 may include a processor 901 and a memory (e.g., a working memory 902 and / or a storage device 907) storing a program, the program including instructions, and the instructions, when executed by the processor 901, cause the processor 901 to execute the method of various embodiments of the present disclosure.

[0121] According to some embodiments, part or all of the operations performed by the image processing circuit 903 may be implemented by the processor 901 reading and executing instructions of one or more application programs 902 b.

[0122] The executable code or source code of the instructions of the software element (program) can be stored in a non-transitory computer-readable storage medium (e.g., storage device 907), and can be stored in the working memory 902 (possibly compiled and / or installed) when executed. Therefore, the present disclosure provides a computer-readable storage medium storing a program, and the program includes instructions, which, when executed by a processor of an electronic device, cause the electronic device to perform the method of various embodiments of the present disclosure. According to another embodiment, the executable code or source code of the instructions of the software element (program) can also be downloaded from a remote location.

[0123] It should also be understood that various modifications may be made according to specific requirements. For example, custom hardware may also be used, and / or each circuit, unit, module or element may be implemented using hardware, software, firmware, middleware, microcode, hardware description language or any combination thereof. For example, some or all of the circuits, units, modules or elements included in the disclosed method and apparatus may be implemented by programming hardware (e.g., a programmable logic circuit including a field programmable gate array (FPGA) and / or a programmable logic array (PLA)) using logic and algorithms according to the present disclosure in an assembly language or a hardware programming language (such as VERILOG, VHDL, C++).

[0124] According to some embodiments, the processor 901 in the electronic device 900 can be distributed on a network. For example, one processor can be used to perform some processing, while another processor away from the one processor can perform other processing. Other modules of the electronic device 900 can also be distributed similarly. In this way, the electronic device 900 can be interpreted as a distributed computing system that performs processing in multiple locations. The processor 901 of the electronic device 900 can also be a processor of a cloud computing system, or a processor combined with a blockchain.

[0125] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples can be combined in various ways. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A filter control method for a medical imaging system, wherein the medical imaging system comprises at least one inspection component for aligning a radiation field with a target part of an object to be detected, the method comprising: Acquiring contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component; Acquiring real-time position information of the inspection component; Determine the portion of the target part located in the radiation field based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component; Based on the portion, determining a target pose of a filter in a collimator assembly of the medical imaging system; as well as Control the filter to move toward the target posture.

2. The method according to claim 1, wherein: Based on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component, determining the portion of the target part located in the radiation field includes: Determining a virtual system model of the medical imaging system based at least on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component, wherein the virtual system model includes a virtual object model corresponding to the object to be measured and a virtual component model corresponding to the inspection component; and Based on the virtual system model, a portion of the target site located in the radiation field is determined.

3. The method according to claim 2, wherein: Determining the virtual system model of the medical imaging system based at least on the contour information of the object to be measured, the initial position information of the object to be measured relative to the inspection component, and the real-time position information of the inspection component includes: constructing the virtual component model based on the initial position of the inspection component; constructing the virtual object model located within the virtual component model based at least on the contour information of the object to be measured and the initial position information of the object to be measured relative to the inspection component; and The virtual component model is updated based on the real-time position information of the inspected component.

4. The method according to claim 2, wherein: The virtual object model is obtained by: Acquire the three-dimensional contour of the object to be measured; Acquiring an initial three-dimensional virtual model of the target part; and The initial three-dimensional virtual model is fused with the three-dimensional contour to obtain the virtual anatomical model.

5. The method according to any one of claims 1 to 4, wherein: The inspection component includes the collimator assembly and an inspection bed for carrying the object to be inspected, and wherein obtaining the real-time position information of the inspection component includes: Acquiring initial position information of the collimator assembly and the examination bed; Acquiring real-time position information of the collimator assembly and the examination bed; and Based on the initial position information and the real-time position information of the collimator assembly and the examination bed, the real-time position information of the collimator assembly and the examination bed is determined.

6. The method according to any one of claims 1 to 4, wherein: The target posture includes a target position and a target orientation, and wherein controlling the filter to move toward the target posture includes at least one of the following: Controlling the filter to move toward the target position; and The filter is controlled to rotate toward the target orientation.

7. The method according to any one of claims 1 to 4, wherein: At the target posture, the filter is placed around the portion of the target part located in the radiation field.

8. The method according to any one of claims 1 to 4, further comprising: In response to controlling the filter to move toward the target posture, acquiring an actual posture of the filter; as well as In response to determining that the difference between the actual position and posture of the filter exceeds a preset allowable range, an error prompt message is issued.

9. An imaging method for a medical imaging system, comprising: Controlling the filter using the method according to any one of claims 1 to 8; In response to controlling the filter to move toward the target posture, acquiring an actual posture of the filter; as well as In response to determining that the relationship between the actual posture and the target posture satisfies a preset condition, imaging the portion of the target site.

10. The method according to claim 9, wherein: The medical imaging system further comprises a ray emitter, and wherein, in response to determining that the relationship between the actual posture and the target posture satisfies a preset condition, imaging the portion of the target site comprises: In response to determining that the relationship between the actual posture and the target posture satisfies a preset condition, determining a conducting state of a ray emission switch of the ray emitter; and In response to determining that the radiation emission switch is turned on, imaging the portion of the target site.

11. The method according to claim 10, further comprising: In response to determining that the ray emission switch is disconnected, a target position of a filter in a collimator assembly of the medical imaging system is re-determined.

12. A filter control device for a medical imaging system, the medical imaging system comprising at least one inspection component for aligning a radiation field with a target part of an object to be measured, the device comprising: A first acquisition unit is configured to acquire contour information of the object to be measured and initial position information of the object to be measured relative to the inspection component; A second acquisition unit is configured to acquire real-time position information of the inspection component; A first determining unit is configured to determine a portion of the target part located in the radiation field based on contour information of the object to be measured, initial position information of the object to be measured relative to the inspection component, and real-time position information of the inspection component; a second determination unit configured to determine a target pose of a filter in a collimator assembly of the medical imaging system based on the portion; as well as A motion control unit is configured to control the filter to move toward the target posture.

13. A medical imaging system, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program which, when executed by the at least one processor, implements the method according to any one of claims 1 to 11.

14. A non-transitory computer-readable storage medium storing a computer program, wherein: The computer program implements the method according to any one of claims 1 to 11 when executed by a processor.

15. A computer program product comprising a computer program, wherein: The computer program implements the method according to any one of claims 1 to 11 when executed by a processor.

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