Target tracking system and method and electronic equipment

Abstract

The invention provides a target tracking system and method and electronic equipment, and relates to the technical field of medical treatment, in particular to the technical field of tumor tracking. The target tracking system comprises a beam emitting device which comprises a ray source and a beam splitter; the size of a light bundling port of the light bundling device can be adjusted; the collimator is positioned between the target object and the detector and is used for carrying out beam limiting on the scattered rays; the detector is used for receiving the transmission rays and the scattering rays subjected to beam limiting by the collimator so as to generate a transmission image and a scattering image of the target object; and the processor is used for acquiring the transmission image and the scattering image of the target object in the at least one direction, and tracking the target object based on at least one of the transmission image and the scattering image of the target object in the at least one direction. Through the system, the transmission image and the scattering image of the target object in at least one direction can be obtained, and the tumor can be accurately positioned.

Description

[0001] This application claims priority to Chinese patent application number 202311415600.X, filing date October 27, 2023, and invention name “Target Tracking System, Method and Electronic Device”, and the entire contents of that application are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of medical technology, in particular to the field of tumor tracking technology, and specifically to a target tracking system, method and electronic device. Background Art

[0003] Maintaining accurate positioning of the tumor during radiotherapy is one of the key technologies of radiotherapy. When accurately positioning the tumor, after the radiation source emits a beam, the beam can be limited by a beam slit to form a narrow beam. The narrow beam scatters with the patient to form scattered rays. The scattered rays are limited by a collimator and received by a scattering detector to form a scattering image, so as to determine the real-time position of the tumor based on the scattering image.

[0004] However, when locating the tumor, only the scattering image at a certain angle can be collected by the detector, so that when the scattering image is subsequently used to locate the tumor, the tumor is not accurately located due to insufficient information in the scattering image. Summary of the invention

[0005] The present disclosure provides a target tracking system, method and electronic device, which can acquire a transmission image and a scattering image of a target object in at least one direction and accurately locate a tumor.

[0006] In a first aspect, the present disclosure provides a target tracking system, the system comprising:

[0007] A beam-emitting device comprises a ray source and a beam beamer; the size of the beam port of the beam beamer is adjustable; when the beam port of the beam beamer is adjusted to a first beam port, the ray emitted by the ray source passes through a target object to form a transmitted ray; when the beam port of the beam beamer is adjusted to a second beam port, the ray emitted by the ray source scatters with the target object to form a scattered ray; the size of the first beam port is larger than the size of the second beam port; a collimator is located between the target object and the detector and is used to limit the scattered ray; the detector is used to receive the transmitted ray and the scattered ray limited by the collimator to generate a transmitted image and a scattered image of the target object; a processor is used to obtain a transmitted image and a scattered image of the target object in at least one direction, and track the target object based on at least one type of image among the transmitted image and the scattered image of the target object in at least one direction.

[0008] In some embodiments, the processor is specifically configured to:

[0009] When the beam-emitting device, the collimator and the detector are located in a first direction and the beam-splitter of the beam-emitting device is adjusted to a first beam port, a transmission image of the target object in the first direction is acquired; when the beam-emitting device is located in the first direction, the collimator and the detector are located in a second direction and the beam-splitter of the beam-emitting device is adjusted to a second beam port, a scattering image of the target object in the first direction is acquired; a preset angle is formed between the first direction and the second direction.

[0010] In some embodiments, the processor is further configured to:

[0011] When the beam-emitting device, the collimator and the detector are located in the second direction and the beam-splitting device of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is acquired;

[0012] When the beam-emitting device is located in the second direction, the collimator and the detector are located in the first direction, and the beam-splitting device in the beam-emitting device is adjusted to a second beam port, a scattering image of the target object in the second direction is acquired.

[0013] In some embodiments, the beam-emitting device includes a first beam-emitting device and a second beam-emitting device; and a processor, specifically configured to:

[0014] When the first beam-emitting device, the collimator and the detector are located in the first direction, the second beam-emitting device is located in the second direction, the beam splitter of the first beam-emitting device is adjusted to the first beam port, and the beam splitter of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are acquired; a preset angle is formed between the first direction and the second direction; when the first beam-emitting device is located in the first direction, the second beam-emitting device, the collimator and the detector are located in the second direction, the beam splitter of the first beam-emitting device is adjusted to the second beam port, and the beam splitter of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image in the second direction are acquired.

[0015] In some embodiments, the collimator includes a first collimator and a second collimator; the detector includes a first detector and a second detector; and the processor is specifically configured to:

[0016] When the beam-emitting device, the first collimator and the first detector are located in the first direction, the second collimator and the second detector are located in the second direction, and the beam splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is acquired; a preset angle is formed between the first direction and the second direction; when the beam-emitting device, the first collimator and the first detector are located in the first direction, the second collimator and the second detector are located in the second direction, and the beam splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is acquired; when the beam-emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is acquired; when the beam-emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is acquired.

[0017] In some embodiments, the beam-emitting device includes a first beam-emitting device and a second beam-emitting device; the collimator includes a first collimator and a second collimator; the detector includes a first detector and a second detector; and the processor is specifically configured to:

[0018] When the first beam-emitting device, the first collimator and the first detector are located in the first direction, the second beam-emitting device, the second collimator and the second detector are located in the second direction, and the beam splitter of the first beam-emitting device is adjusted to the first beam port, and the beam splitter of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are acquired; a preset angle is formed between the first direction and the second direction; when the first beam-emitting device, the first collimator and the first detector are located in the first direction, the second beam-emitting device, the second collimator and the second detector are located in the second direction, and the beam splitter of the first beam-emitting device is adjusted to the second beam port, and the beam splitter of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image of the target object in the second direction are acquired.

[0019] In some embodiments, the collimator is a multi-hole collimator having a plurality of small holes distributed in a straight line or a plurality of small holes distributed in an array; or, the collimator is a strip hole collimator having a long strip opening.

[0020] In some embodiments, the system further comprises a control device; the control device is configured to perform one or more of the following:

[0021] Control the rotational movement of the rack;

[0022] Control the beam-emitting device to move around a preset axis of the frame;

[0023] Control the detector to move around the preset axis of the frame;

[0024] Control the collimator to move closer to or away from the detector;

[0025] Controls the movement of the collimator into or out of the imaging range of the detector.

[0026] In a second aspect, the present disclosure provides a target tracking method, the method comprising:

[0027] Acquire a transmission image and a scattering image of the target object in at least one direction; and track the target object based on at least one type of image among the transmission image and the scattering image of the target object in at least one direction.

[0028] In some embodiments, tracking the target object based on at least one type of image of a transmission image and a scattering image of the target object in at least one direction includes:

[0029] An instruction to use a target type image as a tracking image is obtained, where the target type image includes at least one of a transmission image and a scattering image; and a target object is tracked based on the tracking image.

[0030] In some embodiments, after acquiring the transmission image and the scattering image of the target object in at least one direction, the method further includes:

[0031] For the scattering image of the target object in each direction, at least one of a deconvolution algorithm and an image enhancement algorithm is used to perform image processing on the scattering image to obtain a processed scattering image.

[0032] In some embodiments, the scattering image includes a plurality of sub-images; and before performing image processing on the scattering image using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain the processed scattering image, the method further includes:

[0033] An image weighting algorithm is used to process multiple sub-images to obtain a weighted scattering image;

[0034] Using at least one of a deconvolution algorithm and an image enhancement algorithm to process the scattering image to obtain a processed scattering image, including:

[0035] At least one of a deconvolution algorithm and an image enhancement algorithm is used to perform image processing on the scattering image after weighted processing to obtain a processed scattering image.

[0036] In a third aspect, the present disclosure further provides an electronic device comprising: a processor and a memory configured to store processor executable instructions; wherein the processor is configured to execute the instructions to implement any one of the optional target tracking methods in the above-mentioned second aspect.

[0037] The target tracking system provided by the present disclosure can make the rays emitted by the ray source form scattered rays and transmitted rays and send them to the detector by adjusting the size of the beam port of the beam beam emitter. After receiving the scattered rays and transmitted rays, the detector can generate a transmission image and a scattered image of the target object in at least one direction and send them to the processor. The processor can use the transmission image and / or scattered image of the target object in at least one direction to enrich the positioning information during the tumor positioning process, thereby accurately positioning the position of the tumor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0039] Figure 1 It is a structural schematic diagram of a real-time tumor tracking system in the related art;

[0040] Figure 2 is a schematic diagram of a pinhole beam limiter in the related art;

[0041] Figure 3 It is a schematic diagram of a blind beam limiter in the related art;

[0042] Figure 4 A schematic diagram of a scene of a target tracking system provided by an embodiment of the present disclosure;

[0043] Figure 5 A schematic diagram of a target tracking system provided by an embodiment of the present disclosure;

[0044] Figure 6 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0045] Figure 7 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0046] Figure 8 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0047] Fig. 9 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0048] Fig.10 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0049] Fig.11 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0050] Fig.12 A schematic diagram of a multi-aperture collimator provided in an embodiment of the present disclosure;

[0051] Fig.13 A schematic diagram of another multi-aperture collimator provided in an embodiment of the present disclosure;

[0052] Fig.14 A schematic diagram of a strip collimator provided in an embodiment of the present disclosure;

[0053] Fig.15 A schematic diagram of another multi-aperture collimator provided in an embodiment of the present disclosure;

[0054] Fig.16 A schematic plan view of a radiotherapy device provided in an embodiment of the present disclosure;

[0055] Fig.17 A schematic plan view of another radiotherapy device provided by an embodiment of the present disclosure;

[0056] Fig.18 A flowchart of a target tracking method provided by an embodiment of the present disclosure;

[0057] Fig.19 A schematic block diagram of an electronic device provided in an embodiment of the present disclosure;

[0058] Fig. 20 A schematic diagram of another target tracking system provided by an embodiment of the present disclosure;

[0059] Fig.21 A schematic diagram of another target tracking system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0061] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first", "second", and "third" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0062] In the description of the present disclosure, the word "exemplary" is used to mean "used as an example, illustration, or illustration". Any embodiment described in the present disclosure as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any technician in the field to implement and use the present disclosure. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present disclosure can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present disclosure with unnecessary details. Therefore, the present disclosure is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present disclosure.

[0063] It should be noted that since the method of the embodiment of the present disclosure is executed in an imaging computer device, the processing objects of each imaging computer device exist in the form of data or information. For example, time is actually time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data to facilitate processing by the computer device. The details will not be repeated here.

[0064] Radiotherapy is a common way to treat tumors. During radiotherapy, maintaining accurate positioning of the tumor is one of the key technologies of radiotherapy. During radiotherapy, the patient's breathing movement can cause significant changes in the position of tumors in the chest and abdomen (lungs, liver and pancreas). Therefore, accurate positioning of chest and abdominal tumors becomes a very challenging problem.

[0065] Currently, tumors can be precisely located by Figure 1The real-time tumor tracking system shown in the figure can be used for positioning, and the real-time tumor tracking system can include a radiation source S, a beam optic such as a slit beam optic, a collimator, and a detector. Among them, the collimator can include Figure 2 The pinhole collimator and Figure 3 Slat collimator shown.

[0066] For example, Figure 1 As shown in FIG. 1 , after the radiation source S emits a beam, the beam is limited by the beam slit device to form a slit beam. The slit beam is scattered by the patient to form scattered rays. Figure 2 The pinhole beam limiter shown or Figure 3 The shutter beam limiter shown limits the beam, which is then received by the scattering detector to form a scattering image. Finally, the real-time position of the tumor is determined based on the scattering image.

[0067] However, when locating the tumor, only the scattering image at a certain angle can be collected by the detector, so that when the scattering image is subsequently used to locate the tumor, the tumor is not accurately located due to insufficient information in the scattering image.

[0068] Based on the above technical problems, an embodiment of the present disclosure provides a target tracking system, which includes a beam emitting device, a collimator, a detector and a processor. In the target tracking system, by adjusting the size of the beam port of the beam emitting device in the beam emitting device, the rays emitted by the ray source can be formed into scattered rays and transmitted rays and received by the detector. After receiving the scattered rays and transmitted rays, the detector can generate a transmission image and a scattered image of the target object in at least one direction and send them to the processor. The processor can use the transmission image and / or scattered image of the target object in at least one direction to enrich the positioning information in the tumor positioning process, thereby accurately positioning the position of the tumor.

[0069] Figure 4 A scene diagram of a target tracking system provided in an embodiment of the present disclosure, the target tracking system may include a radiotherapy device 401, an imaging computer device 402 and a control device 403.

[0070] The radiotherapy device 401 may include a frame 404, a beam emitting device 405, a collimator 406 and a detector 407. The beam emitting device 405, the collimator 406 and the detector 407 are arranged on the frame. Here, the frame 404 may be a ring frame, a C-arm frame, a drum frame, a multi-layer bowl-shaped / cylindrical structure frame, etc. The frame 404 is a rotating frame that can move around a rotation axis or a fixed frame that cannot move. The beam emitting device includes a ray source and a beam optic, the beam optic is located between the ray source and the target object, and the collimator is located between the target object and the detector 407.

[0071] The radiation emitted by the radiation source may include a particle beam (eg, a neutron beam, a proton beam, an electron beam, etc.), a photon beam (eg, an X-ray, a gamma ray), etc., or a combination of a particle beam and a photon beam.

[0072] The beam splitter is used to limit the rays emitted by the ray source, and the size of the beam opening of the beam splitter is adjustable. Specifically, when the beam opening of the beam splitter is adjusted to the first beam opening, the rays emitted by the ray source can pass through the target object to form transmitted rays. When the beam opening of the beam splitter is adjusted to the second beam opening, the rays emitted by the ray source can scatter with the target object to form scattered rays. The size of the first beam opening is larger than the size of the second beam opening.

[0073] The collimator 406 is used to limit the scattered rays.

[0074] The detector 407 is used to receive the transmitted rays and the scattered rays limited by the collimator to generate a transmitted image and a scattered image of the target object. Specifically, the detector 407 can generate a transmitted image of the target object based on the received transmitted rays, and can also generate a scattered image of the target object based on the received scattered rays limited by the collimator.

[0075] In the embodiment of the present disclosure, the detector 407 may be a flat-panel detector or a curved-surface detector, and the embodiment of the present disclosure does not specifically limit the detector 407 .

[0076] The imaging computer device 402 is connected to the control device 403 and the detector 407 for communication respectively, and the control device 403 is connected to the radiotherapy device 401 for communication.

[0077] In some embodiments, the image computer device 402 is a computer device with a graphical user interface (GUI), and the computer device includes: one or more processors, a memory, and one or more applications. For example, the image computer device 402 may include an image guidance system (IGS) application, and the processor of the image computer device executes the IGS application to achieve: using a detector to obtain a transmission image and a scattering image of the target object in at least one direction, and tracking the target object based on at least one type of image in the transmission image and the scattering image of the target object in at least one direction.

[0078] In some embodiments, the control device 403 may be used to perform one or more of: controlling the rotation of the gantry 404, controlling the beam-emitting device to move around a preset axis of the gantry 404, controlling the detector 407 to move around a preset axis of the gantry, controlling the collimator to move closer to or farther from the detector, and controlling the collimator to move into or out of the imaging range of the detector. The control behavior of the control device 403 will be described in detail below through specific embodiments.

[0079] The preset axis of the rack may be a rotation axis of the rack, and the beam emitting device 405 and / or the detector 407 may move around the preset axis of the rack along a track provided on the rack 404 .

[0080] It should be noted that, if the collimator 406 is connected to the detector 407 , when the detector 407 moves along the track on the rack 404 around the preset axis of the rack, the collimator 406 can be driven to move together.

[0081] In the embodiment of the present disclosure, the image computer device 402 and the control device 403 can be independent servers, or a server network or server cluster composed of servers. For example, the computer device described in the embodiment of the present disclosure includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud server composed of a plurality of servers. The cloud server is composed of a large number of computers or network servers based on cloud computing.

[0082] In the embodiment of the present disclosure, the image computer device 402 and the control device 403 can be general-purpose computer devices or special-purpose computer devices. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a PDA (Personal Digital Assistant), a mobile phone, a tablet computer, a wireless terminal device, a communication device, an embedded device, etc. This embodiment does not limit the type of computer device.

[0083] In the embodiment of the present disclosure, the number of the beam-emitting device, collimator and detector may be one or more, and the embodiment of the present disclosure does not specifically limit the number of the beam-emitting device, collimator and detector. Specifically, the following situations may be included:

[0084] 1. A beam-emitting device, a collimator and a detector;

[0085] 2. Two beam-emitting devices, a collimator and a detector;

[0086] 3. A beam-emitting device, two collimators and two detectors;

[0087] 4. Two beam-emitting devices, two collimators and two detectors;

[0088] 5. A beam-emitting device, a collimator and two detectors.

[0089] The following will address the above four situations in turn. Figure 4 The interaction between the various components in the target tracking system shown is described in detail.

[0090] 1. A beam-emitting device, a collimator and a detector.

[0091] In an optional embodiment, Figure 4 The processor of the image computer device shown can execute the IGS application to achieve: when the beam-emitting device, the collimator and the detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is obtained. When the beam-emitting device is located in the first direction, the collimator and the detector are located in the second direction, and the beam-splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is obtained.

[0092] There is a preset angle between the first direction and the second direction.

[0093] In the embodiment of the present disclosure, the preset angle is not 0, and it can be seen that the first direction and the second direction are different directions. The preset angle can be set according to actual conditions. For example, when tracking a tumor, the preset angle can be set to 90 degrees or 80 degrees. The embodiment of the present disclosure does not specifically limit the preset angle.

[0094] In the embodiment of the present disclosure, the first light beam opening is larger than the second light beam opening. For example, the first light beam opening may be 2 centimeters (cm), and the second light beam opening may be 2 millimeters (mm). The embodiment of the present disclosure does not specifically limit the sizes of the first light beam opening and the second light beam opening.

[0095] Exemplarily, the implementation scenario is explained by taking the frame as a fixed frame, the collimator is connected to the detector, and the beam-emitting device and the detector can respectively move around the preset axis of the frame along the track set on the frame.

[0096] The user (medical staff) can trigger an image acquisition operation on the image computer device, and the image computer device can generate a first adjustment instruction through a processor in response to the user's image acquisition operation, and send the first adjustment instruction to Figure 4 The control device shown. The first adjustment instruction is used to instruct the control device to adjust the positions of the beam-emitting device and the detector (including the collimator), and the beam port of the beam-splitting device.

[0097] After receiving the first adjustment instruction, the control device can respond to the first adjustment instruction to control the beam-emitting device and the detector to move along the track of the frame around the preset axis of the frame until the beam-emitting device, the collimator and the detector are located in the first direction, and adjust the beam port of the beam-collimator in the beam-emitting device to the first beam port (wide port). For example, Figure 5 As shown, S1 is the ray source in the beam-emitting device, and the ray source S1, the beam collector, the collimator and the detector are all located at a gantry angle of 0 degrees (i.e. Figure 5 In the direction of the center rack (0 degrees) (ie, the first direction), the beam port of the beam splitter is the first beam port.

[0098] After the adjustment is completed, the control device can control the ray source S1 in the beam-emitting device to emit rays. After the rays reach the beam sparger, they pass through the beam port of the beam sparger and pass through the patient to form transmission rays and then reach the detector. After receiving the transmission rays, the detector can generate a transmission image in the transmission imaging area of ​​the detector, that is, a transmission image of the target object in the first direction. Afterwards, the detector can send the transmission image to the imaging computer device.

[0099] After receiving the transmission image through the processor, the imaging computer device can generate a second adjustment instruction and send it to the control device. The second adjustment instruction is used to instruct the control device to adjust the position of the detector (including the collimator) and the beam port of the beam beamer.

[0100] After receiving the second adjustment instruction, the control device can respond to the second adjustment instruction to control the detector to move along the rail of the frame around the preset axis of the frame until the collimator and the detector are located in the second direction, and adjust the beam port of the beam optic in the beam output device to the second beam port. Figure 6 As shown, the ray source S1 and the beam splitter are located in a direction where the rack angle is 0 degrees (ie, the first direction), the collimator and the detector are located in a direction where the rack angle is 90 degrees (ie, the second direction), and the beam port of the beam splitter is the second beam port.

[0101] After the adjustment is completed, the control device can control the radiation source S1 in the beam-emitting device to emit radiation. After the radiation reaches the beam optic, it forms a narrow slit beam through the beam port of the beam optic. The narrow slit beam passes through the patient to form scattered radiation. The scattered radiation reaches the detector after being limited by the collimator. After receiving the scattered radiation, the detector can generate a scattered image in the scattered imaging area of ​​the detector, that is, a sagittal scattered image of the target object in the first direction. Afterwards, the detector can send the scattered image to the imaging computer device.

[0102] In another optional embodiment, Figure 4 The processor of the image computer device shown can execute the IGS application to achieve: when the beam-emitting device, the collimator and the detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is obtained. When the beam-emitting device, the collimator and the detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is obtained.

[0103] It should be noted here that there is one collimator between the target object and the detector and it is located on one side of the detector and can be as follows Figure 5 or Figure 6 As shown, the collimator is arranged along the first side of the detector and is located on a side close to the first side. For example, the collimator can be located on the upper side of the detector or on the lower side of the detector; it can also be as shown in FIG. Fig. 20 The second side edge of the detector shown is arranged and located on a side close to the second side edge. For example, the collimator can be located on the left side of the detector or on the right side of the detector.

[0104] Of course, there can be two collimators, which are located on both sides of the detector. When the beam splitter is narrow and the detector is large enough, the two edges of the detector can be used to form a scattering image of the internal 2D plane (such as the coronal plane and the sagittal plane) of the target object. With the multi-hole design, a scattering image containing multiple sub-projections can be obtained at the edges of both ends of the detector. The scattering images of multiple sub-projections can be used for image weighted average noise reduction.

[0105] After receiving the transmission image and the scattered image of the target object in the first direction in the above manner, the processor of the imaging computer device can track the target object based on at least one of the transmission image and the scattered image of the target object in the first direction.

[0106] In the embodiment of the present disclosure, when acquiring the transmission image and the scattered image of the target object in the first direction, the transmission image of the target object in the first direction may be acquired first, and then the scattered image of the target object in the first direction may be acquired; or the scattered image of the target object in the first direction may be acquired first, and then the transmission image of the target object in the first direction may be acquired. The embodiment of the present disclosure does not specifically limit the order of acquiring the transmission image and the scattered image.

[0107] Based on the transmission image in the first direction and the scattering image in the first direction obtained above, Figure 4 The processor of the image computer device shown can also execute the IGS application to achieve: when the beam-emitting device, the collimator and the detector are located in the second direction, and the beam-splitting device of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is obtained. When the beam-emitting device is located in the second direction, the collimator and the detector are located in the first direction, and the beam-splitting device in the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is obtained.

[0108] Specifically, after receiving the transmission image and the scattered image in the first direction, the processor of the image computer device can also generate a third adjustment instruction and send it to the control device. The third adjustment instruction is used to instruct the control device to adjust the position of the beam-emitting device and the detector (including the collimator), and the beam port of the beam-splitting device.

[0109] After receiving the third adjustment instruction, the control device can respond to the third adjustment instruction and control the beam-emitting device and the detector to move around the rotating track of the frame until the beam-emitting device, the collimator and the detector are located in the second direction, and the beam port of the beam-splitting device in the beam-emitting device is adjusted to the first beam port. After the adjustment is completed, the control device can control the ray source in the beam-emitting device to emit rays. After the rays reach the beam-splitting device, they pass through the beam port of the beam-splitting device and pass through the patient to form transmission rays and then reach the detector. After receiving the transmission rays, the detector can generate a transmission image in the transmission imaging area of ​​the detector, that is, a transmission image of the target object in the second direction. Afterwards, the detector can send the transmission image to the imaging computer device.

[0110] After receiving the transmission image through the processor, the image computer device can generate a fourth adjustment instruction and send it to the control device. The fourth adjustment instruction is used to instruct the control device to adjust the positions of the collimator and the detector, and the beam port of the beam beamer.

[0111] After receiving the fourth adjustment instruction, the control device can respond to the fourth adjustment instruction and control the detector (including the collimator) to move along the rail of the frame around the preset axis of the frame until the collimator and the detector are located in the first direction, and adjust the beam port of the beam optic in the beam emitting device to the second beam port. After the adjustment is completed, the control device can control the ray source in the beam emitting device to emit rays. After the rays reach the beam optic, a narrow slit beam is formed through the beam port of the beam optic. The narrow slit beam passes through the patient to form scattered rays. The scattered rays reach the detector after being limited by the collimator. After receiving the scattered rays, the detector can generate a scattered image in the scattered imaging area of ​​the detector, that is, a coronal scattered image of the target object in the second direction. Afterwards, the detector can send the scattered image to the imaging computer device.

[0112] In another optional embodiment, Figure 4 The processor of the image computer device shown can execute the IGS application to achieve: when the beam-emitting device, the collimator and the detector are located in the second direction, and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is obtained. When the beam-emitting device, the collimator and the detector are located in the second direction, and the beam-splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is obtained.

[0113] When the gantry rotates, the beam-emitting device, the collimator and the detector will rotate around the Y axis at any angle, so that a scattering image of any 2D plane of the target object can be generated, and the scattering image includes a sagittal image, a coronal image or other 2D cross-sectional images of the target object.

[0114] After receiving the transmission image and the scattered image of the target object in the second direction in the above manner, the processor of the imaging computer device can track the target object based on at least one of the transmission image and the scattered image of the target object in the first direction and the second direction.

[0115] In the embodiment of the present disclosure, when acquiring the transmission image and the scattered image of the target object in the first direction, and the transmission image and the scattered image of the target object in the second direction, the transmission image and the scattered image of the target object in the first direction may be acquired first, and then the transmission image and the scattered image of the target object in the second direction may be acquired; or the transmission image and the scattered image of the target object in the second direction may be acquired first, and then the transmission image and the scattered image of the target object in the first direction may be acquired; or the transmission image in the first direction and the scattered image in the second direction may be acquired first, and then the transmission image in the second direction and the scattered image in the first direction may be acquired; and the embodiment of the present disclosure does not specifically limit the acquisition order.

[0116] Through the above technical solution, the detector can generate a scattering image in a second direction in the scattering imaging area on the basis of sending the scattering image and the transmission image in the first direction to the processor, and generate a transmission image in the second direction in the transmission imaging area and send the scattering image and the transmission image in the second direction to the processor. The processor can further enrich the position information of the tumor in the process of tumor localization based on the transmission image and the scattering image of the target object in the first direction and the transmission image and the scattering image in the second direction, thereby accurately locating the position of the tumor.

[0117] It should be noted that a beam-emitting device, a collimator and a detector can also be applied to other implementation scenarios. For example, in one implementation scenario, the frame is a rotating frame, the collimator is connected to the detector, the beam-emitting device itself does not move but can move around the rotation axis with the rotating frame, and the detector can move around the preset axis of the frame along the track set on the frame. In this way, the beam-emitting device can move to the first direction or the second direction driven by the rotating frame, and the detector (including the collimator) can move to the first direction or the second direction along the track; in another implementation scenario, the frame is a rotating frame, the collimator is connected to the detector, the beam-emitting device can move around the preset axis of the frame along the track set on the frame, the detector (including the collimator) itself does not move but can move around the rotation axis with the rotating frame. In this way, the beam-emitting device can move to the first direction or the second direction along the track, and the detector (including the collimator) can move to the first direction or the second direction driven by the rotating frame.

[0118] 2. Two beam-emitting devices, a collimator and a detector.

[0119] The two beam-emitting devices may include a first beam-emitting device and a second beam-emitting device, and a preset angle is formed between the first beam-emitting device and the second beam-emitting device.

[0120] Here, the preset angle between the first beam-emitting device and the second beam-emitting device can be understood as the preset angle between the central ray of the first beam-emitting device and the central ray of the second beam-emitting device.

[0121] In an optional embodiment, Figure 4The processor of the imaging computer device shown can execute the IGS application to achieve: when the first beam-emitting device, the collimator and the detector are located in the first direction, the second beam-emitting device is located in the second direction, and the beam-splitting device of the first beam-emitting device is adjusted to the first beam port, and the beam-splitting device of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are acquired; when the first beam-emitting device is located in the first direction, the second beam-emitting device, the collimator and the detector are located in the second direction, and the beam-splitting device of the first beam-emitting device is adjusted to the second beam port, and the beam-splitting device of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image in the second direction are acquired.

[0122] Exemplarily, the frame is a fixed frame, two beam-emitting devices are fixed on the frame and do not move themselves, the first beam-emitting device is located in a first direction, the second beam-emitting device is located in a second direction, the collimator is connected to the detector, and the detector can move around a preset axis of the frame along a track set on the frame as an implementation scenario for explanation.

[0123] The user (medical staff) can trigger an image acquisition operation on the image computer device. The image computer device generates a first adjustment instruction in response to the image acquisition operation and sends the first adjustment instruction to the processor. Figure 4 The control device shown. The first adjustment instruction is used to instruct the control device to adjust the position of the detector (including the collimator), and the beam port of the beam beamer in the first beam output device and the beam port of the beam beamer in the second beam output device.

[0124] After receiving the first adjustment instruction, the control device can respond to the first adjustment instruction and control the detector (including the collimator) to move along the rail of the frame around the preset axis of the frame until the first beam-emitting device, the collimator and the detector are located in the first direction, and adjust the beam port of the collimator in the first beam-emitting device to the first beam port, and adjust the beam port of the collimator in the second beam-emitting device to the second beam port. For example, Figure 7 As shown, S1 is the ray source in the first beam-emitting device, S2 is the ray source in the second beam-emitting device, and the ray source S1 and the beam optic in the first beam-emitting device, as well as the collimator and the detector are all located at a gantry angle of 0 degrees (i.e. Figure 7 The ray source S2 and the beam splitter in the second beam-emitting device are located at a gantry angle of 90 degrees (i.e. Figure 7 The direction of the middle frame 90 degrees) (ie, the second direction).

[0125] After the adjustment is completed, the control device can control the radiation source S1 in the first beam-emitting device to emit radiation. After the radiation reaches the beam emitter of the first beam-emitting device, it passes through the beam port of the beam emitter in the first beam-emitting device, passes through the patient to form a transmitted radiation, and then reaches the detector. After receiving the transmitted radiation, the detector can generate a transmitted image in the transmission imaging area of ​​the detector, that is, the transmitted image of the target object in the first direction.

[0126] Then, the radiation source S2 in the second beam-emitting device is controlled to emit radiation. After the radiation reaches the beam-splitting device of the second beam-emitting device, a slit beam is formed through the beam port of the beam-splitting device in the second beam-emitting device. The slit beam passes through the patient to form scattered radiation. After being limited by the collimator, the scattered radiation reaches the detector. After receiving the scattered radiation, the detector can generate a scattered image in the scattered imaging area of ​​the detector, that is, a coronal plane scattered image of the target object in the second direction.

[0127] After the detector receives the transmission image of the target object in the first direction and the scattering image of the target object in the second direction in the above manner, the transmission image and the scattering image can be sent to the imaging computer device.

[0128] After receiving the transmission image and the scattering image through the processor, the image computer device can generate a second adjustment instruction and send it to the control device. The second adjustment instruction is used to instruct the control device to adjust the position of the collimator (including the collimator), the beam port of the beam catcher in the first beam-emitting device, and the beam port of the beam catcher in the second beam-emitting device.

[0129] After receiving the second adjustment instruction, the control device can respond to the second adjustment instruction and control the detector (including the collimator) to move along the rail of the frame around the preset axis of the frame until the collimator and the detector are located in the second direction, and adjust the beam port of the beam splitter in the first beam output device to the second beam port, and adjust the beam port of the beam splitter in the second beam output device to the first beam port. For example, Figure 8 As shown, the ray source S1 and the beam splitter in the first beam-emitting device are located at a gantry angle of 0 degrees (i.e. Figure 8 The ray source S2 and the beam splitter in the second beam-emitting device, as well as the collimator and the detector are located in a direction where the gantry angle is 90 degrees (i.e. Figure 8 The direction of the middle frame 90 degrees) (ie, the second direction).

[0130] After the adjustment is completed, the control device can control the radiation source S2 in the second beam-emitting device to emit radiation. After the radiation reaches the beam emitter of the second beam-emitting device, it passes through the beam port of the beam emitter in the second beam-emitting device, passes through the patient to form a transmitted radiation, and then reaches the detector. After receiving the transmitted radiation, the detector can generate a transmitted image in the transmission imaging area of ​​the detector, that is, the transmitted image of the target object in the second direction.

[0131] Then, the radiation source S1 in the first beam-emitting device is controlled to emit radiation. After the radiation reaches the beam-splitter of the first beam-emitting device, a slit beam is formed through the beam port of the beam-splitter in the first beam-emitting device. The slit beam passes through the patient to form scattered radiation. After being limited by the collimator, the scattered radiation reaches the detector. After receiving the scattered radiation, the detector can generate a scattered image in the scattered imaging area of ​​the detector, that is, a sagittal plane scattered image of the target object in the first direction.

[0132] After the detector receives the transmission image of the target object in the second direction and the scattering image of the target object in the first direction in the above manner, the transmission image and the scattering image can be sent to the imaging computer device.

[0133] After the imaging computer device receives the transmission image in the second direction and the scattered image of the target object in the first direction in the above manner, the target object can be tracked based on at least one of the transmission image and the scattered image of the target object in the first direction and the second direction.

[0134] Through the above technical solution, when the detector generates a scattering image and a transmission image in a first direction and a scattering image and a transmission image in a second direction, the position of the detector (including the collimator) and the size of the beam port of the beam emitter can be adjusted without adjusting the position of the beam-emitting device. Therefore, the scattering image and the transmission image in the first direction and the scattering image and the transmission image in the second direction can be generated more quickly, thereby further improving the rate of tumor localization on the basis of improving the accuracy of tumor localization.

[0135] It should be noted that in other implementation scenarios, the rack can also be a rotating rack, the two beam-emitting devices are fixed on the rack and do not move themselves, the collimator is connected to the detector, and the detector can move around the preset axis of the rack along a track set on the rack. In this way, the first beam-emitting device and the second beam-emitting device can both move to the first direction or the second direction driven by the rotating rack, and the detector (including the collimator) can move to the first direction or the second direction along the track, or can move to the first direction or the second direction driven by the rotating rack.

[0136] 3. A beam-emitting device, two collimators and two detectors.

[0137] Among them, the two collimators may include a first collimator and a second collimator; the detector may include a first detector and a second detector, and there is a preset angle between the first collimator and the first detector (referred to as the first group) and the second collimator and the second detector (referred to as the second group).

[0138] Here, the preset angle between the first collimator and the first detector and the second collimator and the second detector can be understood as the preset angle between the ray passing through the center point of the first collimator and the ray passing through the center point of the second detector.

[0139] In an optional embodiment, Figure 4 The processor of the imaging computer device shown can execute the IGS application to achieve: when the beam-emitting device, the first collimator and the first detector are located in the first direction, the second collimator and the second detector are located in the second direction, and the beam splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is obtained; when the beam-emitting device, the first collimator and the first detector are located in the first direction, the second collimator and the second detector are located in the second direction, and the beam splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is obtained.

[0140] When the beam-emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is acquired. When the beam-emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is acquired.

[0141] Exemplarily, the frame is a fixed frame, the beam-emitting device can move around a preset axis of the frame along a track set on the frame, the collimator is connected to the detector, the two sets of collimators and detectors are fixed on the frame and do not move themselves, and the first collimator and the first detector are located in a first direction, and the second collimator and the second detector are located in a second direction to explain the implementation scenario.

[0142] The user (medical staff) can trigger an image acquisition operation on the image computer device. The image computer device generates a first adjustment instruction in response to the image acquisition operation and sends the first adjustment instruction to the processor. Figure 4 The first adjustment instruction is used to instruct the control device to adjust the position of the frame, the beam-emitting device, and the beam port of the beam-emitting device.

[0143] After receiving the first adjustment instruction, the control device can respond to the first adjustment instruction to control the beam-emitting device to move along the rail of the frame around the preset axis of the frame until the beam-emitting device, the first collimator and the first detector are located in the first direction, and adjust the beam port of the beam-collimator in the beam-emitting device to the first beam port. For example, Fig. 9As shown, S1 is the ray source in the beam-emitting device, L1 is the first collimator, L2 is the second collimator, D1 is the first detector, and D2 is the second detector. The ray source S1 and the collimator in the beam-emitting device, as well as the first collimator L1 and the first detector D1 are all located at a gantry angle of 0 degrees (i.e. Fig. 9 The second collimator L2 and the second detector D2 are located at a direction where the rack angle is 90 degrees (i.e. the first direction). Fig. 9 The direction of the middle frame 90 degrees) (ie, the second direction).

[0144] After the adjustment is completed, the control device can control the radiation source S1 in the beam-emitting device to emit radiation. After the radiation reaches the beam-splitter of the beam-emitting device, it passes through the beam port of the beam-splitter in the beam-emitting device and passes through the patient to form a transmitted radiation and then reaches the first detector D1. After receiving the transmitted radiation, the first detector D1 can generate a transmitted image in the transmission imaging area of ​​the first detector D1, that is, a transmitted image of the target object in the first direction.

[0145] After the first detector receives the transmission image of the target object in the first direction in the above manner, the transmission image can be sent to the imaging computer device.

[0146] After receiving the transmission image, the processor of the image computer device can generate a second adjustment instruction and send it to the control device. The second adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device in the beam output device.

[0147] After receiving the second adjustment instruction, the control device may adjust the beam port of the beam beam device in the beam output device to the second beam port in response to the second adjustment instruction.

[0148] After the adjustment is completed, the control device can control the radiation source S1 in the beam-emitting device to emit radiation. After the radiation reaches the beam-splitting device of the beam-emitting device, a slit beam is formed through the beam port of the beam-splitting device in the beam-emitting device. The slit beam passes through the patient to form scattered radiation. The scattered radiation reaches the second detector D2 after being limited by the second collimator L2. After receiving the scattered radiation, the second detector D2 can generate a scattered image in the scattered imaging area of ​​the second detector D2, that is, a sagittal plane scattered image of the target object in the first direction.

[0149] After the second detector receives the scattering image of the target object in the first direction in the above manner, the scattering image can be sent to the imaging computer device.

[0150] After receiving the scattering image, the processor of the image computer device can generate a third adjustment instruction and send it to the control device. The third adjustment instruction is used to instruct the control device to adjust the position of the beam output device and the beam port of the beam beamer in the beam output device.

[0151] After receiving the third adjustment instruction, the control device can respond to the third adjustment instruction to control the beam-emitting device to move along the rail of the frame around the preset axis of the frame until the beam-emitting device is located in the second direction, and adjust the beam port of the beam-splitting device in the beam-emitting device to the first beam port. Fig.10 As shown, the first collimator L1 and the first detector D1 are both located at a gantry angle of 0 degrees (i.e. Fig.10 The ray source S1 and the beam splitter in the beam-emitting device, as well as the second collimator L2 and the second detector D2 are located at a gantry angle of 90 degrees (i.e. Fig.10 The direction of the middle frame 90 degrees) (ie, the second direction).

[0152] After the adjustment is completed, the control device can control the radiation source in the beam-emitting device to emit radiation. After the radiation reaches the beam-splitting device of the beam-emitting device, it passes through the beam port of the beam-splitting device in the beam-emitting device, passes through the patient to form a transmitted radiation, and then reaches the second detector D2. After receiving the transmitted radiation, the second detector D2 can generate a transmitted image in the transmission imaging area of ​​the second detector D2, that is, a transmitted image of the target object in the second direction.

[0153] After the second detector receives the transmission image of the target object in the second direction in the above manner, the transmission image can be sent to the imaging computer device.

[0154] After receiving the transmission image, the processor of the image computer device may generate a fourth adjustment instruction and send it to the control device. The fourth adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device in the beam output device.

[0155] After receiving the fourth adjustment instruction, the control device may adjust the beam port of the beam beam device in the beam output device to the second beam port in response to the fourth adjustment instruction.

[0156] After the adjustment is completed, the control device can control the radiation source in the beam-emitting device to emit radiation. After the radiation reaches the beam-splitter of the beam-emitting device, a slit beam is formed through the beam port of the beam-splitter in the beam-emitting device. The slit beam passes through the patient to form scattered radiation. The scattered radiation reaches the first detector D1 after being limited by the first collimator L1. After receiving the scattered radiation, the first detector D1 can generate a scattered image, that is, a coronal plane scattered image of the target object in the second direction.

[0157] After the first detector receives the scattered image of the target object in the second direction in the above manner, the scattered image can be sent to the imaging computer device.

[0158] After the imaging computer device receives the transmission image and the scattered image of the target object in the first direction, and the transmission image and the scattered image of the target object in the second direction in the above manner, the target object can be tracked based on at least one type of image among the transmission image and the scattered image of the target object in the first direction and the second direction.

[0159] In the above embodiment, when the control device receives the third adjustment instruction and adjusts the position of the beam-emitting device, it can also control the frame to drive the beam-emitting device, the first collimator, the first detector, the second collimator and the second detector to move until the beam-emitting device, the first collimator and the first detector are located in the second direction, and the second collimator and the second detector are located in the first direction. The disclosed embodiment does not specifically limit the adjustment process.

[0160] Through the above technical solution, when the detector generates a scattering image and a transmission image in a first direction and a scattering image and a transmission image in a second direction, it is only necessary to adjust the position of the beam-emitting device and the size of the beam port of the beam-collimator without adjusting the position of the detector and the collimator. Therefore, the scattering image and the transmission image in the first direction and the scattering image and the transmission image in the second direction can be generated more quickly, thereby further improving the rate of tumor localization on the basis of improving the accuracy of tumor localization.

[0161] It should be noted that in other implementation scenarios, the frame can also be a rotating frame, the beam-emitting device is fixed on the frame and does not move itself, the collimator is connected to the detector, and the detector can move around the preset axis of the frame along a track set on the frame. In this way, the beam-emitting device can move to the first direction or the second direction under the drive of the rotating frame, or can move to the first direction or the second direction along the track, and the first detector (including the first collimator) and the second detector (including the second collimator) move to the first direction or the second direction under the drive of the rotating frame.

[0162] 4. Two beam-emitting devices, two collimators and two detectors.

[0163] Among them, the two beam-emitting devices may include a first beam-emitting device and a second beam-emitting device, the two collimators may include a first collimator and a second collimator, the detector may include a first detector and a second detector, and a preset angle is formed between the first beam-emitting device, the first collimator and the first detector and the second beam-emitting device, the second collimator and the second detector.

[0164] Here, the preset angle between the first beam-emitting device, the first collimator and the first detector and the second beam-emitting device, the second collimator and the second detector can be understood as a preset angle between the central ray of the first beam-emitting device and the central ray emitted by the second beam-emitting device, wherein the central ray of the first beam-emitting device passes through the center of the first detector, and the central ray emitted by the second beam-emitting device passes through the center of the second detector.

[0165] In an optional embodiment, Figure 4 The processor of the image computer device 402 shown can execute the IGS application to achieve: when the first beam-emitting device, the first collimator and the first detector are located in the first direction, the second beam-emitting device, the second collimator and the second detector are located in the second direction, and the beam splitter of the first beam-emitting device is adjusted to the first beam port, and the beam splitter of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are obtained.

[0166] When the first beam-emitting device, the first collimator and the first detector are located in the first direction, the second beam-emitting device, the second collimator and the second detector are located in the second direction, and the beam splitter of the first beam-emitting device is adjusted to the second beam port, and the beam splitter of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image of the target object in the second direction are acquired.

[0167] Exemplarily, the frame is a fixed frame, two beam-emitting devices are fixed on the frame and do not move themselves, the first collimator is connected to the first detector, the second collimator is connected to the second detector, and the first beam-emitting device, the first collimator and the first detector are located in a first direction, and the second beam-emitting device, the second collimator and the second detector are located in a second direction to explain the implementation scenario.

[0168] Specifically, the user can trigger a picture acquisition operation on the image computer device, and the image computer device generates a first adjustment instruction in response to the picture acquisition operation, and sends the first adjustment instruction to the processor. Figure 4 The control device shown. The first adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device in the first beam output device and the beam port of the beam beam device in the second beam output device.

[0169] After receiving the first adjustment instruction, the control device can respond to the first adjustment instruction and adjust the beam port of the beam splitter in the first beam output device to the first beam port, and adjust the beam port of the beam splitter in the second beam output device to the second beam port. Fig.11As shown, S1 is the ray source in the first beam-emitting device, S2 is the ray source in the second beam-emitting device, L1 is the first collimator, L2 is the second collimator, D1 is the first detector, D2 is the second detector, and S1-D1 and S2-D2 are usually placed orthogonally. The ray source S1 and the collimator in the first beam-emitting device, as well as the first collimator L1 and the first detector D1 are all located at a gantry angle of 0 degrees (i.e. Fig.11 The ray source S2 and the beam splitter in the second beam-emitting device, as well as the second collimator L2 and the second detector D2 are located in the direction of the rack angle of 90 degrees (i.e. Fig.11 The direction of the middle frame 90 degrees) (ie, the second direction).

[0170] After the adjustment is completed, the control device can control the radiation source S1 in the first beam-emitting device to emit radiation. After the radiation reaches the beam emitter of the first beam-emitting device, it passes through the beam port of the beam emitter in the first beam-emitting device, passes through the patient to form a transmitted radiation, and then reaches the first detector D1. After receiving the transmitted radiation, the first detector D1 can generate a transmitted image in the transmission imaging area of ​​the first detector D1, that is, a transmitted image of the target object in the first direction.

[0171] Then, the radiation source S2 in the second beam-emitting device is controlled to emit radiation. After the radiation reaches the beam-splitting device of the second beam-emitting device, a slit beam is formed through the beam port of the beam-splitting device in the second beam-emitting device. The slit beam passes through the patient to form scattered radiation. After being limited by the first collimator L1, the scattered radiation reaches the first detector D1. After receiving the scattered radiation, the first detector D1 can generate a scattered image in the scattered imaging area of ​​the first detector D1, that is, a coronal plane scattered image of the target object in the second direction.

[0172] After the first detector D1 receives the transmission image of the target object in the first direction and the scattering image of the target object in the second direction in the above manner, the transmission image and the scattering image can be sent to the imaging computer device.

[0173] After receiving the transmission image and the scattering image, the processor of the image computer device can generate a second adjustment instruction and send it to the control device. The second adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device in the first beam output device and the beam port of the beam beam device in the second beam output device.

[0174] After receiving the second adjustment instruction, the control device can respond to the second adjustment instruction to adjust the beam port of the beam emitter in the first beam output device to the second beam port, and adjust the beam port of the beam emitter in the second beam output device to the first beam port.

[0175] After the adjustment is completed, the control device can control the radiation source S2 in the second beam-emitting device to emit radiation. After the radiation reaches the beam emitter of the second beam-emitting device, it passes through the beam port of the beam emitter in the second beam-emitting device, passes through the patient to form a transmitted radiation, and then reaches the second detector D2. After receiving the transmitted radiation, the second detector D2 can generate a transmitted image, that is, a transmitted image of the target object in the second direction.

[0176] Then, the radiation source S1 in the first beam-emitting device is controlled to emit radiation. After the radiation reaches the beam-splitter of the first beam-emitting device, a slit beam is formed through the beam port of the beam-splitter in the first beam-emitting device. The slit beam passes through the patient to form scattered radiation. After being limited by the second collimator L2, the scattered radiation reaches the second detector D2. After receiving the scattered radiation, the second detector D2 can generate a scattered image in the scattered imaging area of ​​the second detector D2, that is, a sagittal plane scattered image of the target object in the first direction.

[0177] After the second detector D2 receives the transmission image of the target object in the second direction and the scattering image of the target object in the first direction in the above manner, the transmission image and the scattering image can be sent to the imaging computer device.

[0178] After the imaging computer device receives the transmission image and the scattered image of the target object in the first direction, and the transmission image and the scattered image of the target object in the second direction in the above manner, the target object can be tracked based on at least one type of image among the transmission image and the scattered image of the target object in the first direction and the second direction.

[0179] Through the above technical solution, when the detector generates a scattering image and a transmission image in a first direction and a scattering image and a transmission image in a second direction, it can only adjust the size of the beam port of the beam emitter without adjusting the positions of the detector, the collimator, the radiation source and the beam emitter. Therefore, the rate of generating the scattering image and the transmission image in the first direction and the scattering image and the transmission image in the second direction can be further improved, thereby further improving the accuracy of tumor positioning while ensuring the accuracy of tumor positioning.

[0180] 5. A beam-emitting device, a collimator and two detectors.

[0181] The two collimators may include a scattering imaging detector and a transmission imaging detector, the collimator is located between the target object and the scattering imager, and a preset angle is formed between the collimator and the scattering imaging detector (referred to as the first group) and the transmission imaging detector (referred to as the second group).

[0182] Here, the preset angle may be understood as the angle between the ray passing through the center point of the scattering imaging detector and the ray passing through the center point of the transmission imaging detector being the preset angle.

[0183] In an optional embodiment, Figure 4 The processor of the imaging computer device shown can execute the IGS application to achieve: when the beam-emitting device, the collimator and the transmission imaging detector are located in a first direction, and the beam-splitting device is adjusted to a first beam opening (wide opening), a transmission image of the target object in the first direction is obtained; when the beam-emitting device is located in the first direction, the collimator and the scattering imager are located in the second direction, and the beam-splitting device is adjusted to a second beam opening (narrow opening), a scattering image of the target object in the first direction is obtained; a preset angle is formed between the first direction and the second direction.

[0184] That is to say, the number of detectors can be 2, such as Fig.21 As shown, the detector includes a scattering imaging detector and a transmission imaging detector. The transmission imaging detector is used to generate a transmission image of the target object, and the scattering imaging detector is used to generate a scattering image of the target object. The scattering imaging detector is located on the side of the target object and is at a preset angle to the transmission imaging detector. The collimator is located between the target object and the scattering imager. For example, when the X-axis direction is perpendicular to the collimator and the scattering detector and the beam port of the beam aligner is adjusted to a narrow opening, the rays emitted by the ray source S1 scatter with the target object to form scattered rays, and the scattering imaging detector is used to generate a scattering image of the target object based on the received scattered rays; the transmission imaging detector is arranged relative to the imaging source, and when the beam port of the beam aligner is adjusted to a wide opening, the rays emitted by the imaging ray source transmit through the target object to form transmission rays, and the transmission imaging detector is used to generate a transmission image of the target object based on the received transmission rays.

[0185] The user (medical staff) can trigger an image acquisition operation on the image computer device, and the image computer device can generate a first adjustment instruction through a processor in response to the user's image acquisition operation and send the first adjustment instruction to the control device. The first adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device.

[0186] After receiving the first adjustment instruction, the control device can adjust the beam opening of the beam beam device in the imaging device to a wide opening in response to the first adjustment instruction.

[0187] After the adjustment is completed, the control device can control the imaging ray source in the imaging device to emit a light beam, which passes through the target object to form a transmission ray and reaches the transmission imaging detector. After receiving the transmission ray, the transmission imaging detector can generate a transmission image, that is, a transmission image of the target object in the direction of the Z axis. Afterwards, the detector can send the transmission image to the imaging computer device.

[0188] After receiving the transmission image through the processor, the image computer device can generate a second adjustment instruction and send it to the control device. The second adjustment instruction is used to instruct the control device to adjust the beam port of the beam beam device.

[0189] After receiving the second adjustment instruction, the control device can adjust the beam opening of the beam beam device in the imaging device to a narrow opening in response to the second adjustment instruction.

[0190] After the adjustment is completed, the control device can control the imaging ray source in the imaging device to emit a light beam. After the light beam reaches the beam catcher, it forms a narrow slit beam through the beam port of the beam catcher. After the narrow slit beam hits the target object, it forms a scattered ray. After the scattered ray is limited by the collimator, it reaches the scattered imaging detector. After receiving the scattered ray, the scattered imaging detector can generate a scattered image, that is, a scattered image of the target object in the direction where the Z axis is located (such as Fig.21 The shaded surface shown indicates the cross section where the scattering image is located). Afterwards, the scattering imaging detector can send the scattering image to an imaging computer device.

[0191] By repeatedly performing the above steps, the imaging computer device can obtain scattering images and transmission images under multiple imaging ray source incident directions.

[0192] It should be noted that in other implementation scenarios, the rack can also be a rotating rack, the two beam-emitting devices are fixed on the rack and do not move themselves, and the two sets of collimators and detectors are fixed on the rack and do not move themselves. In this way, the first beam-emitting device and the second beam-emitting device can both move to the first direction or the second direction under the drive of the rotating rack, and accordingly, the first detector (including the first collimator) and the second detector (including the second collimator) can both move to the first direction or the second direction under the drive of the rotating rack.

[0193] In an optional implementation, the collimator in the above embodiment may be Fig.12 The multi-hole collimator shown in the figure has a plurality of small holes distributed in a straight line. Fig.13 The multi-aperture collimator shown in FIG. 1 has a plurality of small holes distributed in an array. Fig.14 The strip hole collimator shown has a long strip opening.

[0194] Among them, the IS direction and Figure 4-Figure 11 The direction of the y axis is consistent, indicating the head-foot direction. Figure 4-Figure 11 The direction of the x-axis is consistent, indicating the direction perpendicular to the head-foot direction.

[0195] In the embodiment of the present disclosure, in a multi-aperture collimator having a plurality of small holes distributed in a straight line, the plurality of small holes may be arranged transversely (ie, arranged along the RL or AP direction), such as Fig.12 As shown; it can also be arranged longitudinally (i.e. arranged along the IS direction), such as Fig.15 As shown, the embodiments of the present disclosure do not make specific limitations on this.

[0196] In the disclosed embodiment, the collimator is made of high attenuation materials such as lead or tungsten.

[0197] In the disclosed embodiment, the detector (such as the scatter imaging detector) and the collimator can be encapsulated in a lead dark box. Of course, the scatter imaging detector and the collimator can also be separately provided, which is not limited to this. When the collimator is a multi-hole collimator, the scattered rays can only be received by the detector through the small holes on the collimator.

[0198] In the embodiments disclosed herein, since tumors in clinical practice mainly move in the head-foot direction (i.e., the IS direction or the Y-axis direction in the IEC coordinate system), in order to ensure the resolution of the scattering image in the head-foot direction, the width of the strip hole collimator in the head-foot direction can be reduced, and the width of the strip hole collimator in the other direction (AP or RL) can be increased. For example, the width of the strip hole collimator in the head-foot direction can be set to 1 mm to 10 mm, and the width of the strip hole collimator in the other direction can be set to 5 cm to 40 cm.

[0199] In the above technical scheme, a multi-hole collimator and a strip hole collimator can be used to limit the scattered rays. Compared with the pinhole beam limiter and the shutter beam limiter in the prior art, the multi-hole collimator and the strip hole collimator provided in the embodiments of the present disclosure increase the size of the holes on the collimator, so that more scattered photons can be limited by the collimator to reach the detector. Therefore, the number of scattered photons received by the detector can be effectively increased, thereby improving the signal-to-noise ratio of the signal generated by the detector based on the scattered photons, and improving the imaging effect of the scattering image generated by the detector based on the scattered photons.

[0200] In an optional implementation, when the collimator is a multi-aperture collimator, the control device may further adjust the distance between the collimator and the detector before controlling the radiation source to emit radiation.

[0201] Specifically, before controlling the radiation source to emit radiation, the control device can also determine the type of collimator. If the collimator is a strip hole collimator, the radiation source is controlled to emit radiation. If the collimator is a multi-hole collimator, the collimator is controlled to move toward the detector so that the distance between the collimator and the detector reaches a preset distance threshold.

[0202] Exemplarily, in one embodiment, assuming that the collimator is a multi-aperture collimator, Fig.16 A schematic plan view of a radiotherapy device provided in an embodiment of the present disclosure, such as Fig.16As shown, the porous collimator is located between the patient and the detector, wherein the distance between the porous collimator and the patient can be represented by A1, and the distance between the porous collimator and the detector can be represented by A2. The control device can control the porous collimator to move downward to reduce the distance A2 between the porous collimator and the detector until the distance A2 between the porous collimator 1 and the detector reaches a preset distance threshold.

[0203] In the embodiment of the present disclosure, the distance threshold may be set according to actual conditions. For example:

[0204] In one embodiment, the distance threshold may be set based on the image resolution and the image noise reduction effect. Specifically, if a scattering image with high image resolution and poor noise reduction effect is desired, the distance threshold may be increased. If a scattering image with low image resolution and good noise reduction effect is desired, the distance threshold may be decreased.

[0205] In another embodiment, the distance threshold may be set based on the ratio of the imaging range of the scattered imaging area and the imaging range of the transmission imaging area in the detector. For example, assuming that when the distance from the collimator to the tumor area: the distance from the collimator to the detector = 1.4, the imaging range of the scattered imaging area: the imaging range of the transmission imaging area = 1:2, assuming that the length of the detector is 430 mm, and the length of the tumor area in the head-to-foot direction is 200 mm, if the length of the imaging range of the scattered imaging area is to be controlled at 143 mm, that is, the imaging range of the scattered imaging area: the imaging range of the transmission imaging area = 1:2, then the control device may adjust the distance between the collimator and the detector until the distance from the collimator to the tumor area: the distance from the collimator to the detector = 1.4.

[0206] In the above technical solution, after the multi-aperture collimator receives the scattered rays, the scattered rays can form a sub-image after being limited by each small hole of the multi-aperture collimator, and finally a scattering image containing multiple sub-images is obtained. By reducing the distance between the multi-aperture collimator and the detector, not only the number of sub-images can be increased, the imaging range of the scattered imaging area can be reduced, and the imaging range of the transmission imaging area can be ensured, but also the area of ​​each sub-image in the scattering image can be reduced, so that a certain gap (for example, a gap of 2 pixels) is retained between each two sub-images to ensure that there is no overlap between each two sub-images.

[0207] In an optional embodiment, the target tracking system provided by the embodiment of the present disclosure may also include a collimator base. When the control device adjusts the distance between the collimator and the detector, it can control the extension and retraction of the collimator base to achieve the purpose of adjusting the distance between the collimator and the detector.

[0208] Specifically, Fig.17A schematic plan view of another radiotherapy device provided in an embodiment of the present disclosure, such as Fig.17 As shown, the collimator base is used to connect the collimator and the detector. The collimator base may include a telescopic rod. The control device can control the telescopic rod in the collimator base to extend to increase the distance between the collimator and the detector, and can also control the telescopic rod in the collimator base to contract to reduce the distance between the collimator and the detector.

[0209] In the embodiment of the present disclosure, the collimator base may be made of lead or tungsten, and the embodiment of the present disclosure does not specifically limit the material of the collimator base.

[0210] Through the above technical solution, the collimator and the detector are connected through the collimator base, which not only can adjust the distance between the collimator and the detector, but also can use the collimator base to block stray light, avoid the influence of stray light on the scattered image, and thus improve the imaging quality of the scattered image.

[0211] In an optional implementation, the control device may also control the collimator to move into or out of the imaging range of the detector before controlling the radiation source to emit radiation.

[0212] Specifically, before controlling the radiation source to emit radiation, the control device may also, based on the type of imaging image to be acquired, control the collimator to move into the imaging range of the detector if the type of imaging image only includes a scattered image; control the collimator to move out of the imaging range of the detector if the type of imaging image only includes a transmitted image; and control the collimator to be located at the edge of the detector if the type of imaging image includes a scattered image and a transmitted image.

[0213] For example, in one embodiment, assuming that the type of imaging images only includes scattered images, the control device can control the collimator to move until the collimator is located at the center of the detector, so as to use the entire detector to receive scattered rays and generate a scattered image.

[0214] In another embodiment, assuming that the type of imaging image only includes transmission images, the control device can control the collimator to move until the collimator is completely moved out of the position of the detector to use the entire detector to receive the transmission rays, generate a transmission image, and increase the imaging area of ​​the transmission image.

[0215] In yet another embodiment, assuming that the types of imaging images include scattering images and transmission images, the control device may control the collimator to move until the collimator is located at the edge of the detector (eg, Fig.11 As shown), the scattered rays are received by the scattered imaging area of ​​the detector to generate a scattered image, and the transmitted rays are received by the transmitted imaging area of ​​the detector to generate a transmitted image.

[0216] In the embodiment of the present disclosure, when the position of the collimator is moved, the movement of the collimator may be directly controlled by a control device, or a motor may be used to control the movement of the collimator, which is not specifically limited in the embodiment of the present disclosure.

[0217] Through the above technical solution, the collimator can be controlled to move in or out of the imaging range of the detector to meet the acquisition requirements of the scattered image and the transmission image at the same time. That is, when acquiring the scattered image, the collimator can be moved into the imaging range of the detector to use the collimator to limit the scattered rays and generate a scattered image. When acquiring the transmission image, the collimator can be moved out of the imaging range of the detector to avoid the influence of the collimator on the transmission image, improve the imaging quality of the transmission image, and expand the imaging area of ​​the transmission image. When acquiring the scattered image and the transmission image, the collimator can be moved into the imaging range of the detector so that the collimator is located at the edge of the detector to generate a scattered image at the edge of the detector and generate a transmission image at the rest of the detector.

[0218] Fig.18 A flow chart of a target tracking method provided by an embodiment of the present disclosure is applied to a processor, such as Fig.18 As shown, the method includes:

[0219] S1801, acquiring a transmission image and a scattering image of a target object in at least one direction.

[0220] The specific acquisition process can refer to the above four cases, which will not be repeated here.

[0221] In an optional embodiment, after obtaining the transmission image and the scattering image of the target object in at least one direction, the scattering image of the target object in each direction may be processed by using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain a processed scattering image.

[0222] Specifically, if the transmission image and scattering image of the target object acquired in at least one direction are the transmission image and scattering image of the target object in one direction, a deconvolution algorithm and / or an image enhancement algorithm may be used to process the scattering image in this direction to obtain a processed scattering image. If the transmission image and scattering image of the target object acquired in at least one direction are the transmission image and scattering image of the target object in multiple directions, a deconvolution algorithm and / or an image enhancement algorithm may be used to process the scattering image in each direction in turn to obtain a processed scattering image in each direction, and then image fusion processing may be performed on the scattering image processed in each direction to obtain a processed scattering image.

[0223] Exemplarily, in one embodiment, assuming that the acquired transmission image and scattering image include: a transmission image and a scattering image of the target object when the gantry angle is 0 degrees, a deconvolution algorithm and / or an image enhancement algorithm can be used to process the transmission image and the scattering image at 0 degrees to obtain a processed scattering image.

[0224] In another embodiment, assuming that the acquired transmission image and scattering image include: a transmission image and a scattering image of the target object when the gantry angle is 0 degrees, and a transmission image and a scattering image of the target object when the gantry angle is 90 degrees, a deconvolution algorithm and / or an image enhancement algorithm may be used to first process the transmission image and the scattering image at 0 degrees to obtain a processed scattering image at 0 degrees, and a deconvolution algorithm and / or an image enhancement algorithm may be used to first process the transmission image and the scattering image at 90 degrees to obtain a processed scattering image at 90 degrees, and then image fusion processing may be performed on the processed scattering image at 0 degrees and the processed scattering image at 90 degrees to obtain a processed scattering image.

[0225] In the embodiment of the present disclosure, the image enhancement algorithm may be a boundary enhancement algorithm or a multi-scale image enhancement algorithm. The embodiment of the present disclosure does not specifically limit the image enhancement algorithm.

[0226] Through the above technical solution, after receiving the scattering image, the processor can first use the deconvolution algorithm and the image enhancement algorithm to process the scattering image, improve the clarity of the tumor in the scattering image, and increase the recognition of the tumor in the scattering image, so that when the scattering image is used to determine the location of the tumor in the future, the accuracy of tumor determination can be further improved.

[0227] In an optional embodiment, when performing image processing on the scattering image of the target object in each direction by using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain a processed scattering image, when the scattering image includes multiple sub-images, an image weighting algorithm may be used to perform image processing on the multiple sub-images to obtain a weighted scattering image, and then at least one of a deconvolution algorithm and an image enhancement algorithm may be used to perform image processing on the weighted scattering image to obtain a processed scattering image.

[0228] Specifically, before using at least one of a deconvolution algorithm and an image enhancement algorithm to perform image processing on the scattering image in each direction to obtain the processed scattering image, the scattering image of the target object in each direction may be judged in turn. If the scattering image contains only one imaging, at least one of a deconvolution algorithm and an image enhancement algorithm is used to perform image processing on the scattering image to obtain the processed scattering image.

[0229] If the scattering image contains multiple sub-images, an image weighting algorithm can be first used to perform image processing on the multiple sub-images to obtain a weighted scattering image, and then at least one of a deconvolution algorithm and an image enhancement algorithm can be used to perform image processing on the weighted scattering image to obtain a processed scattering image.

[0230] Exemplarily, in one embodiment, assuming that the scattering image of the target object in any direction contains only one imaging, the processor can directly use a deconvolution algorithm and / or an image enhancement algorithm to perform image processing on the scattering image in that direction to obtain a processed scattering image in that direction.

[0231] In another embodiment, assuming that the scattering image of the target object in any direction contains multiple sub-images, the processor can first use an image weighting algorithm to perform image processing on the multiple sub-images in the scattering image to obtain a weighted scattering image, and then use at least one of a deconvolution algorithm and an image enhancement algorithm to perform image processing on the weighted scattering image to obtain a processed scattering image in this direction.

[0232] Through the above technical solution, when a scattering image contains multiple sub-images, an image weighting algorithm is used to perform weighted processing on the multiple sub-images, which can not only improve the signal-to-noise ratio of the image and obtain a scattering image with a high signal-to-noise ratio and high contrast, but also can fuse the tumor information in each sub-image together, so that when the scattering image is used to determine the location of the tumor later, the tumor information contained in the scattering image is richer, thereby further improving the accuracy of tumor determination.

[0233] S1802: Track the target object based on at least one type of image among the transmission image and the scattering image of the target object in at least one direction.

[0234] In an optional implementation, when executing S1802, an instruction to use the image of the target type as the tracking image may be obtained, and the target object may be tracked based on the tracking image.

[0235] The target type image includes at least one of the transmission image and the scattering image.

[0236] Specifically, the user (medical staff) can select an image of the target type from the transmission image and scattering image displayed on the user interface of the imaging computer device. In response to the user's selection operation for the image of the target type, the imaging computer device generates an instruction to use the image of the target type as a tracking image and sends it to the processor. After receiving the instruction, the processor can track the target object based on the tracking image.

[0237] In some embodiments, the user can set the transmission image as the target type image from the transmission image and the scattered image displayed on the user interface of the imaging computer device. In response to the user's selection operation on the transmission image, the imaging computer device generates an instruction to use the transmission image as a tracking image and sends it to the processor. After receiving the instruction, the processor can track the target object based on the transmission image.

[0238] In other embodiments, the user can set the scattering image as the target type image from the transmission image and the scattering image displayed on the user interface of the image computer device. In response to the user's selection operation on the scattering image, the image computer device generates an instruction to use the scattering image as a tracking image and sends it to the processor. After receiving the instruction, the processor can track the target object based on the scattering image.

[0239] In some other embodiments, the user can set the transmission image and the scattering image as target type images from the transmission image and the scattering image displayed on the user interface of the imaging computer device. In response to the user's selection operation on the transmission image and the scattering image, the imaging computer device generates an instruction to use the transmission image and the scattering image as tracking images, and sends the instruction to the processor. After receiving the instruction, the processor can track the target object based on the transmission image and the scattering image.

[0240] Through the above technical scheme, on the basis of obtaining the scattering image by using a multi-hole collimator and a strip collimator, the scattering image is processed by using a deconvolution algorithm, an image enhancement algorithm and an image weighting algorithm, which can not only effectively increase the number of scattered photons received by the detector, improve the signal-to-noise ratio of the signal generated by the detector based on the scattered photons, and improve the imaging effect of the scattering image generated by the detector based on the scattered photons, but also improve the clarity of the tumor in the scattering image and increase the recognition of the tumor in the scattering image, so that when the scattering image is used to determine the location of the tumor, the accuracy of tumor determination can be further improved.

[0241] Fig.19 A schematic block diagram of an example electronic device 1900 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein. In some embodiments, the electronic device may be the above-mentioned Figure 4The image computer equipment shown in .

[0242] like Fig.19 As shown, the electronic device 1900 includes a computing unit 1901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory 1902 or a computer program loaded from a storage unit 1908 into a random access memory 1903. In the random access memory (Random Access Memory, RAM) 1903, various programs and data required for the operation of the electronic device 1900 can also be stored. The computing unit 1901, the read-only memory (Read-Only Memory, ROM) 1902 and the RAM 1903 are connected to each other through a bus 1904. An input / output (Input / Output, I / O) interface 1905 is also connected to the bus 1904.

[0243] Multiple components in the electronic device 1900 are connected to the input / output interface 1905, including: an input unit 1906, such as a keyboard, a mouse, etc.; an output unit 1907, such as various types of displays, speakers, etc.; a storage unit 1908, such as a disk, an optical disk, etc.; and a communication unit 1909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1909 allows the electronic device 1900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0244] The computing unit 1901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1901 include, but are not limited to, a central processing unit, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors, and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1901 performs the various methods and processes described above, such as a data matching method. For example, in one embodiment, the data matching method may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1908. In one embodiment, part or all of the computer program may be loaded and / or installed on the electronic device 1900 via the ROM 702 and / or the communication unit 1909. When the computer program is loaded into the RAM 1903 and executed by the computing unit 1901, one or more steps of the data matching method described above may be performed. Alternatively, in other embodiments, the computing unit 1901 may be configured to perform the data matching method in any other appropriate manner (eg, by means of firmware).

[0245] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays, application specific integrated circuits, application specific standard parts (ASSP), system on chip systems (System On Chip, SOC), complex programmable logic devices (Complex Programmable Logic Device, CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0246] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0247] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical fibers, portable compact disk read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0248] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user, such as a cathode ray tube (CRT) or a liquid crystal display (LCD) monitor; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0249] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

[0250] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0251] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0252] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A target tracking system, characterized in that: The system comprises: A beam-emitting device comprises a ray source and a beam sparger; the beam port size of the beam sparger is adjustable; when the beam port of the beam sparger is adjusted to a first beam port, the ray emitted by the ray source passes through a target object to form a transmitted ray; when the beam port of the beam sparger is adjusted to a second beam port, the ray emitted by the ray source scatters with the target object to form a scattered ray; the size of the first beam port is larger than the size of the second beam port; A collimator, located between the target object and the detector, and used to limit the scattered rays; a detector, configured to receive the transmitted ray and the scattered ray limited by the collimator, so as to generate a transmitted image and a scattered image of the target object; A processor is used to obtain a transmission image and a scattering image of the target object in at least one direction, and track the target object based on at least one type of image among the transmission image and the scattering image of the target object in at least one direction.

2. The system according to claim 1, characterized in that The processor is specifically used for: When the beam-emitting device, the collimator and the detector are located in a first direction and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is acquired; When the beam-emitting device, the collimator and the detector are located in the first direction and the beam-splitter of the beam-emitting device is adjusted to the second beam port, or when the beam-emitting device is located in the first direction, the collimator and the detector are located in the second direction and the beam-splitter of the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is acquired; a preset angle is formed between the first direction and the second direction.

3. The system according to claim 2, characterized in that The processor is further configured to: When the beam-emitting device, the collimator and the detector are located in the second direction and the beam-splitting device of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is acquired; When the beam-emitting device, the collimator and the detector are located in the second direction and the beam-splitter of the beam-emitting device is adjusted to the second beam port, or when the beam-emitting device is located in the second direction, the collimator and the detector are located in the first direction and the beam-splitter in the beam-emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is acquired.

4. The system according to claim 1, characterized in that The beam-emitting device comprises a first beam-emitting device and a second beam-emitting device; The processor is specifically used for: When the first beam-emitting device, the collimator and the detector are located in a first direction, the second beam-emitting device is located in a second direction, and the beam splitter of the first beam-emitting device is adjusted to the first beam port, and the beam splitter of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are acquired; a preset angle is formed between the first direction and the second direction; When the first beam-emitting device is located in a first direction, the second beam-emitting device, the collimator and the detector are located in a second direction, the beam splitter of the first beam-emitting device is adjusted to the second beam port, and the beam splitter of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image in the second direction are acquired.

5. The system according to claim 1, characterized in that The collimator comprises a first collimator and a second collimator; the detector comprises a first detector and a second detector; The processor is specifically used for: When the beam-emitting device, the first collimator and the first detector are located in a first direction, the second collimator and the second detector are located in a second direction, and the beam-splitting device of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is acquired; a preset angle is formed between the first direction and the second direction; Acquire a scattering image of the target object in the first direction when the beam-emitting device, the first collimator and the first detector are located in a first direction, the second collimator and the second detector are located in a second direction, and the beam-splitter of the beam-emitting device is adjusted to the second beam port; When the beam-emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the second direction is acquired; When the beam emitting device, the second collimator and the second detector are located in the second direction, the first collimator and the first detector are located in the first direction, and the beam splitter of the beam emitting device is adjusted to the second beam port, a scattering image of the target object in the second direction is acquired.

6. The system according to claim 1, characterized in that The beam emitting device comprises a first beam emitting device and a second beam emitting device; the collimator comprises a first collimator and a second collimator; the detector comprises a first detector and a second detector; The processor is specifically used for: When the first beam-emitting device, the first collimator and the first detector are located in a first direction, the second beam-emitting device, the second collimator and the second detector are located in a second direction, and the beam splitter of the first beam-emitting device is adjusted to the first beam port, and the beam splitter of the second beam-emitting device is adjusted to the second beam port, a transmission image of the target object in the first direction and a scattering image of the target object in the second direction are acquired; There is a preset angle between the first direction and the second direction; When the first beam-emitting device, the first collimator and the first detector are located in a first direction, the second beam-emitting device, the second collimator and the second detector are located in a second direction, the beam splitter of the first beam-emitting device is adjusted to the second beam port, and the beam splitter of the second beam-emitting device is adjusted to the first beam port, a scattering image of the target object in the first direction and a transmission image of the target object in the second direction are acquired.

7. The system according to claim 1, characterized in that The detector includes a scattering imaging detector and a transmission imaging detector, and the collimator is located between the target object and the scattering imager; The processor is specifically used for: When the beam-emitting device, the collimator and the transmission imaging detector are located in a first direction and the beam-splitter of the beam-emitting device is adjusted to the first beam port, a transmission image of the target object in the first direction is acquired; When the beam-emitting device is located in a first direction, the collimator and the scattering imager are located in a second direction, and the beam-splitting device is adjusted to the second beam port, a scattering image of the target object in the first direction is acquired; a preset angle is formed between the first direction and the second direction.

8. The system according to any one of claims 1 to 6, characterized in that: The collimator is a multi-hole collimator having a plurality of small holes distributed in a straight line or a plurality of small holes distributed in an array; or, the collimator is a strip hole collimator having a long strip opening.

9. The system according to claim 1, characterized in that The system further includes a control device; the control device is configured to perform one or more of the following: Control the rotational movement of the rack; Controlling the beam-emitting device to move around a preset axis of the frame; Controlling the detector to move around a preset axis of the frame; Controlling the collimator to move closer to or farther from the detector; The collimator is controlled to move into or out of the imaging range of the detector.

10. A target tracking method, characterized in that: include: Acquire a transmission image and a scattering image of the target object in at least one direction; The target object is tracked based on at least one type of image among a transmission image and a scattering image of the target object in at least one direction.

11. The method according to claim 10, characterized in that Tracking the target object based on at least one type of image among a transmission image and a scattering image of the target object in at least one direction includes: obtaining an instruction to use a target type image as a tracking image, wherein the target type image includes at least one of the transmission image and the scattering image; The target object is tracked based on the tracking image.

12. The method according to claim 10, characterized in that After acquiring the transmission image and the scattering image of the target object in at least one direction, the method further includes: For the scattering image of the target object in each direction, at least one of a deconvolution algorithm and an image enhancement algorithm is used to perform image processing on the scattering image to obtain a processed scattering image.

13. The method according to claim 12, characterized in that The scattering image includes a plurality of sub-images; and before the scattering image is processed by using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain a processed scattering image, the method further includes: Using an image weighting algorithm, the plurality of sub-images are subjected to image processing to obtain a weighted scattering image; The step of using at least one of a deconvolution algorithm and an image enhancement algorithm to perform image processing on the scattering image to obtain a processed scattering image comprises: At least one of a deconvolution algorithm and an image enhancement algorithm is used to perform image processing on the scattering image after the weighted processing to obtain the processed scattering image.

14. An electronic device, characterized in that: The electronic device comprises: processor; a memory configured to store instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the target tracking method as described in any one of claims 10-13.

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