Target tracking system, method and electronic device

Abstract

The present disclosure provides a target tracking system, method and electronic device, relates to the technical field of medical treatment, and particularly relates to the technical field of tumor tracking. The target tracking system comprises a beam emitting device, a collimator and a detector. The beam emitting device comprises a ray source and a beam former. The beam size of the beam former is adjustable. The collimator is located between a target object and the detector, and is used for limiting the scattered rays. The detector is used for receiving the transmitted rays and the scattered rays limited by the collimator, so as to generate a transmission image and a scatter image of the target object. A processor is used for acquiring the transmission image and the scatter 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 scatter image of the target object in the at least one direction. Through the above system, the transmission image and the scatter image of the target object in at least one direction can be acquired, and the tumor can be accurately positioned.

Description

[0001] This application claims priority to Chinese Patent Application No. 202311415600.X, filed on October 27, 2023, entitled “Target Tracking System, Method and Electronic Device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of medical technology, and more particularly to the field of tumor tracking technology, specifically to a target tracking system, method, and electronic device. Background Technology

[0003] Precise tumor localization is one of the key techniques in radiotherapy. To accurately locate the tumor, after the X-ray source emits a beam, it is narrowed by a beam confinement device to form a narrow-slit beam. This beam scatters with the patient, creating scattered rays. These scattered rays are then collimated and received by a scattering detector to form a scattered image, which is used to determine the real-time location of the tumor.

[0004] However, when locating a tumor, the detector can only acquire a scattering image at a certain angle. As a result, when using this scattering image to locate the tumor, the information in the scattering image is insufficient, leading to inaccurate tumor localization. Summary of the Invention

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

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

[0007] A beam-emitting device includes a radiation source and a beam emitter; the beam aperture of the beam emitter is adjustable; when the beam aperture of the beam emitter is adjusted to the first beam aperture, the radiation emitted by the radiation source passes through the target object to form a transmitted radiation; when the beam aperture of the beam emitter is adjusted to the second beam aperture, the radiation emitted by the radiation source is scattered by the target object to form a scattered radiation; the size of the first beam aperture is larger than the size of the second beam aperture; a collimator is located between the target object and the detector, used to limit the scattered radiation; a detector is used to receive the transmitted radiation and the scattered radiation limited by the collimator to generate a transmitted image and a scattered image of the target object; a processor is used to acquire the transmitted image and the scattered image of the target object in at least one direction, and to track the target object based on at least one type of image from the transmitted image and the scattered image of the target object in at least one direction.

[0008] In some embodiments, the processor is specifically used for:

[0009] With the beam-emitting device, collimator, and detector located in the first direction, and the beam emitter of the beam-emitting device adjusted to the first beam port, a transmission image of the target object in the first direction is acquired; with the beam-emitting device located in the first direction, the collimator and detector located in the second direction, and the beam emitter of the beam-emitting device adjusted to the second beam port, a scattering image of the target object in the first direction is acquired; the first direction and the second direction form a preset angle.

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

[0011] With the beam output device, collimator, and detector located in the second direction, and the beam output device's beam aperture adjusted to the first beam port, a transmission image of the target object in the second direction is acquired.

[0012] With the beam-emitting device located in the second direction, the collimator and detector located in the first direction, and the beam emitter in the beam-emitting device adjusted to the 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; the processor is specifically used for:

[0014] With the first beam-emitting device, collimator, and detector located in the first direction, and the second beam-emitting device located in the second direction, and the beam emitter of the first beam-emitting device adjusted to the first beam port and the beam emitter of the second beam-emitting device 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; the first direction and the second direction form a preset angle; with the first beam-emitting device located in the first direction, and the second beam-emitting device, collimator, and detector located in the second direction, and the beam emitter of the first beam-emitting device adjusted to the second beam port and the beam emitter of the second beam-emitting device 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; the processor is specifically used for:

[0016] With the beam-emitting device, first collimator, and first detector located in the first direction, and the second collimator and second detector located in the second direction, and the beam emitter of the beam-emitting device adjusted to the first beam aperture, a transmission image of the target object in the first direction is acquired; the first direction and the second direction form a preset angle; with the beam-emitting device, first collimator, and first detector located in the first direction, and the second collimator and second detector located in the second direction, and the beam emitter of the beam-emitting device adjusted to the second beam aperture, a scattering image of the target object in the first direction is acquired; with the beam-emitting device, second collimator, and second detector located in the second direction, and the first collimator and first detector located in the first direction, and the beam emitter of the beam-emitting device adjusted to the first beam aperture, a transmission image of the target object in the second direction is acquired; with the beam-emitting device, second collimator, and second detector located in the second direction, and the first collimator and first detector located in the first direction, and the beam emitter of the beam-emitting device adjusted to the second beam aperture, 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 used for:

[0018] With the first beam-emitting device, the first collimator, and the first detector located in the first direction, and the second beam-emitting device, the second collimator, and the second detector located in the second direction, and the beam emitter of the first beam-emitting device adjusted to the first beam port and the beam emitter of the second beam-emitting device 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; the first direction and the second direction form a preset angle; with the first beam-emitting device, the first collimator, and the first detector located in the first direction, and the second beam-emitting device, the second collimator, and the second detector located in the second direction, and the beam emitter of the first beam-emitting device adjusted to the second beam port and the beam emitter of the second beam-emitting device 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 arranged in a straight line or including a plurality of small holes arranged in an array; or, the collimator is a strip-hole collimator having an elongated opening.

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

[0021] Control the rotational movement of the frame;

[0022] Control the movement of the beam output device around the preset axis of the frame;

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

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

[0025] Control the collimator to move into or out of the detector's imaging range.

[0026] Secondly, this disclosure provides a target tracking method, which includes:

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

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

[0029] Obtain an image of the target type as an indication for the tracking image, wherein the target type includes at least one of transmission images and scattering images; track the target object based on the tracking image.

[0030] In some embodiments, after acquiring the transmission and scattering images 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 the deconvolution algorithm and image enhancement algorithm is used to process the scattering image to obtain the processed scattering image.

[0032] In some embodiments, the scattering image includes multiple sub-images; 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] The scattering image is processed using at least one of the deconvolution algorithm and image enhancement algorithm to obtain the processed scattering image, including:

[0035] The weighted scattering image is processed by using at least one of the deconvolution algorithm and the image enhancement algorithm to obtain the processed scattering image.

[0036] Thirdly, this disclosure also 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 of the optional target tracking methods of the second aspect described above.

[0037] The target tracking system disclosed herein can adjust the beam aperture size of the beam emitter to make the radiation emitted by the radiation source form scattered radiation and transmitted radiation and send them to the detector. After receiving the scattered radiation and transmitted radiation, 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 localization process, thereby accurately locating the tumor. Attached Figure Description

[0038] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0039] Figure 1 This is a schematic diagram of the structure of a real-time tumor tracking system in related technologies;

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

[0041] Figure 3 This is a schematic diagram of a louvered beam limiter in related technologies;

[0042] Figure 4 This is a schematic diagram of a target tracking system provided in an embodiment of the present disclosure;

[0043] Figure 5 A schematic diagram of a target tracking system provided in an embodiment of this disclosure;

[0044] Figure 6 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0045] Figure 7 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0046] Figure 8 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0047] Figure 9 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0048] Figure 10 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0049] Figure 11 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0050] Figure 12 A schematic diagram of a multi-hole collimator provided in an embodiment of this disclosure;

[0051] Figure 13 A schematic diagram of another porous collimator provided in an embodiment of this disclosure;

[0052] Figure 14 A schematic diagram of a bar collimator provided in an embodiment of this disclosure;

[0053] Figure 15 A schematic diagram of another porous collimator provided in an embodiment of this disclosure;

[0054] Figure 16 This is a plan view of a radiotherapy device provided in an embodiment of the present disclosure;

[0055] Figure 17 This is a plan view of another radiotherapy device provided in an embodiment of the present disclosure;

[0056] Figure 18 A flowchart illustrating a target tracking method provided in an embodiment of this disclosure;

[0057] Figure 19 A schematic block diagram of an electronic device provided in an embodiment of this disclosure;

[0058] Figure 20 A schematic diagram of another target tracking system provided in this disclosure embodiment;

[0059] Figure 21 This is a schematic diagram of another target tracking system provided in an embodiment of the present disclosure. Detailed Implementation

[0060] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0061] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," or "third" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0062] In the description of this disclosure, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this disclosure is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this disclosure. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this disclosure can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of this disclosure with unnecessary detail. Therefore, this disclosure is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0063] It should be noted that since the method of this embodiment is executed in an imaging computer device, the processing objects of each imaging computer device exist in the form of data or information, such as time, which is essentially time information. It can be understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they all refer to the corresponding data so that the computer device can process them. Specific details will not be elaborated here.

[0064] Radiation therapy is a common treatment for tumors. Maintaining precise tumor localization during radiation therapy is one of the key techniques. The patient's respiratory movements during radiation therapy can cause significant changes in the location of tumors in the chest and abdomen (lungs, liver, and pancreas), making precise localization of these tumors extremely challenging.

[0065] Currently, precise tumor localization can be achieved through... Figure 1The illustrated real-time tumor tracking system is used for localization. This system may include a radiation source S, a beamformer (e.g., a slit beamformer), a collimator, and a detector. The collimator may include... Figure 2 The pinhole collimator shown is... Figure 3 The slat collimator shown is shown.

[0066] For example, such as Figure 1 As shown, after the X-ray source S emits a beam, this beam is limited by a beam concentrator to form a slit beam. The slit beam scatters with the patient, forming scattered rays. The scattered rays then pass through... Figure 2 The pinhole limiter shown Figure 3 The louvered beam limiter shown in the diagram limits the beam, which is then received by a scattering detector to form a scattering image. Finally, the real-time location of the tumor is determined based on the scattering image.

[0067] However, when locating a tumor, the detector can only acquire a scattering image at a certain angle. As a result, when using this scattering image to locate the tumor, the information in the scattering image is insufficient, leading to inaccurate tumor localization.

[0068] To address the aforementioned technical issues, this disclosure provides a target tracking system, which includes a beam-emitting device, a collimator, a detector, and a processor. In this system, by adjusting the beam aperture size of the beam emitter in the beam-emitting device, the radiation emitted from the radiation source can be divided into scattered and transmitted rays, which are then received by the detector. Upon receiving these rays, the detector generates a transmission image and a scattered image of the target object in at least one direction and sends them to the processor. The processor can use these images to enrich the localization information during tumor localization, thereby accurately locating the tumor.

[0069] Figure 4 This is a schematic 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 equipment 401 may include a gantry 404, a beam emitter 405, a collimator 406, and a detector 407. The beam emitter 405, collimator 406, and detector 407 are mounted on the gantry. The gantry 404 may be a ring gantry, a C-arm gantry, a drum-shaped gantry, a multi-layered bowl / cylindrical structure gantry, etc., and may be a rotating gantry that can move around a rotation axis or a fixed gantry that cannot move. The beam emitter includes a radiation source and a beam beamer, with the beam beamer located between the radiation source and the target object, and the collimator located between the target object and the detector 407.

[0071] The radiation emitted by a radiation source may include particle beams (e.g., neutron beams, proton beams, electron beams, etc.), photon beams (e.g., X-rays, gamma rays), or a combination of particle beams and photon beams.

[0072] A beam narrower is used to limit the beam emitted from a radiation source, and the size of the beam aperture is adjustable. Specifically, when the beam aperture is adjusted to the first beam aperture, the radiation emitted from the radiation source can pass through the target object to form transmitted radiation. When the beam aperture is adjusted to the second beam aperture, the radiation emitted from the radiation source is scattered by the target object to form scattered radiation. The size of the first beam aperture is larger than the size of the second beam aperture.

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

[0074] Detector 407 is used to receive transmitted rays and collimated scattered rays to generate a transmitted image and a scattered image of the target object. Specifically, detector 407 can generate a transmitted image of the target object based on the received transmitted rays, or it can generate a scattered image of the target object based on the received collimated scattered rays.

[0075] In this embodiment of the disclosure, detector 407 can be a flat panel detector or a curved surface detector. This embodiment of the disclosure does not specifically limit detector 407.

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

[0077] In some embodiments, the imaging computer device 402 is a computer device with a graphical user interface (GUI), which includes one or more processors, memory, and one or more application programs. For example, the imaging computer device 402 may include an Image Guidance System (IGS) application, the processor of which executes the IGS application to: acquire transmission and scattering images of a target object in at least one direction using a detector, and track the target object based on at least one type of image from the transmission and scattering images in at least one direction.

[0078] In some embodiments, the control device 403 may be used to perform one or more of the following: controlling the rotation of the frame 404, controlling the movement of the beam output device around a preset axis of the frame 404, controlling the movement of the detector 407 around a preset axis of the frame, controlling the collimator to move closer to or further away 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 frame can be the rotation axis of the frame, and the beam output device 405 and / or detector 407 can move around the preset axis of the frame along the track set on the frame 404.

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

[0081] In this embodiment of the disclosure, the imaging computer device 402 and the control device 403 can be independent servers, or they can be a server network or server cluster composed of servers. For example, the computer devices described in this embodiment of the disclosure include, but are not limited to, computers, network hosts, single network servers, multiple network server sets, or cloud servers composed of multiple servers. Among them, cloud servers are composed of a large number of computers or network servers based on cloud computing.

[0082] In this embodiment, the imaging computer device 402 and the control device 403 can be general-purpose computer devices or special-purpose computer devices. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld computer (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 this embodiment of the disclosure, the number of beam-emitting devices, collimators, and detectors can be one or more, and this embodiment of the disclosure does not specifically limit the number of beam-emitting devices, collimators, and detectors. Specifically, it can include the following situations:

[0084] One beam output device, one collimator, and one detector;

[0085] II. Two beam output devices, one collimator, and one detector;

[0086] III. One beam output device, two collimators, and two detectors;

[0087] IV. Two beam output devices, two collimators, and two detectors;

[0088] 5. One beam output device, one collimator, and two detectors.

[0089] The following sections will address the four scenarios mentioned above in turn. Figure 4 The interactions between the various devices in the target tracking system shown are explained in detail.

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

[0091] In one alternative implementation, Figure 4 The processor of the image computing device shown can execute an IGS application to: acquire a transmission image of the target object in a first direction, with the beam emitter, collimator, and detector located in a first direction and the beam emitter's beam aperture adjusted to a first beam port; and acquire a scattering image of the target object in a first direction, with the beam emitter located in the first direction, the collimator and detector located in a second direction, and the beam emitter's beam aperture adjusted to a second beam port.

[0092] The first direction and the second direction form a preset angle.

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

[0094] In this embodiment of the disclosure, the first optical aperture is larger than the second optical aperture. For example, the first optical aperture can be 2 centimeters (cm) and the second optical aperture can be 2 millimeters (mm). This embodiment of the disclosure does not specifically limit the size of the first and second optical apertures.

[0095] For example, the implementation scenario is explained by using a frame as a fixed frame, with the collimator connected to the detector, and the beam output device and the detector respectively moving around a preset axis of the frame along a track set on the frame.

[0096] Users (medical staff) can trigger image acquisition operations on the imaging computing device. The imaging computing device can respond to the user's image acquisition operation by generating a first adjustment command through its processor and sending the first adjustment command to... Figure 4 The control device is shown. The first adjustment command is used to instruct the control device to adjust the position of the beam output device and detector (including collimator), as well as the beam aperture of the beam emitter.

[0097] Upon receiving a first adjustment command, the control device can respond to the command by controlling the beam-emitting device and the detector to move along the track of the frame around a preset axis of the frame until the beam-emitting device, collimator, and detector are positioned in a first direction, and adjusting the beam aperture of the beam emitter in the beam-emitting device to a first beam aperture (wide aperture). For example, as shown... Figure 5 As shown, S1 is the X-ray source in the beam output device. The X-ray source S1, beamformer, collimator, and detector are all located at a frame angle of 0 degrees (i.e., Figure 5 In the direction of 0 degrees in the middle frame (i.e., the first direction), the beam port of the beam rectifier is the first beam port.

[0098] After adjustment, the control device can control the X-ray source S1 in the beam-emitting device to emit X-rays. After the X-rays reach the beam beamer, they pass through the beam beamer's aperture, pass through the patient to form transmitted X-rays, and then reach the detector. After receiving the transmitted X-rays, the detector can generate a transmitted image in the detector's transmitted imaging area, that is, a transmitted image of the target object in the first direction. Afterwards, the detector can send the transmitted image to the imaging computer equipment.

[0099] After receiving the transmitted image via its processor, the imaging computer equipment can generate a second adjustment command and send it to the control device. This second adjustment command instructs the control device to adjust the position of the detector (including the collimator) and the beam aperture of the beam emitter.

[0100] Upon receiving a second adjustment command, the control device can respond to the command by controlling the detector to move along the track of the frame around a preset axis of the frame until the collimator and the detector are positioned in the second direction, and adjusting the beam aperture of the beam emitter in the beam output device to the second beam aperture. For example, as... Figure 6 As shown, the X-ray source S1 and the beam beam are located in the direction with a frame angle of 0 degrees (i.e., the first direction), the collimator and the detector are located in the direction with a frame angle of 90 degrees (i.e., the second direction), and the beam beam port of the beam beam is the second beam beam port.

[0101] After adjustment, the control device can control the X-ray source S1 in the beam-emitting device to emit X-rays. The X-rays reach the beam beamer and form a narrow-slit beam through the beam beamer's aperture. This narrow-slit beam passes through the patient, forming scattered X-rays. These scattered X-rays are then collimated and reach the detector. Upon receiving these scattered X-rays, the detector can generate a scattered image in its scattering imaging area, i.e., a sagittal scattering image of the target object in the first direction. The detector can then transmit this scattered image to the imaging computer equipment.

[0102] In another alternative implementation, Figure 4 The processor of the image computing device shown can execute an IGS application to: acquire a transmission image of the target object in a first direction, with the beam-emitting device, collimator, and detector located in a first direction and the beam emitter adjusted to a first beam aperture; and acquire a scattering image of the target object in a first direction, with the beam-emitting device, collimator, and detector located in the first direction and the beam emitter adjusted to a second beam aperture.

[0103] It should be noted here that there is one collimator located between the target object and the detector, and it is located on one side of the detector. It can be, for example, as shown below. Figure 5 or Figure 6 As shown, the collimator is positioned along and close to the first side of the detector; for example, the collimator can be located above or below the detector. Figure 20 The detector shown is positioned on the second side and located on the side close to the second side. For example, the collimator can be located on the left or right side of the detector.

[0104] Of course, there can also be two collimators, located on opposite sides of the detector. When the beam is narrow and the detector is large enough, the two edges of the detector can be used to obtain scattering images of the 2D plane (such as the coronal or sagittal plane) inside the target object. With a multi-aperture design, scattering images containing multiple sub-projections can be obtained at both ends of the detector. These scattering images with multiple sub-projections can be used for image weighted averaging and noise reduction.

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

[0106] In the embodiments of this disclosure, when acquiring the transmission image and the scattering image of the target object in the first direction, the transmission image of the target object in the first direction can be acquired first, and then the scattering image of the target object in the first direction can be acquired, or the scattering image of the target object in the first direction can be acquired first, and then the transmission image of the target object in the first direction can be acquired. The embodiments of this disclosure do not impose a specific limitation on the acquisition order of the transmission image and the scattering image.

[0107] Based on the above-mentioned acquisition of the transmission image and the scattering image in the first direction, Figure 4 The processor of the imaging computer device shown can also execute IGS applications to: acquire a transmission image of the target object in the second direction when the beam-out device, collimator, and detector are located in the second direction and the beam emitter of the beam-out device is adjusted to the first beam aperture; and acquire a scattering image of the target object in the second direction when the beam-out device is located in the second direction, the collimator and detector are located in the first direction, and the beam emitter of the beam-out device is adjusted to the second beam aperture.

[0108] Specifically, after receiving the transmitted and scattered images from the first direction, the processor of the imaging computer equipment can generate a third adjustment command and send it to the control device. This third adjustment command is used to instruct the control device to adjust the position of the beam output device and the detector (including the collimator), as well as the beam aperture of the beam emitter.

[0109] Upon receiving a third adjustment command, the control device responds by controlling the beam-emitting device and detector to move around the rotational track of the gantry until the beam-emitting device, collimator, and detector are positioned in the second direction. It then adjusts the beam aperture of the beam emitter in the beam-emitting device to the first beam aperture. After adjustment, the control device controls the X-ray source in the beam-emitting device to emit X-rays. The X-rays reach the beam emitter, pass through the beam aperture, and then through the patient to form transmitted rays before reaching the detector. Upon receiving these transmitted rays, the detector generates a transmitted image in its transmission imaging area—that is, a transmitted image of the target object in the second direction. The detector then transmits this transmitted image to the imaging computer equipment.

[0110] After receiving the transmitted image via its processor, the imaging computer equipment can generate a fourth adjustment command and send it to the control device. This fourth adjustment command instructs the control device to adjust the positions of the alignment device and detector, as well as the beam aperture of the beam resonator.

[0111] Upon receiving the fourth adjustment command, the control device can respond by controlling the detector (including the collimator) to move along the track of the gantry around a preset axis of the gantry until the collimator and detector are positioned in the first direction, and adjusting the beam aperture of the beam emitter in the beam-emitting device to the second beam aperture. After adjustment, the control device can control the X-ray source in the beam-emitting device to emit X-rays. After the X-rays reach the beam emitter, they form a narrow-slit beam through the beam aperture of the beam emitter. The narrow-slit beam passes through the patient and forms scattered X-rays. These scattered X-rays are then collimated by the collimator and reach the detector. After receiving these scattered X-rays, the detector can generate a scattered image in the detector's scattering imaging area, i.e., a coronal scattering image of the target object in the second direction. The detector can then send this scattered image to the imaging computer equipment.

[0112] In another alternative implementation, Figure 4 The processor of the image computing device shown can execute an IGS application to: acquire a transmission image of the target object in the second direction, with the beam-emitting device, collimator, and detector located in the second direction and the beam emitter adjusted to the first beam aperture; and acquire a scattering image of the target object in the second direction, with the beam-emitting device, collimator, and detector located in the second direction and the beam emitter adjusted to the second beam aperture.

[0113] When the frame rotates, the beam output device, collimator, and detector will rotate around the Y-axis at any angle, thus generating a scattering image of any 2D plane of the target object. The scattering image includes the sagittal plane image, coronal plane image, or other 2D cross-sectional image of the target object.

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

[0115] In the embodiments of this disclosure, when acquiring the transmission and scattering images of the target object in the first direction and the transmission and scattering images of the target object in the second direction, the transmission and scattering images of the target object in the first direction can be acquired first, and then the transmission and scattering images of the target object in the second direction can be acquired second, or the transmission and scattering images of the target object in the second direction can be acquired first, and then the transmission and scattering images of the target object in the first direction can be acquired third, or the transmission image in the first direction and the scattering image in the second direction can be acquired first, and then the transmission image in the second direction and the scattering image in the first direction can be acquired. The embodiments of this disclosure do not specifically limit the acquisition order.

[0116] Through the above technical solution, the detector can generate a scattering image in the second direction in the scattering imaging area and a transmission image in the second direction in the transmission imaging area, based on the scattering and transmission images in the first direction sent to the processor. The processor can further enrich the tumor location information during the tumor localization process based on the transmission and scattering images of the target object in the first direction, as well as the transmission and scattering images in the second direction, thereby accurately locating 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 a track set on the frame. In this way, the beam-emitting device can move to a first direction or a second direction under the drive of 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 a track set on the frame, and 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 under the drive of the rotating frame.

[0118] II. Two beam-out devices, one collimator, and one detector.

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

[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 one alternative implementation, Figure 4The processor of the image computer device shown can execute an IGS application to achieve: acquiring a transmission image of the target object in the first direction and a scattering image of the target object in the second direction, provided that the first beam-emitting device, collimator, and detector are located in the first direction, the second beam-emitting device is located in the second direction, and the beam emitter of the first beam-emitting device is adjusted to the first beam port and the beam emitter of the second beam-emitting device is adjusted to the second beam port; and acquiring a scattering image of the target object in the first direction and a transmission image in the second direction, provided that the first beam-emitting device is located in the first direction, the second beam-emitting device, collimator, and detector are located in the second direction, and the beam emitter of the first beam-emitting device is adjusted to the second beam port and the beam emitter of the second beam-emitting device is adjusted to the first beam port.

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

[0123] Users (medical staff) can trigger image acquisition operations on the imaging computer device. In response to the image acquisition operation, the imaging computer device generates a first adjustment command and sends the first adjustment command to the processor. Figure 4 The control device is shown. The first adjustment command is used to instruct the control device to adjust the position of the detector (including the collimator), and the beam aperture of the beam emitter in the first beam output device and the beam aperture of the beam emitter in the second beam output device.

[0124] Upon receiving a first adjustment command, the control device can respond to the command by controlling the detector (including the collimator) to move along the track of the frame around a preset axis of the frame until the first beam-emitting device, the collimator, and the detector are positioned in a first direction. The control device then adjusts the beam port of the beam emitter in the first beam-emitting device to the first beam port, and adjusts the beam port of the beam emitter in the second beam-emitting device to the second beam port. For example, as... Figure 7 As shown, S1 is the X-ray source in the first beam-emitting device, and S2 is the X-ray source in the second beam-emitting device. The X-ray source S1, the beam beam, the collimator, and the detector in the first beam-emitting device are all located at a frame angle of 0 degrees (i.e., Figure 7 The direction of the central frame (0 degrees) (i.e., the first direction). The X-ray source S2 and the beam emitter in the second beam output device are located at a frame angle of 90 degrees (i.e., the first direction). Figure 7 The direction of the middle frame (90 degrees) (i.e., the second direction).

[0125] After adjustment, the control device can control the X-ray source S1 in the first beam-emitting device to emit X-rays. After the X-rays reach the beam beam of the first beam-emitting device, they pass through the beam beam port of the beam beam in the first beam-emitting device and pass through the patient to form a transmitted X-ray before reaching the detector. After receiving the transmitted X-rays, the detector can generate a transmitted image in the transmission imaging area of ​​the detector, that is, a transmitted image of the target object in the first direction.

[0126] Then, the X-ray source S2 in the second beam-emitting device is controlled to emit X-rays. After the X-rays reach the beam emitter of the second beam-emitting device, they form a narrow slit beam through the beam aperture of the beam emitter in the second beam-emitting device. The narrow slit beam passes through the patient and forms scattered X-rays. After being collimated by the collimator, the scattered X-rays reach the detector. After receiving the scattered X-rays, the detector can generate a scattered image in the scattering imaging area of ​​the detector, that is, the coronal scattering image of the target object in the second direction.

[0127] After the detector receives the transmitted image of the target object in the first direction and the scattered image of the target object in the second direction in the above manner, it can send the transmitted image and the scattered image to the imaging computer equipment.

[0128] After receiving the transmitted image and the scattered image through its processor, the imaging computer equipment can generate a second adjustment command and send it to the control device. This second adjustment command instructs the control device to adjust the position of the collimator (including the collimator itself), as well as the beam apertures of the beam emitters in the first and second beam-emitting devices.

[0129] Upon receiving a second adjustment command, the control device can respond to the command by controlling the detector (including the collimator) to move along the track of the frame around a preset axis of the frame until the collimator and the detector are located in the second direction, and adjusting the beam port of the beam emitter in the first beam output device to the second beam port, and adjusting the beam port of the beam emitter in the second beam output device to the first beam port. For example, as... Figure 8 As shown, the X-ray source S1 and the beam beam generator in the first beam output device are located at a frame angle of 0 degrees (i.e., Figure 8 The direction of the middle frame (0 degrees) (i.e., the first direction). The X-ray source S2 and beamformer in the second beam output device, as well as the collimator and detector, are located at a frame angle of 90 degrees (i.e., 0 degrees). Figure 8 The direction of the middle frame (90 degrees) (i.e., the second direction).

[0130] After adjustment, the control device can control the X-ray source S2 in the second beam-emitting device to emit X-rays. After the X-rays reach the beam beam of the second beam-emitting device, they pass through the beam beam port of the beam beam in the second beam-emitting device and pass through the patient to form a transmitted X-ray before reaching the detector. After receiving the transmitted X-rays, the detector can generate a transmitted image in the transmission imaging area of ​​the detector, that is, a transmitted image of the target object in the second direction.

[0131] Then, the X-ray source S1 in the first beam-emitting device is controlled to emit X-rays. After the X-rays reach the beam beam of the first beam-emitting device, they form a narrow slit beam through the beam beam port of the beam beam in the first beam-emitting device. The narrow slit beam passes through the patient and forms scattered X-rays. After being collimated by the collimator, the scattered X-rays reach the detector. After receiving the scattered X-rays, the detector can generate a scattered image in the scattering imaging area of ​​the detector, that is, the sagittal scattering image of the target object in the first direction.

[0132] After the detector receives the transmitted image of the target object in the second direction and the scattered image of the target object in the first direction in the above manner, it can send the transmitted image and the scattered image to the image computer equipment.

[0133] After receiving the transmission image in the second direction and the scattering image of the target object in the first direction in the above manner, the imaging computer device can track the target object based on at least one type of image from the transmission image and the scattering image of the target object in the first and second directions.

[0134] Through the above technical solution, when the detector generates scattering and transmission images in the first direction and scattering and transmission images in the second direction, the position of the detector (including the collimator) and the size of the beam aperture of the beam emitter can be adjusted without adjusting the position of the beam output device. Therefore, the scattering and transmission images in the first direction and scattering and transmission images in the second direction can be generated more quickly, thereby improving the accuracy of tumor localization and further increasing the speed of tumor localization.

[0135] It should be noted that in other implementation scenarios, the frame can also be a rotating frame, with the two beam-emitting devices fixed on the frame and not moving themselves. The collimator is connected to the detector, and the detector can move around the preset axis of the frame along the track set on the frame. 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 frame, 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 under the drive of the rotating frame.

[0136] III. One beam output device, two collimators, and two detectors.

[0137] The two collimators may include a first collimator and a second collimator; the detector may include a first detector and a second detector, and the first collimator and the first detector (referred to as the first group) are at a preset angle to 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 one alternative implementation, Figure 4 The processor of the imaging computer device shown can execute an IGS application to achieve: acquiring a transmission image of the target object in the first 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 emitter of the beam-emitting device is adjusted to the first beam aperture; and acquiring 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 the first direction, the second collimator and the second detector are located in the second direction, and the beam emitter of the beam-emitting device is adjusted to the second beam aperture.

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

[0141] For example, with the frame as a fixed frame, the beam output device can move around the preset axis of the frame along the track set on the frame. The collimator is connected to the detector. Both sets of collimators and detectors are fixed on the frame and do not move themselves. The first collimator and the first detector are located in the first direction, and the second collimator and the second detector are located in the second direction. This is used to explain the implementation scenario.

[0142] Users (medical staff) can trigger image acquisition operations on the imaging computer device. In response to the image acquisition operation, the imaging computer device generates a first adjustment command and sends the first adjustment command to the processor. Figure 4 The control device is shown. The first adjustment command is used to instruct the control device to adjust the position of the frame, the beam output device, and the beam aperture of the beam emitter in the beam output device.

[0143] Upon receiving a first adjustment command, the control device can respond to the command by controlling the beam-emitting device to move along the track of the frame around a preset axis of the frame until the beam-emitting device, the first collimator, and the first detector are positioned in a first direction, and adjusting the beam port of the beam emitter in the beam-emitting device to the first beam port. For example, as... Figure 9As shown, S1 is the X-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 X-ray source S1 and the beam emitters, as well as the first collimator L1 and the first detector D1, are all located at a frame angle of 0 degrees (i.e.,...). Figure 9 The direction of the frame at 0 degrees (i.e., the first direction). The second collimator L2 and the second detector D2 are located at a frame angle of 90 degrees (i.e., the first direction). Figure 9 The direction of the middle frame (90 degrees) (i.e., the second direction).

[0144] After adjustment, the control device can control the X-ray source S1 in the beam-emitting device to emit X-rays. After the X-rays reach the beam beam of the beam-emitting device, they pass through the beam beam port of the beam beam in the beam-emitting device and pass through the patient to form a transmitted X-ray before reaching the first detector D1. After receiving the transmitted X-rays, 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 transmitted image of the target object in the first direction in the above manner, it can send the transmitted image to the image computer equipment.

[0146] After receiving the transmitted image, the processor of the imaging computer equipment can generate a second adjustment command and send it to the control device. This second adjustment command instructs the control device to adjust the beam aperture of the beam emitter in the beam output device.

[0147] Upon receiving the second adjustment command, the control device can respond to the second adjustment command by adjusting the beam port of the beam emitter in the beam output device to the second beam port.

[0148] After adjustment, the control device can control the X-ray source S1 in the beam-emitting device to emit X-rays. After the X-rays reach the beam beam of the beam-emitting device, they form a narrow slit beam through the beam beam opening of the beam beam in the beam-emitting device. The narrow slit beam passes through the patient to form scattered X-rays. After being limited by the second collimator L2, the scattered X-rays reach the second detector D2. After receiving the scattered X-rays, the second detector D2 can generate a scattered image in the scattering imaging area of ​​the second detector D2, that is, the sagittal plane scattering 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, it can send the scattering image to the image computer equipment.

[0150] After receiving the scattered image, the processor of the imaging computer equipment can generate a third adjustment command and send it to the control device. This third adjustment command is used to instruct the control device to adjust the position of the beam output device and the beam aperture of the beam emitter in the beam output device.

[0151] Upon receiving a third adjustment command, the control device can respond to the command by controlling the beam-emitting device to move along the track of the frame around a preset axis of the frame until the beam-emitting device is positioned in the second direction, and adjusting the beam port of the beam emitter in the beam-emitting device to the first beam port. For example, as... Figure 10 As shown, both the first collimator L1 and the first detector D1 are located at a frame angle of 0 degrees (i.e., Figure 10 The direction of the beam source S1 and beam beam in the beam output device, as well as the second collimator L2 and the second detector D2, are located at an angle of 90 degrees to the frame (i.e., the first direction). Figure 10 The direction of the middle frame (90 degrees) (i.e., the second direction).

[0152] After adjustment, the control device can control the radiation source in the beam-emitting device to emit radiation. After the radiation reaches the beam beam of the beam-emitting device, it passes through the beam beam port of the beam beam in the beam-emitting device and passes through the patient to form a transmitted radiation before reaching 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, the transmitted image of the target object in the second direction.

[0153] After the second detector receives the transmitted image of the target object in the second direction in the above manner, it can send the transmitted image to the image computer equipment.

[0154] After receiving the transmitted image, the processor of the imaging computer equipment can generate a fourth adjustment command and send it to the control device. This fourth adjustment command instructs the control device to adjust the beam aperture of the beam emitter in the beam output device.

[0155] Upon receiving the fourth adjustment command, the control device can respond to the fourth adjustment command by adjusting the beam port of the beam emitter in the beam output device to the second beam port.

[0156] After adjustment, the control device can control the radiation source in the beam-emitting device to emit radiation. After the radiation reaches the beam beamer of the beam-emitting device, it forms a narrow slit beam through the beam beamer's beam opening. The narrow 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, that is, a coronal scattering image of the target object in the second direction.

[0157] After the first detector receives the scattering image of the target object in the second direction in the above manner, it can send the scattering image to the image computer equipment.

[0158] After receiving the transmission and scattering images of the target object in the first direction and the transmission and scattering images of the target object in the second direction in the manner described above, the imaging computer device can track the target object based on at least one type of image in the transmission and scattering images of the target object in the first and second directions.

[0159] In the above embodiments, during the process of receiving the third adjustment command and adjusting the position of the beam-emitting device, the control device can also control the frame to move the beam-emitting device, the first collimator, the first detector, the second collimator, and the second detector 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. This disclosure does not specifically limit the adjustment process.

[0160] With the above technical solution, when the detector generates scattering and transmission images in the first direction and scattering and transmission images in the second direction, it can adjust only the position of the beam-emitting device and the beam aperture size of the beam beamer, without adjusting the position of the detector and collimator. Therefore, it can generate scattering and transmission images in the first direction and scattering and transmission images in the second direction more quickly, thereby improving the accuracy of tumor localization and further increasing the speed of tumor localization.

[0161] It should be noted that in other implementation scenarios, the frame can also be a rotating frame, with the beam output device fixed on the frame and not moving itself. The collimator is connected to the detector, and the detector can move around the preset axis of the frame along the track set on the frame. In this way, the beam output device can move to the first direction or the second direction under the drive of the rotating frame, or it can move to the first direction or the second direction along the track. 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] IV. Two beam output devices, two collimators, and two detectors.

[0163] 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 the first beam-emitting device, the first collimator and the first detector are at a preset angle to 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 the preset angle between the central ray emitted by the first beam-emitting device and the central ray emitted by the second beam-emitting device, wherein the central ray emitted by 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 one alternative implementation, Figure 4 The processor of the image computer device 402 shown can execute an IGS application to achieve the following: 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 emitter of the first beam-emitting device is adjusted to the first beam port and the beam emitter of the second beam-emitting device is adjusted to the second beam port, the transmission image of the target object in the first direction and the scattering image of the target object in the second direction are acquired.

[0166] With the first beam-emitting device, the first collimator, and the first detector located in the first direction, and the second beam-emitting device, the second collimator, and the second detector located in the second direction, and the beam emitter of the first beam-emitting device adjusted to the second beam port and the beam emitter of the second beam-emitting device 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] For example, with the frame as 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, and the second collimator is connected to the second detector. The first beam-emitting device, the first collimator and the first detector are located in the first direction, and the second beam-emitting device, the second collimator and the second detector are located in the second direction. This is used to explain the implementation scenario.

[0168] Specifically, the user can trigger an image acquisition operation on the image computing device. In response to the image acquisition operation, the image computing device generates a first adjustment command and sends the first adjustment command to the processor. Figure 4 The control device is shown. The first adjustment command is used to instruct the control device to adjust the beam aperture of the beam emitter in the first beam output device and the beam aperture of the beam emitter in the second beam output device.

[0169] Upon receiving a first adjustment command, the control device can, in response to the first adjustment command, adjust the beam port of the beam emitter in the first beam output device to the first beam port, and adjust the beam port of the beam emitter in the second beam output device to the second beam port. For example, as... Figure 11As shown, S1 is the X-ray source in the first beam-emitting device, S2 is the X-ray source in the second beam-emitting device, L1 is the first collimator, L2 is the second collimator, D1 is the first detector, and D2 is the second detector. S1-D1 and S2-D2 are usually placed orthogonally. The X-ray source S1 and beam emitter in the first beam-emitting device, as well as the first collimator L1 and the first detector D1, are all located at a frame angle of 0 degrees (i.e., Figure 11 The direction of the gantry (0 degrees) (i.e., the first direction). The X-ray source S2 and beamformer in the second beam output device, as well as the second collimator L2 and the second detector D2, are located at a gantry angle of 90 degrees (i.e., 0 degrees). Figure 11 The direction of the middle frame (90 degrees) (i.e., the second direction).

[0170] After adjustment, the control device can control the radiation source S1 in the first beam-emitting device to emit radiation. After the radiation reaches the beam beam of the first beam-emitting device, it passes through the beam beam port of the beam beam in the first beam-emitting device and passes through the patient to form a transmitted radiation before reaching 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 X-ray source S2 in the second beam-emitting device is controlled to emit X-rays. After the X-rays reach the beam beam of the second beam-emitting device, they form a narrow slit beam through the beam beam opening of the beam beam in the second beam-emitting device. The narrow slit beam passes through the patient and forms scattered X-rays. After being limited by the first collimator L1, the scattered X-rays reach the first detector D1. After receiving the scattered X-rays, the first detector D1 can generate a scattered image in the scattering imaging area of ​​the first detector D1, that is, the coronal scattering image of the target object in the second direction.

[0172] After receiving the transmitted image of the target object in the first direction and the scattered image of the target object in the second direction in the above manner, the first detector D1 can send the transmitted image and the scattered image to the image computer equipment.

[0173] After receiving the transmitted image and the scattered image, the processor of the imaging computer equipment can generate a second adjustment command and send it to the control device. The second adjustment command is used to instruct the control device to adjust the beam aperture of the beam emitter in the first beam output device and the beam aperture of the beam emitter in the second beam output device.

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

[0175] After adjustment, the control device can control the X-ray source S2 in the second beam-emitting device to emit X-rays. After the X-rays reach the beam beam of the second beam-emitting device, they pass through the beam beam port of the beam beam in the second beam-emitting device and pass through the patient to form a transmitted X-ray before reaching the second detector D2. After receiving the transmitted X-rays, 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 X-ray source S1 in the first beam-emitting device is controlled to emit X-rays. After the X-rays reach the beam beam of the first beam-emitting device, they form a narrow slit beam through the beam beam opening of the beam beam in the first beam-emitting device. The narrow slit beam passes through the patient and forms scattered X-rays. After being limited by the second collimator L2, the scattered X-rays reach the second detector D2. After receiving the scattered X-rays, the second detector D2 can generate a scattered image in the scattering imaging area of ​​the second detector D2, that is, the sagittal plane scattering image of the target object in the first direction.

[0177] After receiving the transmitted image of the target object in the second direction and the scattered image of the target object in the first direction in the above manner, the second detector D2 can send the transmitted image and the scattered image to the image computer equipment.

[0178] After receiving the transmission and scattering images of the target object in the first direction and the transmission and scattering images of the target object in the second direction in the manner described above, the imaging computer device can track the target object based on at least one type of image in the transmission and scattering images of the target object in the first and second directions.

[0179] With the above technical solution, when the detector generates scattering and transmission images in the first direction and scattering and transmission images in the second direction, it can adjust only the beam aperture size of the beam beamer without adjusting the positions of the detector, collimator, X-ray source and beam beamer. Therefore, the generation rate of scattering and transmission images in the first direction and scattering and transmission images in the second direction can be further improved, thereby further improving the accuracy of tumor localization while ensuring the accuracy of tumor localization.

[0180] 5. One beam output device, one collimator, and two detectors.

[0181] The two collimators may include a scattering imaging detector and a transmission imaging detector. The collimators are located between the target object and the scattering imaging detector, and the collimators and the scattering imaging detector (referred to as the first group) are at a predetermined angle to the transmission imaging detector (referred to as the second group).

[0182] Here, "preset angle" can be understood as the angle between the ray from the center point of the overscattering imaging detector and the ray from the center point of the overtransmission imaging detector being a preset angle.

[0183] In one alternative implementation, Figure 4 The processor of the imaging computer device shown can execute an IGS application to achieve: acquiring a transmission image of the target object in the first direction when the beam-out device, collimator, and transmission imaging detector are located in the first direction and the beam emitter of the beam-out device is adjusted to the first beam aperture (wide aperture); acquiring a scattering image of the target object in the first direction when the beam-out device is located in the first direction, the collimator and scattering imager are located in the second direction, and the beam emitter of the beam-out device is adjusted to the second beam aperture (narrow aperture); the first direction and the second direction form a preset angle.

[0184] In other words, the number of detectors can be two, such as Figure 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 at a preset angle to the transmission imaging detector. The collimator is located between the target object and the scattering imaging detector. For example, when the X-axis direction is perpendicular to the collimator and the scattering detector, and the beam aperture of the beam is adjusted to a narrow aperture, the rays emitted by the X-ray source S1 scatter with the target object to form scattered rays. 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 set opposite to the imaging source. When the beam aperture of the beam is adjusted to a wide aperture, the rays emitted by the imaging X-ray source are transmitted through the target object to form transmitted rays. The transmission imaging detector is used to generate a transmission image of the target object based on the received transmitted rays.

[0185] Users (medical personnel) can trigger image acquisition operations on the imaging computer equipment. In response to these operations, the equipment generates a first adjustment command via its processor and sends it to the control device. This first adjustment command instructs the control device to adjust the beam aperture of the beam resonator.

[0186] After receiving the first adjustment command, the control device can respond to the first adjustment command by adjusting the beam aperture of the beam in the imaging device to a wide aperture.

[0187] After adjustment, the control device can control the imaging beam source in the imaging device to emit a beam. The beam passes through the target object, forming a transmitted beam, and then reaches the transmission imaging detector. After receiving the transmitted beam, the transmission imaging detector can generate a transmission image, that is, a transmission image of the target object in the Z-axis direction. The detector can then send this transmission image to the image computing device.

[0188] After receiving the transmitted image via its processor, the imaging computer equipment can generate a second adjustment command and send it to the control device. This second adjustment command instructs the control device to adjust the beam aperture of the beam amplifier.

[0189] After receiving the second adjustment command, the control device can respond to the second adjustment command by adjusting the beam aperture of the beam in the imaging device to a narrow aperture.

[0190] After adjustment, the control device can control the imaging beam source in the imaging device to emit a beam. After the beam reaches the beamguide, it forms a narrow-slit beam through the beamguide's aperture. The narrow-slit beam hits the target object and forms scattered rays. These scattered rays are then collimated by the collimator and reach the scattering imaging detector. Upon receiving these scattered rays, the scattering imaging detector can generate a scattering image, i.e., a scattering image of the target object along the Z-axis (e.g., ...). Figure 21 The shaded area shown indicates the cross section where the scattered image is located. The scattered imaging detector can then transmit this scattered image to an image computing device.

[0191] By repeating the above steps, the imaging computer equipment can obtain scattered and transmitted images from multiple imaging X-ray sources along their incident directions.

[0192] It should be noted that in other implementation scenarios, the frame can also be a rotating frame, with the two beam-emitting devices fixed on the frame and not moving themselves, and the two sets of collimators and detectors also fixed on the frame and not moving 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 frame. Correspondingly, 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 frame.

[0193] In an optional implementation, the collimator in the above embodiments can be... Figure 12 The illustrated porous collimator has multiple small holes arranged in a straight line. It can also be... Figure 13 The illustrated porous collimator has multiple small holes arranged in an array. It can also be used for... Figure 14 The illustrated linear aperture collimator has an elongated opening.

[0194] Among them, the IS direction and Figures 4-11 The direction of the y-axis is consistent with that of the head-to-feet direction. The RL or AP direction is the same as... Figures 4-11 The direction of the x-axis is consistent with that of the head-to-toe direction.

[0195] In this embodiment of the disclosure, in a multi-hole collimator having multiple holes arranged in a straight line, the multiple holes can be arranged laterally (i.e., along the RL or AP direction), such as... Figure 12 As shown; it can also be arranged vertically (i.e., along the IS direction), such as Figure 15 As shown, the embodiments disclosed herein do not impose specific limitations on this.

[0196] In this embodiment, the collimator is made of a high-attenuation material such as lead or tungsten.

[0197] In this embodiment, the detector (such as a scattering imaging detector) and the collimator can be encapsulated in a lead dark box. Of course, the scattering imaging detector and the collimator can also be set separately, and there is no limitation on this. When the collimator is a multi-aperture collimator, the scattered rays can only be received by the detector through the small holes on the collimator.

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

[0199] In the above technical solution, a multi-aperture collimator and a strip-aperture collimator can be used to limit the scattered rays. Compared with the pinhole collimator and venetian blind collimator in the prior art, the multi-aperture collimator and strip-aperture collimator provided in this disclosure increase the size of the aperture on the collimator, so that more scattered photons can be limited by the collimator to reach the detector. Therefore, the number of photons of the 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 scattered image generated by the detector based on the scattered photons.

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

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

[0202] For example, in one embodiment, it is assumed that the collimator is a multi-hole collimator. Figure 16 This is a plan view of a radiotherapy device provided in an embodiment of the present disclosure, as shown below. Figure 16As shown, the multi-aperture collimator is located between the patient and the detector. The distance between the multi-aperture collimator and the patient can be represented by A1, and the distance between the multi-aperture collimator and the detector can be represented by A2. The control device can control the multi-aperture collimator to move downward, reducing the distance A2 between the multi-aperture collimator and the detector until the distance A2 between the multi-aperture collimator and the detector reaches a preset distance threshold.

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

[0204] In one embodiment, the distance threshold can 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 can be increased; if a scattering image with low image resolution and good noise reduction effect is desired, the distance threshold can be decreased.

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

[0206] In the above technical solution, after receiving scattered rays, the scattered rays are confined by each aperture of the multi-aperture collimator, forming a sub-image, ultimately resulting in a scattered image containing multiple sub-images. By reducing the distance between the multi-aperture collimator and the detector, not only can the number of sub-images be increased and the imaging range of the scattering imaging region be reduced while ensuring the imaging range of the transmission imaging region, but the area of ​​each sub-image in the scattering image can also be reduced, leaving a certain gap between each two sub-images (e.g., a 2-pixel gap) to ensure that no two sub-images overlap.

[0207] In an optional implementation, the target tracking system provided in this disclosure may further include a collimator base. When the control device adjusts the distance between the collimator and the detector, it can control the collimator base to extend or retract, so as to achieve the purpose of adjusting the distance between the collimator and the detector.

[0208] Specifically, Figure 17This is a plan view of another radiotherapy device provided in an embodiment of the present disclosure, as shown below. Figure 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, or it can control the telescopic rod in the collimator base to retract to decrease the distance between the collimator and the detector.

[0209] In this embodiment, the collimator base can be made of lead or tungsten. This embodiment does not specifically limit the material used to make the collimator base.

[0210] The above technical solution connects the collimator and the detector via the collimator base, which not only allows for adjustment of the distance between the collimator and the detector, but also allows the collimator base to block stray light, preventing stray light from affecting the scattered image and thus improving the imaging quality of the scattered image.

[0211] In one alternative implementation, the control device can also control the collimator to move into or out of the detector's imaging range before controlling the radiation source to emit radiation.

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

[0213] For example, in one embodiment, assuming that the type of the imaging image only contains a scattered image, the control device can control the collimator to move until the collimator is located at the center of the detector so that the entire detector can be used to receive the 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 detector's position, so as 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 another embodiment, assuming the type of image includes both scattered and transmitted images, the control device can control the collimator to move until the collimator is located at the edge of the detector (e.g., ...). Figure 11 As shown, the detector uses the scattering imaging region to receive scattered rays and generate a scattering image, and uses the transmission imaging region to receive transmitted rays and generate a transmission image.

[0216] In this embodiment of the disclosure, when moving the position of the collimator, the movement of the collimator can be directly controlled by the control device, or the movement of the collimator can be controlled by a motor. This embodiment of the disclosure does not specifically limit the movement of the collimator.

[0217] The above technical solution allows for the control of moving the collimator into or out of the detector's imaging range, simultaneously satisfying the acquisition requirements of both scattered and transmitted images. Specifically, when acquiring scattered images, the collimator can be moved into the detector's imaging range to confine the scattered rays and generate a scattered image. When acquiring transmitted images, the collimator can be moved out of the detector's imaging range to avoid affecting the transmitted image, thereby improving the imaging quality and expanding the imaging area of ​​the transmitted image. When acquiring both scattered and transmitted images, the collimator can be moved into the detector's imaging range, positioning it at the edge of the detector to generate a scattered image at the edge and a transmitted image at the remaining positions of the detector.

[0218] Figure 18 This is a flowchart illustrating a target tracking method provided in an embodiment of the present disclosure, applied to a processor, such as... Figure 18 As shown, the method includes:

[0219] S1801, acquire the transmission and scattering images of the target object in at least one direction.

[0220] The specific acquisition process can be referred to in the four cases mentioned above, and will not be repeated here.

[0221] In one optional implementation, after obtaining the transmission image and scattering image of the target object in at least one direction, image processing can be performed on the scattering image of the target object in each direction using at least one of the deconvolution algorithm and image enhancement algorithm to obtain the processed scattering image.

[0222] Specifically, if the acquired transmission and scattering images of the target object in at least one direction are transmission and scattering images of the target object in one direction, a deconvolution algorithm and / or image enhancement algorithm can be used to process the scattering image in that direction to obtain a processed scattering image. If the acquired transmission and scattering images of the target object in at least one direction are transmission and scattering images of the target object in multiple directions, a deconvolution algorithm and / or image enhancement algorithm can be used to process the scattering image in each direction sequentially to obtain a processed scattering image in each direction. Then, image fusion processing is performed on the processed scattering images in each direction to obtain a processed scattering image.

[0223] For example, in one embodiment, it is assumed that the acquired transmission image and scattering image include: the transmission image and scattering image of the target object at a frame angle of 0 degrees. The transmission image and scattering image at 0 degrees can be processed by deconvolution algorithm and / or image enhancement algorithm to obtain the processed scattering image.

[0224] In another embodiment, assuming the acquired transmission and scattering images include: transmission and scattering images of the target object at a frame angle of 0 degrees, and transmission and scattering images of the target object at a frame angle of 90 degrees, the transmission and scattering images at 0 degrees can be processed first using a deconvolution algorithm and / or an image enhancement algorithm to obtain a processed scattering image at 0 degrees. Then, the transmission and scattering images at 90 degrees can be processed first using a deconvolution algorithm and / or an image enhancement algorithm to obtain a processed scattering image at 90 degrees. Finally, image fusion processing is performed on the processed scattering images at 0 degrees and 90 degrees to obtain a processed scattering image.

[0225] In this embodiment of the disclosure, the image enhancement algorithm can be a boundary enhancement algorithm or a multi-scale image enhancement algorithm. This embodiment of the 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 deconvolution algorithm and 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 as to further improve the accuracy of tumor determination when using the scattering image to determine the location of the tumor.

[0227] In an optional implementation, when processing the scattering image of the target object in each direction using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain a processed scattering image, if the scattering image contains multiple sub-images, an image weighting algorithm can be used to process the multiple sub-images to obtain a weighted scattering image. Then, at least one of a deconvolution algorithm and an image enhancement algorithm is used to process the weighted scattering image to obtain a processed scattering image.

[0228] Specifically, before processing the scattering image in each direction using at least one of the deconvolution algorithm and the image enhancement algorithm to obtain the processed scattering image, the scattering image of the target object in each direction can be judged sequentially. If the scattering image contains only one image, then at least one of the deconvolution algorithm and the image enhancement algorithm is used to process the scattering image to obtain the processed scattering image.

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

[0230] For example, in one embodiment, assuming that the target object contains only one image in the scattering image in any direction, 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 the 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 process 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 process the weighted scattering image to obtain a processed scattering image in that direction.

[0232] By employing the above technical solution, when a scattering image contains multiple sub-images, an image weighting algorithm is used to weight these sub-images. This not only improves the signal-to-noise ratio of the image, resulting in a scattering image with high signal-to-noise ratio and high contrast, but also fuses the tumor information from each sub-image together. This allows the scattering image to contain richer tumor information when subsequently used to determine the location of the tumor, thereby further improving the accuracy of tumor identification.

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

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

[0235] The target type image includes at least one of the transmitted image and the scattered image.

[0236] Specifically, users (medical personnel) can select a target type image from the transmission and scattering images displayed on the user interface of the imaging computer device. In response to the user's selection of the target type image, the imaging computer device generates an instruction to use the target type 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 tracking image.

[0237] In some embodiments, a user can set a transmission image as a target type image from the transmission and scattering images displayed in the user interface of the imaging computer device. In response to the user's selection of 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. Upon receiving the instruction, the processor can track the target object based on the transmission image.

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

[0240] By employing the above technical solutions, based on the scattered image obtained using a multi-aperture collimator and a strip collimator, and processing the scattered image using deconvolution algorithms, image enhancement algorithms, and image weighting algorithms, it is possible not only to effectively increase the number of photons received by the detector from the scattered photons, 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 scattered image generated by the detector based on the scattered photons, but also to enhance the clarity of tumors in the scattered image and increase the tumor identification rate in the scattered image, so as to further improve the accuracy of tumor location determination when using scattered images to determine the tumor location.

[0241] Figure 19 A schematic block diagram of an example electronic device 1900 that can be used to implement embodiments 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 processors, cellular phones, smartphones, 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 as described above. Figure 4The image computer device shown.

[0242] like Figure 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 loaded from a storage unit 1908 into a random access memory 1903. The random access memory (RAM) 1903 can also store various programs and data required for the operation of the electronic device 1900. The computing unit 1901, the read-only memory (ROM) 1902, and the RAM 1903 are interconnected via a bus 1904. An input / output (I / O) interface 1905 is also connected to the bus 1904.

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

[0244] The computing unit 1901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Examples of computing units 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 suitable processor, controller, microcontroller, etc. The computing unit 1901 performs the various methods and processes described above, such as the data matching method. For example, in one embodiment, the data matching method can be implemented as a computer software program tangibly included in a machine-readable medium, such as storage unit 1908. In one embodiment, part or all of the computer program can be loaded and / or installed on the electronic device 1900 via ROM 702 and / or communication unit 1909. When the computer program is loaded into RAM 1903 and executed by the computing unit 1901, one or more steps of the data matching method described above can be performed. Alternatively, in other embodiments, the computing unit 1901 may be configured to perform a data matching method by any other suitable means (e.g., 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 (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0246] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0247] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory, optical fibers, portable compact disk read-only memory, 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 liquid crystal display (LCD) monitor; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0249] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0250] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

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

[0252] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A target tracking system, characterized in that, The system includes: A beam-emitting device includes a radiation source and a beam emitter; the beam aperture of the beam emitter is adjustable; when the beam aperture of the beam emitter is adjusted to the first beam aperture, the radiation emitted by the radiation source passes through the target object to form a transmitted radiation; when the beam aperture of the beam emitter is adjusted to the second beam aperture, the radiation emitted by the radiation source is scattered by the target object to form a scattered radiation; the size of the first beam aperture is larger than the size of the second beam aperture; a collimator is located between the target object and the detector, used to limit the scattered radiation; the collimator is a multi-aperture collimator, which has multiple small holes arranged in a straight line or includes multiple small holes arranged in an array; or, the collimator is a strip-aperture collimator, which has an elongated strip-shaped opening; A detector is used to receive the transmitted rays and the scattered rays confined by the collimator to generate a transmitted image of the target object in a first direction and a scattered image in a second direction; the first direction and the second direction are different directions; the detector and the collimator are encapsulated in a lead dark box; A processor is configured to acquire a transmission image and a scattering image of the target object in at least one direction, and to track the target object based on at least one type of image from 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 the first direction, and the beam emitter 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 emitter 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 emitter 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; the first direction and the second direction form a preset angle.

3. The system according to claim 2, characterized in that, The processor is also used for: With the beam-emitting device, the collimator, and the detector located in the second direction, and the beam emitter of the beam-emitting device 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 emitter 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 emitter 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.

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

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

8. 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 frame; Control the beam output device to move around a preset axis of the frame; Control the detector to move around a preset axis of the frame; Control the collimator to move closer to or further away from the detector; Control the collimator to move into or out of the imaging range of the detector.

9. A target tracking method, characterized in that, The target tracking system according to any one of claims 1-8 includes: Acquire transmission and scattering images of the target object from multiple directions; The target object is tracked based on at least one type of image from the transmission and scattering images of the target object in multiple directions.

10. The method according to claim 9, characterized in that, The tracking of the target object based on at least one type of image from transmission and scattering images of the target object in multiple directions includes: Obtain an indication of using an image of a target type as a tracking image, wherein the image of the target type includes at least one of the transmission image and the scattering image; The target object is tracked based on the tracking image.

11. The method according to claim 9, characterized in that, After acquiring the transmission and scattering images of the target object in multiple directions, the method further includes: For the scattering image of the target object in each direction, at least one of the deconvolution algorithm and image enhancement algorithm is used to process the scattering image to obtain the processed scattering image.

12. The method according to claim 11, characterized in that, The scattering image contains multiple sub-images; 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: An image weighting algorithm is used to process the multiple sub-images to obtain a weighted scattering image. The step of processing the scattering image using at least one of a deconvolution algorithm and an image enhancement algorithm to obtain a processed scattering image includes: The weighted scattering image is processed by employing at least one of the deconvolution algorithm and the image enhancement algorithm to obtain the processed scattering image.

13. An electronic device, characterized in that, The electronic device includes: processor; A memory configured to store processor-executable instructions; The processor is configured to execute the instructions to implement the target tracking method as described in any one of claims 9-12.

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