X-ray imaging system and X-ray imaging method

Abstract

The invention provides an X-ray imaging system and an X-ray imaging method. The X-ray imaging system comprises a detection bed, an X-ray source and a controller, a detector is installed in the detection bed and can move in the length direction and the width direction of the detection bed, and the X-ray source and the detector can be matched to obtain an X-ray image of a detected object. The controller can control the X-ray source and the detector to move so as to acquire a first number of X-ray images of the detected object in the width direction of the detection bed, and can perform image splicing on the first number of X-ray images so as to acquire a panoramic image of the detected object in the width direction.

Description

Technical Field

[0001] The present invention relates to medical imaging technology, and more particularly to an X-ray imaging system and an X-ray imaging method. Background Art

[0002] In an X-ray imaging system, radiation from an X-ray source is directed toward a subject, which is typically a patient in medical diagnostic applications. A portion of the radiation passes through the subject and strikes a detector, which is divided into a matrix of discrete elements (e.g., pixels). The detector elements are read out to produce an output signal based on the amount or intensity of radiation striking each pixel area. The signal can then be processed to produce a medical image that can be displayed for inspection, which can be displayed in a display device of the X-ray imaging system.

[0003] During the scanning process, it is sometimes necessary to compare certain organs or parts horizontally (in the width direction of the human body). For example, it is sometimes necessary to compare the images of the shoulders and necks on both sides of the subject. However, for subjects who are slightly larger than the subject or for conjoined subjects, it is difficult to display the left and right shoulders and necks on one image at the same time. Therefore, it is more difficult to compare the subjects horizontally. Summary of the invention

[0004] The invention provides an X-ray imaging system and an X-ray imaging method.

[0005] An exemplary embodiment of the present invention further provides an X-ray imaging system. The X-ray imaging system includes a detection bed, an X-ray source, and a controller. A detector is installed in the detection bed, and the detector can move along the length and width of the detection bed. The X-ray source and the detector can cooperate to obtain an X-ray image of the detected object. The controller can control the movement of the X-ray source and the detector to obtain a first number of X-ray images of the detected object along the width direction of the detection bed, and can stitch the first number of X-ray images to obtain a panoramic image of the detected object in the width direction.

[0006] An exemplary embodiment of the present invention further provides an X-ray imaging method. The X-ray imaging method includes moving or rotating an X-ray source from a first position to an nth position along a width direction of a detection bed to obtain a first X-ray image to an nth X-ray image of a detected object, and splicing the first X-ray image to the nth X-ray image to obtain a panoramic image of the detected object in the width direction, wherein n is a first number.

[0007] An exemplary embodiment of the present invention also provides an X-ray imaging method. The X-ray imaging method includes moving or rotating an X-ray source along the width direction of a detection bed to obtain a first number of X-ray images; stitching the first number of X-ray images to obtain a panoramic image of the detected object in the width direction; moving or rotating the X-ray source along the length direction of the detection bed to obtain a second number of X-ray images; stitching the second number of X-ray images and the panoramic image to obtain a full-body image of the detected object.

[0008] Other features and aspects will become apparent from the following detailed description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0010] Figure 1 is a schematic diagram of an X-ray imaging system according to some embodiments of the present invention;

[0011] Figure 2 is a schematic diagram of a detection bed according to some embodiments of the present invention;

[0012] Figure 3 is a schematic diagram of a detector according to some embodiments of the present invention;

[0013] Figure 4 is a schematic diagram of a region of interest according to some embodiments of the present invention;

[0014] Figure 5 is a schematic diagram of a control principle of a controller according to some embodiments of the present invention;

[0015] Figure 6 is a schematic diagram of a panoramic image obtained according to some embodiments of the present invention;

[0016] Figure 7 is a flowchart of an X-ray imaging method according to some embodiments of the present invention; and

[0017] Figure 8 is a flow chart of an X-ray imaging method according to some other embodiments of the present invention. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0019] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0020] Figure 1 FIG. 1 shows an X-ray imaging system 100 according to some embodiments of the present invention. Figure 1 As shown, Figure 1 FIG. 1 shows an X-ray imaging system 100 according to some embodiments of the present invention. Figure 1 As shown, the X-ray imaging system 100 includes a suspension device 110, a wall stand device 120, and a testing bed 130. The suspension device 110 includes a longitudinal guide rail 111, a transverse guide rail 112, a telescopic cylinder 113, a trolley 114, and a tube assembly 115.

[0021] For ease of description, in the present application, the x-axis, y-axis and z-axis are defined as the x-axis and y-axis are located in a horizontal plane and are perpendicular to each other, and the z-axis is perpendicular to the horizontal plane. Specifically, the direction of the longitudinal guide rail 111 is defined as the y-axis, the direction of the transverse guide rail 112 is defined as the x-axis direction, and the extension direction of the retractable cylinder 113 is defined as the z-axis direction, and the z-axis direction is the vertical direction.

[0022] The longitudinal guide rail 111 and the transverse guide rail 112 are vertically arranged, wherein the longitudinal guide rail 111 is installed on the ceiling, and the transverse guide rail 112 is installed on the longitudinal guide rail 111. The telescopic cylinder 113 is used to carry the ball tube assembly 115.

[0023] The pulley 114 is arranged between the transverse guide rail 112 and the telescopic cylinder 113. The pulley 114 may include a rotating shaft, a motor, a reel and other components. The motor can drive the reel to rotate around the rotating shaft, thereby driving the telescopic cylinder 113 to move along the z-axis and / or slide relative to the transverse guide rail. The pulley 114 can slide relative to the transverse guide rail 112, that is, the pulley 114 can drive the telescopic cylinder 113 and / or the ball tube assembly 115 to move along the y-axis direction. And the transverse guide rail 112 can slide relative to the longitudinal guide rail 111, thereby driving the telescopic cylinder 113 and / or the ball tube assembly 115 to move along the x-axis direction.

[0024] The telescopic cylinder 113 includes a plurality of cylinders with different inner diameters, and the plurality of cylinders can be sequentially sleeved in the cylinder located above them from bottom to top to achieve telescoping. The telescopic cylinder 113 can be telescopic (or movable) in the vertical direction, that is, the telescopic cylinder 113 can drive the ball tube assembly to move along the z-axis direction. The lower end of the telescopic cylinder 113 is also provided with a rotating part, which can drive the ball tube assembly 115 to rotate.

[0025] The tube assembly 115 includes an X-ray source that can generate X-rays and project the X-rays to a desired region of interest ROI of the patient. Specifically, the X-ray source can be positioned adjacent to a beam limiter that is used to direct the X-rays to the desired region of interest of the patient. At least a portion of the X-rays can be attenuated by the patient and can be incident on the detector 121 / 131.

[0026] The suspension device 110 further includes a beam limiter 117, which is usually installed below the X-ray source. The X-rays emitted by the X-ray source are irradiated onto the object to be inspected through the opening of the beam limiter 117. The size of the opening of the beam limiter 117 determines the irradiation range of the X-rays, that is, the size of the exposure field of view (FOV). It is well known that X-rays are harmful to the human body, so it is necessary to control the X-rays so that they only irradiate the part of the object to be inspected, that is, the area of ​​interest.

[0027] The suspension device 110 further includes a tube control device (console) 116, which is installed on the tube assembly. The tube control device 116 includes a user interface such as a display screen and control buttons for performing pre-shooting preparations, such as patient selection, protocol selection, and positioning.

[0028] The movement of the suspension device 110 further includes the rotation of the tube assembly 115 in the vertical plane and the rotation of the tube assembly 115 in the horizontal plane, that is, the rotation of the tube assembly 115 in the vertical plane is about the y-axis, and the rotation angle of the tube assembly 115 relative to the initial position is defined as the first rotation angle α, and the rotation of the tube assembly 115 in the horizontal plane is about the z-axis, and the rotation angle of the tube assembly 115 relative to the initial position is defined as the second rotation angle θ. For ease of display, Figure 1 The bellows are omitted.

[0029] In the above-mentioned movements, a motor is usually used to drive the rotating shaft to drive the corresponding components to rotate and thus achieve corresponding movement or rotation, and the corresponding control components are generally installed in the pulley 114. The X-ray imaging unit further includes a motion control unit (not shown in the figure), which can control the above-mentioned movement of the suspension device 110. Further, the motion control unit can receive a control signal to control the corresponding component to perform corresponding movement.

[0030] In some embodiments, the X-ray imaging system 100 further includes a camera unit 140, which is aligned with the detector to obtain a real-time camera image of the detected object. In addition, the camera can also obtain an image of the detector, etc.

[0031] Specifically, the camera unit 140 is mounted on the suspension device 110, and further, on the side of the beam limiter 117. The camera unit may include one or more cameras, for example, a digital camera, an analog camera, or a depth camera, an infrared camera, or an ultraviolet camera, or a 3D camera, a 3D scanner, or a red, green, and blue (RGB) sensor, an RGB depth (RGB-D) sensor, or other devices that can capture color image data of the target object. In some embodiments, the camera unit 140 is also provided with a control module that can control the rotation of the camera unit to adjust the shooting range of the camera unit. In other embodiments, the camera unit is a panoramic camera that can capture a full-body image of the detected object.

[0032] The camera unit 140 can obtain the depth information or depth image of the detected object. Usually, the depth information is obtained by computing the 3D point cloud acquired by the camera. In addition, the real-time camera image can be used to obtain at least one of the thickness, height, position, posture, and posture of the detected object. In some embodiments, the camera unit 140 can also be installed in a fixed position in the scanning room, or a camera unit fixed in any other way. In some embodiments, the camera image acquired by the camera unit is not limited to one camera image, but can also include a dynamic real-time video stream, that is, a series of real-time camera images.

[0033] The column device 120 includes a first detector assembly 121, a column 122 and a connecting portion 123. The connecting portion 123 includes a support arm connected perpendicularly to the height direction of the column 122 and a rotating bracket installed on the support arm. The first detector assembly 121 is installed on the rotating bracket. The column device 120 further includes a detector driving device arranged between the rotating bracket and the first detector assembly 121. Under the drive of the detector driving device, the first detector assembly 121 moves along a direction parallel to the height direction of the column 122 on the plane supported by the rotating bracket. The first detector assembly 121 can also be further rotated relative to the support arm to form a certain angle with the column. The first detector assembly 121 has a plate-like structure, and its direction is variable so that the X-ray incident surface becomes vertical or horizontal according to the incident direction of the X-ray.

[0034] The detection bed 130 includes a second detector assembly 131. The selection or use of the first detector assembly 121 and the second detector assembly 131 can be determined based on the patient's shooting part and / or shooting protocol, and can also be determined based on the position of the object being tested obtained by the camera shooting, so as to perform shooting inspections in the supine or standing position. Figure 1 Only an example diagram of the column and the detection bed is shown. Those skilled in the art should understand that columns and / or detection beds of any form or arrangement may be selected, or only columns may be installed. The columns and / or detection beds do not limit the entire scheme of the present application.

[0035] The X-ray imaging system further includes a control device (not shown in the figure), which can be a main control device located in the control room, a tube control device installed on a suspension device, a movable or portable control device, or any combination of the above. The control device may include a source control device and a detector control device. The source control device is used to command the X-ray source to emit X-rays for image exposure. The detector control device is used to select a suitable detector from a plurality of detectors and coordinate the control of various detector functions, for example, automatically selecting a corresponding detector according to the position or posture of the object being detected, or performing various signal processing and filtering functions, specifically, for initial adjustment of the dynamic range, interleaving of digital image data, etc. In some embodiments, the control device may provide power and timing signals for controlling the operation of the X-ray source and the detector.

[0036] In some embodiments, the control device may also be configured to use the digitized signals to reconstruct one or more desired images and / or determine useful diagnostic information corresponding to the patient, wherein the control device may include one or more dedicated processors, graphics processing units, digital signal processors, microcomputers, microcontrollers, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other appropriate processing devices.

[0037] Of course, the X-ray imaging system may also include other numbers or configurations or forms of control devices, for example, the control device may be local (e.g., co-located with one or more X-ray imaging systems 100, such as in the same facility and / or the same local network); in other implementations, the control device may be remote and therefore only accessible via a remote connection (e.g., via the Internet or other available remote access technology). In a specific implementation, the control device may also be configured in a cloud-like manner and may be accessed and / or used in a manner substantially similar to accessing and using other cloud-based systems.

[0038] The X-ray imaging system 100 also includes a storage device (not shown in the figure), and the control device can store the digitized signal in the storage device. For example, the storage device may include a hard disk drive, a floppy disk drive, a compact disk read / write (CD-R / W) drive, a digital versatile disk (DVD) drive, a flash drive and / or a solid-state storage device. The storage device is used to store programs that can be executed by the computer. Of course, the storage device can also be integrated with the control device to effectively use the floor space and / or meet the expected imaging requirements.

[0039] In one embodiment, the X-ray imaging system 100 further includes an operator workstation that allows a user to receive and evaluate reconstructed images, and input control instructions (operation signals or control signals). The operator workstation may include a user interface (or user input device), such as a keyboard, a mouse, a voice-activated control device, or any other suitable input device, and some form of operator interface, through which an operator can input operation signals / control signals to a control device.

[0040] In a traditional X-ray imaging system, the second detector assembly in the detection bed can only move along the length direction of the detection bed, and the existing image stitching can only be performed along the length (or height) direction of the human body. This is because the second detector assembly in the detection bed can only move along the length direction of the detection bed, and the first detector assembly in the column can only move along the vertical direction (that is, the standing direction of the human body). Restricted by the moving direction of the detector assembly, the exposure assembly can only be moved along the height direction of the human body to perform image stitching, but image stitching cannot be achieved in the width direction of the human body to obtain a panoramic image in the width direction.

[0041] In addition, when the user or operator needs to compare the user's image in the width direction, the object to be detected is usually required to move its position so that the left and right shoulders of the object to be detected are respectively located at the position of the detector, and are exposed successively to obtain X-ray images of the left and right shoulders of the object to be detected respectively. However, in the process of moving the position of the object to be detected, the posture of the object to be detected, the angle of the shoulder and neck, etc. will change, which will cause the images obtained successively to be displaced or deviate, resulting in a large error in the comparison process.

[0042] In response to these problems, the applicant proposed to acquire multiple X-ray images along the width direction of the detection bed, based on the fact that the detector assembly in the detection bed can move in the length and width directions respectively, and then stitch the multiple X-ray images to obtain a panoramic image of the object to be detected in the width direction, for example, a panoramic image of the shoulder and neck.

[0043] Figure 2 is a schematic diagram of a detection bed 200 according to some embodiments of the present invention. Figure 3 Schematic diagrams of detector assemblies of some embodiments of the present invention are shown. Figure 2-3 As shown, the detection bed 200 includes a base 210, a bed panel assembly 220, a support assembly 230 and a detector assembly 240. For ease of description, the direction parallel to the long side of the bed panel is referred to as the length direction 21 of the detection bed, and the direction parallel to the short side of the bed panel is referred to as the width direction 22 of the detection bed.

[0044] Specifically, the bed panel assembly 220 is installed on the support assembly 230, and there is a accommodating space between the bed panel assembly 220 and the support assembly 230, and the accommodating space is used to accommodate the detector assembly 240. The detector assembly 240 is installed on the support assembly 230, and the detector assembly 240 can move relative to the support assembly 230 along the length direction 21 and the width direction 22. The support assembly 230 is installed on the base 210.

[0045] In some embodiments, the base 210 has a substantially rectangular three-dimensional box-shaped structure, and the base 210 includes a plurality of shells that are sequentially sleeved, and the plurality of shells can be sequentially sleeved in the shells located thereon from bottom to top to achieve telescopic adjustment to adjust the height of the detection bed. In some embodiments, the detection bed may also include a lifting assembly, which is arranged in the base 210, and the support assembly 230 can be installed on the top plate of the lifting assembly. The lifting assembly includes a lifting column and a motor, and the lifting column is raised or lowered by supplying power to the motor, thereby driving the support assembly to raise or lower the bed panel assembly, but the embodiments of the present application are not limited thereto.

[0046] Specifically, the base 210 includes a pedal 211, which can be used to control the height of the detection bed, and the user can adjust the height of the detection bed by controlling the pedal 211. Those skilled in the art should understand that the base can also be set in any other form, for example, it can be set to be unable to adjust the height, or it can be set to adjust the height in other forms, and is not limited to the above description.

[0047] The bed panel assembly 220 includes a bed panel frame 221 and a bed panel 222, wherein the bed panel 222 is mounted on the bed panel frame 221, and the bed panel 222 is movably connected to the bed panel frame 221. Specifically, the bed panel frame 221 is composed of four frames, and a closed space is formed inside. Specifically, the bed panel frame 221 includes a first frame 201, a second frame 202 opposite to the first frame 201, and a third frame 203 and a fourth frame 204 adjacent to the first frame 201, and the four frames are connected together by riveting, welding, or key connection. Of course, the bed panel frame 221 can also be integrally formed. Specifically, the material of the bed panel frame 221 is aluminum, and of course, the bed panel frame can also be made of other metal materials. The bed panel 222 can be placed on the bed panel frame 221, and of course, can also be embedded in the bed panel frame 221 so that the upper surface of the bed panel and the upper surface of the bed panel frame are in the same plane. Of course, the bed panel 222 can also be rotatably installed in the bed panel frame 221. For example, the first frame 201 of the bed panel frame 221 and the edge connecting the bed panel 222 form a rotating axis 270, so that the bed panel 222 can be opened inside and outside relative to the rotating axis 270, etc.

[0048] The bed panel 222 can be made of a material with low X-ray attenuation, such as a carbon fiber composite material. The bed panel 222 may include a single-layer board or a multi-layer board structure. For example, when the bed panel 222 includes a multi-layer board structure, each layer uses a specific material, such as an inner layer made of foam and an outer layer made of a carbon fiber composite material. Alternatively, a heating layer may be added to the bed panel 222, and the heat generated by the heating layer is conducted to the outer layer in contact with the object to be detected. The material has appropriate strength to provide stable support for the scanned object. For details, please refer to the prior art and will not be described here one by one.

[0049] In some non-limiting embodiments, the rotating shaft 270 of the bed panel frame 221 and the bed panel 222 is arranged along the length direction 21 of the bed panel, that is, the bed panel can be turned outward along the length direction, that is, one long side of the bed panel is fixed, and the other long side can be raised or lowered. However, those skilled in the art should understand that the rotating shaft can also be arranged in the width direction of the bed panel, that is, the bed panel can be turned outward along the width direction.

[0050] The detector assembly 240 is installed on the support assembly 230. The detector assembly 240 includes a tray 241 and a detector box 242. A detector is arranged or installed in the detector box 242. The detector has an X-ray receiving surface that can be used to receive X-rays. The detector box 242 is installed or fixed on the tray 241.

[0051] In some embodiments, the detector assembly 240 includes a first group of moving components, which are used to drive the detector box 242 to move along the width direction 22. Specifically, the detector box 242 can move from one side of the first frame 201 to one side of the second frame 202, so that the receiving range of the detector box 242 can move from one side of the bed panel to the other side along the width direction 22.

[0052] Specifically, the first group of moving components includes a first group of synchronous belts, a first group of guide rails and a first motor. The first group of guide rails is arranged along the width direction 22. The bottom of the tray 241 is provided with a guide rail groove opposite to the first group of guide rails, so that the tray 241 can move relative to the first group of guide rails. One end of the first group of synchronous belts is fixed on the tray 241, and the other end is connected to the first motor, so that the first group of synchronous belts is controlled by the first motor to drive the tray to move, so that the tray and the detector move along the width direction 22. Specifically, the first group of moving components further includes at least one first group of sensors to provide feedback on the position of the tray in the width direction.

[0053] Specifically, the detector assembly 240 further includes a second group of moving components, which are used to drive the tray 241 and then drive the detector box 242 to move along the length direction 21. Specifically, the detector assembly 240 can move from one side of the third frame 203 to one side of the fourth frame 204, so that the receiving range of the detector box 242 can move from one side of the bed panel to the other side along the longitudinal axis.

[0054] Specifically, the second group of moving components includes a second group of synchronous belts, a second group of guide rails, and a second motor. The second group of guide rails is arranged along the length direction 21, the first group of guide rails is arranged on the second group of guide rails, and the first group of guide rails and the second group of guide rails are arranged vertically. The tray 241 can move relative to the second group of guide rails. One end of the second group of synchronous belts is fixed on the tray 241, and the other end is connected to the second motor, so that the second group of synchronous belts is controlled by the second motor to drive the tray to move, so that the tray and the detector move along the length direction 21. Specifically, the second group of moving components further includes at least one second group of sensors to provide feedback on the position of the tray in the length direction.

[0055] Figure 4 Schematic diagram showing the control principle of the controller of some embodiments of the present invention. Figure 4 As shown, the controller can control the movement of the X-ray source and the detector to obtain a first number of X-ray images of the detected object along the width direction of the detection bed, and can stitch the first number of X-ray images to obtain a panoramic image of the detected object in the width direction.

[0056] The first number is an integer greater than 1, for example, two X-ray images may be acquired in the width direction and the two X-ray images may be stitched together, of course, three X-ray images may be acquired and the three X-ray images may be stitched together, or more X-ray images may be acquired. Generally, how many X-ray images are taken in the width depends on the width of the shooting part and the size of the detector.

[0057] Specifically, first, in 310, the controller can select or display a stitching mode based on the user input. Specifically, the stitching mode includes a rotation mode and a translation mode. Specifically, multiple images to be stitched can be acquired by emitting X-rays at multiple different angles (or orientation positions) respectively, or by translating the X-ray source to acquire multiple images to be stitched. This can be determined based on the selection of the user or operator, or can be automatically determined based on the shooting part, or can be determined based on the default mode.

[0058] Secondly, optionally, in 320, when the selected stitching mode is the rotation mode, before acquiring the image to be stitched by rotation, the controller can be further used to control the X-ray source to rotate in the horizontal plane until the reference line is parallel to the length direction of the detection bed, wherein the reference line is a direction perpendicular to the screen plane of the tube control device. Of course, when the selected stitching mode is the translation mode, it is not necessary to rotate the X-ray source along the z-axis.

[0059] The default position of the tube control device in the suspension device is that the reference line is in the direction of the x-axis. Since the tube assembly needs to be controlled to rotate along the width direction of the detection bed, the reference line of the suspension device needs to be controlled to be in the y-axis direction, that is, the tube assembly needs to be controlled to rotate 90 degrees along the z-axis so that the reference line is parallel to the length direction of the detection bed. Through such a rotation setting, the tube assembly can be rotated along the width direction of the detection bed. Of course, if the tube assembly is already in a position where the reference line is in the y-axis direction, there is no need to rotate the tube assembly along the z-axis, and the X-ray source can be directly controlled to rotate to obtain the image to be stitched.

[0060] Secondly, in 330, the controller can be further used to control the suspension device to move to align the X-ray source and the detector to the center of the region of interest of the detected object. In some embodiments, the rotation of the X-ray source along the z-axis in 320 and the movement to the center of the region of interest in 330 can be controlled or moved synchronously.

[0061] In some embodiments, the controller can automatically control the suspension device to move to the target position (ie, the center of the region of interest) according to the position indicated by the handheld positioning device.

[0062] Specifically, the handheld positioning device includes at least one position detection unit, a signal transmission unit and a trigger unit. At least one position detection unit is capable of transmitting a detection signal toward a wall or a reflector in a room and receiving a reflected detection signal, and calculating the target position of the handheld positioning device in the room where the scanning room is located based on the transmitted and received detection signals. The signal transmission unit is connected to a controller and sends the current target position of the handheld positioning device to the controller, and the controller further controls the X-ray source and the detector to move to the target position based on the current target position. The trigger unit is used to connect to the signal transmission unit and control the signal transmission unit to send the current target position when the trigger unit is triggered.

[0063] The target position indicated by the current handheld positioning device is acquired in real time based on the detection signals emitted and received by the position detection unit, and the position is sent to the controller through the trigger button. The controller can then control the X-ray source and the detector to automatically move to the indicated target position, and can move the position of the handheld positioning device and then move the X-ray source and the detector to any desired target position through the controller wirelessly connected to the handheld positioning device.

[0064] In other embodiments, Figure 5 In the display interface of the camera image shown, the position of the center 302 of the area of ​​interest can be determined based on the camera image of the object to be inspected, and then the position of the center of the actual area of ​​interest corresponding to the object to be inspected can be determined based on the installation position or angle between the camera and the X-ray source, and then the controller can control the X-ray source and the detector to move to a position aligned with the area of ​​interest.

[0065] Next, in 340 , the controller can further determine the size of the region of interest and the number of regions to be stitched.

[0066] In some embodiments, the controller can determine the size of the region of interest based on the photographed part of the detected object. For example, if the photographed part of the detected object is the neck, the controller can roughly determine the size of the region of interest and determine the number of stitching required based on the size of the detector and the size of the overlapping area required for stitching. The size of the overlapping area required for stitching means that if two images need to be stitched, at least a portion of the two images (for example, a distance of 7 cm) needs to overlap so that there is an overlapping portion in the two images, thereby achieving image stitching.

[0067] In other embodiments, the controller can determine the region of interest in the camera image based on the camera image acquired by the camera. Figure 5 FIG. 3 is a schematic diagram showing a region of interest 301 according to some embodiments of the present invention. Figure 5 As shown, based on Figure 1 The camera image of the detected object acquired by the camera unit 140 is displayed or shown in the user interface of the display unit, and the region of interest can be further displayed on the user interface. The user or operator of the X-ray imaging system can input or select the region of interest of the detected object for imaging through the user interface. As a non-limiting example, the region of interest may include the entire shoulder and neck, pelvis and hip joint of the detected object. Of course, the controller can also automatically identify the region of interest and position of the detected object based on the recognition of the key points of the detected object.

[0068] In some embodiments, the starting position of the splicing of the X-ray source may not be determined by moving the X-ray source to the center of the region of interest, but the starting position and the ending position of the X-ray source may be determined by determining the boundary area of ​​the splicing region. For example, taking the shoulder and neck as an example, the outermost side of the left shoulder (or right shoulder) may be used as the starting position of the splicing, and the outermost side of the right shoulder (or left shoulder) may be used as the ending position of the splicing. Then, by determining the starting position and the ending position, the X-ray source may be controlled to rotate or move to emit X-rays according to the number of splicing to be determined based on the starting position and the ending position.

[0069] Next, in 350 , the controller can further control the X-ray source to acquire a first number of X-ray images by rotation or translation.

[0070] Specifically, in some embodiments, the controller is further used to control the X-ray source to emit X-rays at a plurality of different angles to acquire a first number of X-ray images.

[0071] Specifically, the controller is further used to rotate the X-ray source from a first angle to an nth angle along the width direction of the detection bed to align the first part to the nth part of the region of interest to obtain the first X-ray image to the nth X-ray image of the object to be detected, and to splice the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, wherein n is a first number. Specifically, the X-ray source can be rotated in a vertical plane so that the X-ray source can be at different positions along the width direction of the detection bed.

[0072] Specifically, taking the first number as two as an example, the region of interest can be divided into a first part and a second part based on the size of the detector and the size of the overlapping area of ​​the image to be stitched, wherein the first part and the second part have an overlapping part. The controller is further used to rotate the X-ray source to a first angle to align with the first part of the region of interest to obtain a first X-ray image of the object to be detected; rotate the X-ray source to a second angle to align with the second part of the region of interest to obtain a second X-ray image of the object to be detected; and stitch the first X-ray image and the second X-ray image to obtain a panoramic image of the object to be detected. Of course, when the first number is more than two, the controller can also rotate the X-ray source to a third angle to align with the third part of the region of interest, and stitch the three acquired X-ray images.

[0073] In other embodiments, the controller is further used to control the X-ray source to emit X-rays (360) at multiple different positions to obtain a first number of X-ray images, that is, to move the X-ray source along the width direction of the detection bed so that the X-ray source is aimed at the center position of different parts of the region of interest.

[0074] Specifically, the controller is further used to move the X-ray source from a first position to an nth position to align with a first part to an nth part of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected, and to stitch the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, wherein n is the first number.

[0075] Taking the first number being two as an example, the region of interest can be divided into a first part and a second part based on the size of the detector and the size of the overlapping area of ​​the images to be stitched, and the controller is further used to move the X-ray source to a first position to align with the first part of the region of interest to obtain a first X-ray image of the object to be detected; move the X-ray source to a second position to align with the second part of the region of interest to obtain a second X-ray image of the object to be detected; and stitch the first X-ray image and the second X-ray image to obtain a panoramic image of the object to be detected.

[0076] Finally, in 360, the controller can be further used to stitch the acquired first number of X-ray images. Specifically, the conventional mechanism for automatically stitching two overlapping images together may include a search-based method, in which common anatomical features between overlapping images are identified and used as a basis for stitching images. Of course, image stitching can also be based on, for example, a deep learning model. The image stitching can be performed in any suitable manner, which is not limited here.

[0077] Figure 6 is a schematic diagram of a panoramic image obtained according to some embodiments of the present invention. Figure 6 As shown, the panoramic image obtained along the width direction of the human body can simultaneously display the left and right shoulders and neck areas of the detected object, which is convenient for the user or operator to compare and diagnose.

[0078] In some embodiments, the controller can be further used to control the movement of the X-ray source and the detector to obtain a second number of X-ray images of the detected object along the length direction of the detection bed, and can stitch the second number of X-ray images and the panoramic image in the width direction to obtain a full-body image of the detected object. Specifically, an image of the spine or a panoramic image of the legs of the detected object can be obtained along the length direction of the detection bed. By obtaining multiple images along the length direction of the detection bed, the image of the detected object can be obtained along the height of the detected object, for example, an image from the head to the feet. In addition, by combining the panoramic images of the detected object at different angles obtained along the length direction and the width direction of the detection bed, a full-body image of the detected object can be obtained.

[0079] Although in the above description, the X-ray imaging system is a suspended X-ray imaging system, of course, the current image stitching method and device can also be applied to ground-rail X-ray imaging systems and movable X-ray imaging systems. Specifically, the X-ray source can be installed on a ground-rail cross arm, that is, the cross arm on which the X-ray source is installed is installed in a track on the ground through a column, and the X-ray source can move along the track, the column and the cross arm. Of course, the X-ray source can also be installed on a movable cart through a telescopic arm.

[0080] Figure 7 is a flow chart of an X-ray imaging method according to some embodiments of the present invention. Figure 7 As shown, the X-ray imaging method 400 includes step 410 , step 420 and step 430 .

[0081] In step 410, the X-ray source is moved or rotated from a first position to an nth position along the width direction of the detection bed to obtain a first X-ray image to an nth X-ray image of the detection object.

[0082] In some embodiments, before step 410, the method further includes controlling the suspension device and the detector to move so that the X-ray source and the detector are aligned with the center of the region of interest of the object to be detected. Specifically, controlling the suspension device to move so that the X-ray source and the detector are aligned with the center of the region of interest of the object to be detected includes automatically controlling the suspension device and the detector to move to the target position based on the position of the handheld positioning device. In other embodiments, controlling the suspension device to move so that the X-ray source and the detector are aligned with the center of the region of interest of the object to be detected includes determining the center of the region of interest based on the camera image of the object to be detected acquired by the camera, based on the recognition of key points, or based on the photographed part of the object to be detected or the input or selection of the user, and then automatically moving the X-ray source and the detector to align with the center of the region of interest in the camera based on the position relationship between the camera and the X-ray source.

[0083] In some embodiments, step 410 further includes rotating the X-ray source from a first angle to an nth angle along the width direction of the detection bed to align with a first part to an nth part of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected, and stitching the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, where n is a first number.

[0084] In other embodiments, step 410 further includes moving the X-ray source from a first position to an nth position to align with a first part to an nth part of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected, and stitching the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, wherein n is the first number.

[0085] In step 420, the first X-ray image to the nth X-ray image are spliced ​​to obtain a panoramic image of the detected object in the width direction, where n is a first number.

[0086] Specifically, conventional mechanisms for automatically stitching two overlapping images together may include a search-based approach, in which common anatomical features between overlapping images are identified and used as a basis for stitching the images. Of course, image stitching may also be performed based on, for example, a deep learning model.

[0087] Figure 8 FIG. 1 is a flow chart of an X-ray imaging method according to some other embodiments of the present invention. Figure 8 As shown, the X-ray imaging method 500 includes step 510 , step 520 , step 530 and step 540 .

[0088] In step 510, the X-ray source is moved or rotated along the width direction of the detection bed to acquire a first number of X-ray images.

[0089] In step 520, the first number of X-ray images are stitched to obtain a panoramic image of the detected object in the width direction.

[0090] In step 530, the X-ray source is moved or rotated along the length direction of the detection bed to obtain a second number of X-ray images. Specifically, the second number is any integer greater than 1, for example, it can be 2, 3 or any number.

[0091] In step 540, the second number of X-ray images and the panoramic image are stitched to obtain a full-body image of the detected object.

[0092] The X-ray imaging system and method of some embodiments of the present invention, first, by setting a detector that can move along the length and width of the detection bed, and rotating or translating the X-ray source along the width of the detection bed, it is possible to obtain multiple X-ray images along the width of the detection bed, so as to splice and obtain a panoramic image of the width of the human body, so that similar shoulders and necks on both sides can be displayed in the same image, which is convenient for doctors to make judgments or diagnoses. In addition, by obtaining multiple X-ray images along the width and length of the detection bed respectively, it is possible to splice and obtain a full-body image of the object being detected.

[0093] An exemplary embodiment of the present invention further provides an X-ray imaging system. The X-ray imaging system includes a detection bed, an X-ray source, and a controller. A detector is installed in the detection bed, and the detector can move along the length and width of the detection bed. The X-ray source and the detector can cooperate to obtain an X-ray image of the detected object. The controller can control the movement of the X-ray source and the detector to obtain a first number of X-ray images of the detected object along the width direction of the detection bed, and can stitch the first number of X-ray images to obtain a panoramic image of the detected object in the width direction.

[0094] Specifically, the controller can be further used to control the X-ray source to move so that the X-ray source is aligned with the center of the region of interest of the detected object.

[0095] Specifically, the controller is further used to obtain the region of interest.

[0096] Specifically, the controller can be further used to: rotate the X-ray source from a first angle to an nth angle to align with the first part to the nth part of the region of interest to obtain the first X-ray image to the nth X-ray image of the object to be detected; and stitch the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, where n is the first number.

[0097] Specifically, the X-ray source is mounted on a suspension device, and the suspension device further includes a tube control device. Before rotating the X-ray source to a first angle, the controller can be further used to control the suspension device to rotate in a horizontal plane until a reference line is parallel to a length direction of the detection bed, wherein the reference line is a direction perpendicular to a screen plane of the tube control device.

[0098] Specifically, the controller can be further used to move the X-ray source from a first position to an nth position to align with a first part to an nth part of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected; and to stitch the first X-ray image to the nth X-ray image to obtain a panoramic image of the object to be detected, wherein n is the first number.

[0099] Specifically, the controller can be further used to control the movement of the X-ray source and the detector to obtain a second number of X-ray images of the object to be detected along the length direction of the detection bed, and can stitch the second number of X-ray images and the panoramic image in the width direction to obtain a full-body image of the object to be detected.

[0100] An exemplary embodiment of the present invention further provides an X-ray imaging method. The X-ray imaging method includes moving or rotating an X-ray source from a first position to an nth position along a width direction of a detection bed to obtain a first X-ray image to an nth X-ray image of a detected object, and splicing the first X-ray image to the nth X-ray image to obtain a panoramic image of the detected object in the width direction, wherein n is a first number.

[0101] An exemplary embodiment of the present invention also provides an X-ray imaging method. The X-ray imaging method includes moving or rotating an X-ray source along the width direction of a detection bed to obtain a first number of X-ray images; stitching the first number of X-ray images to obtain a panoramic image of the detected object in the width direction; moving or rotating the X-ray source along the length direction of the detection bed to obtain a second number of X-ray images; stitching the second number of X-ray images and the panoramic image to obtain a full-body image of the detected object.

[0102] As used herein, the term "computer" may include any processor-based or microprocessor-based system, including systems using microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuits or processors capable of performing the functions described herein. The above examples are exemplary only, and are thus not intended to limit the definition and / or meaning of the term "computer" in any way.

[0103] Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, if the described techniques are performed in a different order and / or if the components in the described systems, architectures, devices, or circuits are combined in different ways and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Accordingly, other implementations also fall within the scope of protection of the claims.

Claims

1. An X-ray imaging system, comprising: A detection bed, in which a detector is installed, and the detector can move along the length and width direction of the detection bed; An X-ray source, which can cooperate with the detector to obtain an X-ray image of the object being detected; as well as A controller is capable of controlling the movement of the X-ray source and the detector to obtain a first number of X-ray images of the detected object along the width direction of the detection bed, and is capable of stitching the first number of X-ray images to obtain a panoramic image of the detected object in the width direction.

2. The X-ray imaging system of claim 1, wherein: The controller can be further configured to control the X-ray source to move so that the X-ray source is aligned with the center of the region of interest of the object being inspected.

3. The X-ray imaging system of claim 2, wherein: The controller is further configured to acquire the region of interest.

4. The X-ray imaging system of claim 2, wherein: The controller can further be used to: Rotating the X-ray source from a first angle to an nth angle to align with a first portion to an nth portion of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected; as well as The first X-ray image to the nth X-ray image are stitched together to obtain a panoramic image of the detected object, where n is the first number.

5. The X-ray imaging system of claim 4, wherein: The X-ray source is mounted on a suspension device, and the suspension device further includes a tube control device. Before rotating the X-ray source to a first angle, the controller can be further used to control the suspension device to rotate in a horizontal plane until a reference line is parallel to a length direction of the detection bed, wherein the reference line is a direction perpendicular to a screen plane of the tube control device.

6. The X-ray imaging system of claim 2, wherein: The controller can further be used to: Moving the X-ray source from a first position to an nth position to align with a first portion to an nth portion of the region of interest to obtain a first X-ray image to an nth X-ray image of the object to be detected; as well as The first X-ray image to the nth X-ray image are stitched together to obtain a panoramic image of the detected object, wherein n is the first number.

7. The X-ray imaging system of claim 1, wherein: The controller can be further used to control the movement of the X-ray source and the detector to obtain a second number of X-ray images of the object to be detected along the length direction of the detection bed, and can stitch the second number of X-ray images and the panoramic image in the width direction to obtain a full-body image of the object to be detected.

8. An X-ray imaging method, comprising: Moving or rotating the X-ray source from a first position to an nth position along the width direction of the detection bed to obtain a first X-ray image to an nth X-ray image of the detected object; as well as The first X-ray image to the nth X-ray image are stitched together to obtain a panoramic image of the detected object in a width direction, wherein n is a first number.

9. The X-ray imaging method according to claim 8, wherein: The method further includes controlling the movement of the X-ray source and the detector so as to align the X-ray source and the detector with the center of the region of interest of the object being inspected.

10. An X-ray imaging method, comprising: Moving or rotating the X-ray source along the width direction of the detection bed to obtain a first number of X-ray images; Performing image stitching on the first number of X-ray images to obtain a panoramic image of the detected object in a width direction; Moving or rotating the X-ray source along the length direction of the detection bed to obtain a second number of X-ray images; as well as The second number of X-ray images and the panoramic image are stitched together to obtain a full-body image of the detected object.

Images