Calibration method and device of mobile CT equipment, equipment and storage medium

Abstract

The embodiment of the invention provides a calibration method and device of mobile CT equipment, equipment and a medium. Comprising the following steps: determining the position information of a first UWB tag according to the distance information of the first UWB tag and a first base station, the distance information of the first UWB tag and a second base station, the distance information of the first UWB tag and a third base station, the position information of the first base station, the position information of the second base station and the position information of the third base station; determining the position information of the second UWB tag according to the distance information between the second UWB tag and the first base station, the distance information between the second UWB tag and the second base station, the distance information between the second UWB tag and the third base station, the position information of the first base station, the position information of the second base station and the position information of the third base station; determining deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed; and adjusting the position of the CT rack according to the deviation information.

Description

Technical Field

[0001] The present invention relates to the technical field of CT scanning and related technologies, and in particular to a calibration method, device, equipment and storage medium for a mobile CT device. Background Art

[0002] Computed tomography (CT) is an important medical diagnostic tool. Traditional fixed CT is heavy and bulky, needs to be installed in a dedicated machine room, and cannot be used effectively in some cases. Mobile CT is equipped with a removable chassis, which is convenient for rapid deployment in wards, operating rooms and other environments, avoiding the risks of transporting critically ill patients. It also supports intraoperative imaging and has been widely used in fields such as neurosurgery.

[0003] The characteristic of mobile CT is that the scanning frame of the CT equipment is installed on a chassis that allows free movement. Therefore, a technical focus and difficulty of mobile CT is the alignment of the scanning frame of the CT equipment and the scanning bed in space before scanning.

[0004] In the prior art, the alignment between the scanning frame and the scanning bed of the CT equipment relies on manual visual alignment, and some are provided with auxiliary alignment laser marks. The above alignment methods require manual participation, are time-consuming, and have high requirements on the operator. Summary of the invention

[0005] The embodiments described herein provide a calibration method, apparatus, device, and storage medium for a mobile CT device, which solve the problems existing in the prior art.

[0006] In a first aspect, according to the present disclosure, a calibration method for a mobile CT device is provided, which is applied to the mobile CT device, wherein the mobile CT device includes a first UWB tag and a second UWB tag symmetrically arranged along the center of a CT frame, and a first base station, a second base station, and a third base station arranged in a space of the mobile CT device, wherein the three base stations communicate with the first UWB tag and the second UWB tag respectively, and include: Determine the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station; Determine the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; Determine deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed, wherein the deviation information includes angle deviation information and position information deviation; The position of the CT gantry is adjusted according to the deviation information.

[0007] In some embodiments of the present disclosure, determining the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the first sending time when the first UWB tag sends a pulse signal to the first base station, the first receiving time when the first UWB tag receives a feedback pulse signal sent by the first base station, the second sending time when the first UWB tag sends a pulse signal to the second base station, the second receiving time when the first UWB tag receives a feedback pulse signal sent by the second base station, the third sending time when the first UWB tag sends a pulse signal to the third base station, and the third receiving time when the first UWB tag receives the feedback pulse signal sent by the third base station; Determine first distance information between the first UWB tag and the first base station according to the first sending time, the first receiving time, and the first signal processing time of the first base station; Determine second distance information between the first UWB tag and the second base station according to the second sending time, the second receiving time, and the second signal processing time of the second base station; Determine third distance information between the first UWB tag and the third base station according to the third sending time, the third receiving time, and the third signal processing time of the third base station; The location information of the first UWB tag is determined according to the first distance information, the second distance information, the third distance information, the first location information, the second location information and the third location information.

[0008] In some embodiments of the present disclosure, determining the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the fourth sending time when the second UWB tag sends a pulse signal to the first base station, the fourth receiving time when the second UWB tag receives a feedback pulse signal sent by the first base station, the fifth sending time when the second UWB tag sends a pulse signal to the second base station, the fifth receiving time when the second UWB tag receives a feedback pulse signal sent by the second base station, the sixth sending time when the second UWB tag sends a pulse signal to the third base station, and the sixth receiving time when the second UWB tag receives the feedback pulse signal sent by the third base station; Determine fourth distance information between the second UWB tag and the first base station according to the fourth sending time, the fourth receiving time and the first signal processing time of the first base station; Determine fifth distance information between the second UWB tag and the second base station according to the fifth sending time, the fifth receiving time and the second signal processing time of the second base station; Determine sixth distance information between the second UWB tag and the third base station according to the sixth sending time, the sixth receiving time, and the third signal processing time of the third base station; The location information of the second UWB tag is determined according to the fourth distance information, the fifth distance information, the sixth distance information, the first location information, the second location information and the third location information.

[0009] In some embodiments of the present disclosure, determining the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed includes: Determine second position information of the CT gantry and angle deviation information of the CT gantry relative to the scanning bed according to the position information of the first UWB tag and the position information of the second UWB tag; The position deviation information of the CT frame relative to the scanning bed is determined according to the first position information and the second position information.

[0010] In some embodiments of the present disclosure, determining the second position information of the CT gantry and the angle deviation information of the CT gantry relative to the scanning bed according to the position information of the first UWB tag and the position information of the second UWB tag includes: Determining second position information of the CT gantry according to the position information of the first UWB tag and the position information of the second UWB tag; determining first difference information according to the Z-axis coordinate in the position information of the first UWB tag and the Z-axis coordinate in the position information of the first UWB tag; determining second difference information according to the X-axis coordinate in the location information of the first UWB tag and the X-axis coordinate in the location information of the first UWB tag; Angle deviation information of the CT gantry relative to the scanning bed is determined according to the first difference information and the second difference information.

[0011] In some embodiments of the present disclosure, determining the position deviation information of the CT gantry relative to the scanning bed according to the first position information and the second position information includes: Determine X-axis deviation information according to the X-axis coordinate in the second position information and the X-axis coordinate in the first position information; Determine Z-axis deviation information according to the Z-axis coordinate in the second position information and the Z-axis coordinate in the first position information.

[0012] In some embodiments of the present disclosure, adjusting the position of the CT gantry according to the deviation information includes: Rotating the CT gantry according to the angle deviation information; According to the X-direction deviation information, move the CT gantry along the X-axis direction; The CT gantry is moved along the Z-axis direction according to the Z-direction deviation information.

[0013] In a second aspect, according to the present disclosure, a calibration device for a mobile CT device is provided, which is applied to the mobile CT device, wherein the mobile CT device comprises a first UWB tag and a second UWB tag symmetrically arranged along the center of a CT frame, and a first base station, a second base station and a third base station arranged in a space of the mobile CT device, wherein the three base stations communicate with the first UWB tag and the second UWB tag respectively, and include: a first UWB tag location information determination module, configured to determine the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; a second UWB tag location information determination module, configured to determine the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; a deviation information determination module, configured to determine deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed, wherein the deviation information includes angle deviation information and position information deviation; An adjustment module is used to adjust the position of the CT rack according to the deviation information.

[0014] In a third aspect, according to the present disclosure, there is provided a computer device, including: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement any method as described in the first aspect.

[0015] In a fourth aspect, according to the content of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, it implements any method as described in the first aspect.

[0016] The calibration method, apparatus, device and medium of the mobile CT equipment provided by the embodiments of the present disclosure first determine the position information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station and the third position information of the third base station; and determine the position information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station and the third position information of the third base station; then determine the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed; finally adjust the position of the CT rack according to the deviation information. By setting a first base station, a second base station and a third base station on a mobile CT device, setting a first UWB tag and a second UWB tag on a CT rack, determining the position information of the first UWB tag based on the communication between the first UWB tag and the three base stations, determining the position information of the second UWB tag based on the communication between the second UWB tag and the three base stations, and then determining the position information of the CT rack based on the position information of the first UWB tag and the position information of the second UWB tag, and then determining the deviation information of the CT rack based on the position information of the CT rack relative to the position information of the scanning bed, and finally adjusting the CT rack based on the deviation information, thereby improving the accuracy of the position adjustment of the CT rack.

[0017] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein: Figure 1 is a flow chart of a calibration method for a mobile CT device provided in an embodiment of the present disclosure; Figure 2 is a structural schematic diagram of a mobile CT device provided in an embodiment of the present disclosure; Figure 3 is a structural schematic diagram of another mobile CT device provided in an embodiment of the present disclosure; Figure 4is a structural schematic diagram of a calibration device for a mobile CT device provided in an embodiment of the present disclosure; Figure 5 It is a structural diagram of a computer device provided in an embodiment of the present disclosure.

[0019] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0021] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0024] Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are used only to distinguish one component (or a part of a component) from another component (or another part of a component).

[0025] In the description of the present application, unless otherwise specified, “plurality” means more than two (including two), and similarly, “plurality groups” means more than two (including two).

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0027] Based on the problems existing in the prior art, an embodiment of the present disclosure provides a calibration method for a mobile CT device. The calibration method for a mobile CT device is applied to a mobile CT device. The mobile CT device includes a first UWB tag and a second UWB tag symmetrically arranged along the center of a CT frame, and a first base station, a second base station, and a third base station arranged in a space of the mobile CT device. The three base stations communicate with the first UWB tag and the second UWB tag respectively. Figure 1 is a flow chart of a calibration method for a mobile CT device provided in an embodiment of the present disclosure, such as Figure 1 As shown, the specific process of the calibration method of the mobile CT device includes: S110. Determine the location information of the first UWB tag based on the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station.

[0028] Among them, UWB tags are wireless positioning devices based on ultra-wideband (Ultra-Wideband) technology. They communicate with surrounding anchors by sending extremely short pulse signals at the nanosecond level. The system calculates the location of the tag by measuring the signal flight time (ToF) or arrival time difference (TDoA).

[0029] In a specific embodiment, Figure 2 As shown, the mobile CT device includes a first UWB tag and a second UWB tag symmetrically arranged along the center of the CT frame, and a first base station, a second base station, and a third base station arranged in the space of the mobile CT device, wherein the first base station, the second base station, and the third base station can be arranged on a wall in the space of the mobile CT device, or can be arranged on a scanning bed. The embodiment of the present disclosure does not limit the specific positions of the first base station, the second base station, and the third base station. Figure 2 In the figure, it is exemplarily shown that the first base station, the second base station and the third base station are arranged on the wall of the mobile CT device.

[0030] After the first base station, the second base station and the third base station are set, the location information of the first base station, the second base station and the third base station is known information.

[0031] In the calibration method of the mobile CT device provided in the embodiment of the present disclosure, based on the communication between the first UWB tag and the first base station, the second base station and the third base station, the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, and the third distance information between the first UWB tag and the third base station can be determined, and then the position information of the first UWB tag can be determined in combination with the first position information of the first base station, the second position information of the second base station and the third position information of the third base station.

[0032] In a specific implementation, the location information of the first UWB tag is determined according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station and the third position information of the third base station, including: obtaining the first position information of the first base station, the second position information of the second base station, the third position information of the third base station, a first sending time when the first UWB tag sends a pulse signal to the first base station, a first receiving time when the first UWB tag receives a feedback pulse signal sent by the first base station, a second sending time when the first UWB tag sends a pulse signal to the second base station, and a second receiving time when the first UWB tag receives a feedback pulse signal sent by the second base station , a third sending time when the first UWB tag sends a pulse signal to the third base station and a third receiving time when the first UWB tag receives a feedback pulse signal sent by the third base station; determine the first distance information between the first UWB tag and the first base station according to the first sending time, the first receiving time and the first signal processing time of the first base station; determine the second distance information between the first UWB tag and the second base station according to the second sending time, the second receiving time and the second signal processing time of the second base station; determine the third distance information between the first UWB tag and the third base station according to the third sending time, the third receiving time and the third signal processing time of the third base station; determine the location information of the first UWB tag according to the first distance information, the second distance information, the third distance information, the first location information, the second location information and the third location information.

[0033] In a specific exemplary embodiment, if the first sending time tx11 at which the first UWB tag sends a pulse signal to the first base station, the first receiving time tz11 at which the first UWB tag receives a feedback pulse signal sent by the first base station, the second sending time tx21 at which the first UWB tag sends a pulse signal to the second base station, the second receiving time tz21 at which the first UWB tag receives a feedback pulse signal sent by the second base station, the third sending time tx31 at which the first UWB tag sends a pulse signal to the third base station, and the third receiving time tz31 at which the first UWB tag receives a feedback pulse signal sent by the third base station, the first signal processing time t1 at the first base station, the second signal processing time t2 at the second base station, and the third signal processing time t3 at the third base station, then the first distance information between the first UWB tag and the first base station satisfies: R1=(tz11-tx11-t1) C. The second distance information between the first UWB tag and the second base station satisfies: R2=(tz21-tx21-t2) C. The third distance information between the first UWB tag and the third base station satisfies: R3=(tz31-tx31-t3) C, where C is the speed of light.

[0034] Since the location information of the first base station, the second base station and the third base station can be measured, if the first location information of the first base station is (x11, y11, z11), the second location information of the second base station is (x21, y21, z21), and the third location information of the third base station is (x31, y31, z31), the following relationship can be constructed: , Among them, (x1, y1, z1) is the position information of the first UWB tag. According to the above relationship, the position information of the first UWB tag can be obtained.

[0035] S120. Determine the location information of the second UWB tag based on the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station.

[0036] In a specific implementation, the location information of the second UWB tag is determined according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station, including: obtaining the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, a fourth sending time when the second UWB tag sends a pulse signal to the first base station, a fourth receiving time when the second UWB tag receives a feedback pulse signal sent by the first base station, a fifth sending time when the second UWB tag sends a pulse signal to the second base station, and a fifth receiving time when the second UWB tag receives a feedback pulse signal sent by the second base station. time, the sixth sending time when the second UWB tag sends a pulse signal to the third base station, and the sixth receiving time when the second UWB tag receives a feedback pulse signal sent by the third base station; determine the fourth distance information between the second UWB tag and the first base station according to the fourth sending time, the fourth receiving time and the first signal processing time of the first base station; determine the fifth distance information between the second UWB tag and the second base station according to the fifth sending time, the fifth receiving time and the second signal processing time of the second base station; determine the sixth distance information between the second UWB tag and the third base station according to the sixth sending time, the sixth receiving time and the third signal processing time of the third base station; determine the location information of the second UWB tag according to the fourth distance information, the fifth distance information, the sixth distance information, the first location information, the second location information and the third location information.

[0037] In a specific exemplary embodiment, if the fourth sending time tx41 of the second UWB tag sending a pulse signal to the first base station, the fourth receiving time tz41 of the second UWB tag receiving the feedback pulse signal sent by the first base station, the fifth sending time tx51 of the second UWB tag sending a pulse signal to the second base station, the fifth receiving time tz51 of the second UWB tag receiving the feedback pulse signal sent by the second base station, the sixth sending time tx61 of the second UWB tag sending a pulse signal to the third base station, and the sixth receiving time tz61 of the second UWB tag receiving the feedback pulse signal sent by the third base station, the first signal processing time t1 of the first base station, the second signal processing time t2 of the second base station, and the third signal processing time t3 of the third base station, then the fourth distance information of the second UWB tag and the first base station satisfies: R4=(tz41-tx41-t1) C. The fifth distance information between the second UWB tag and the second base station satisfies: R5=(tz51-tx51-t2) C, the sixth distance information between the second UWB tag and the third base station satisfies: R6=(tz61-tx61-t3) C, where C is the speed of light.

[0038] Since the location information of the first base station, the second base station and the third base station can be measured, if the first location information of the first base station is (x11, y11, z11), the second location information of the second base station is (x21, y21, z21), and the third location information of the third base station is (x31, y31, z31), the following relationship can be constructed: , Among them, (x2, y2, z2) is the position information of the second UWB tag. According to the above relationship, the position information of the second UWB tag can be obtained.

[0039] S130 . Determine deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed.

[0040] The deviation information includes angle deviation information and position information deviation.

[0041] After the position information of the first UWB tag is determined in step S110 and the position information of the second UWB tag is determined in step S120, since the first UWB tag and the second UWB tag are symmetrically arranged along the center of the CT frame, the position information of the CT frame can be determined based on the first UWB tag and the second UWB tag, and the position information of the scanning bed is fixed. Therefore, the position deviation information of the CT frame relative to the scanning bed can be determined based on the position information of the CT frame and the position information of the scanning bed.

[0042] In a specific implementation, the deviation information is determined based on the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed, including: determining the second position information of the CT rack and the angle deviation information of the CT rack relative to the scanning bed based on the position information of the first UWB tag and the position information of the second UWB tag; determining the position deviation information of the CT rack relative to the scanning bed based on the first position information and the second position information.

[0043] The first position information of the scanning bed may be measured and acquired in advance.

[0044] Specifically, after determining the position information of the first UWB tag and the position information of the second UWB tag, the second position information of the CT gantry can be determined according to the position information of the first UWB tag and the position information of the second UWB tag. For example, if the position information of the first UWB tag is (x1, y1, z1) and the position information of the second UWB tag is (x2, y2, z2), the second position information of the center of the CT gantry is ((x1+x2) / 2, (y1+y2) / 2, (z1+z2) / 2). At this time, the position deviation information of the CT gantry relative to the scanning bed can be determined according to the second position information of the center of the CT gantry and the first position information of the center of the scanning bed. In addition, the angular deviation information of the CT gantry relative to the scanning bed can be determined according to the position information of the first UWB tag and the position information of the second UWB tag.

[0045] Wherein, determining the position deviation information of the CT frame relative to the scanning bed according to the first position information and the second position information includes: determining the X-axis deviation information according to the X-axis coordinate in the second position information and the X-axis coordinate in the first position information; determining the Z-axis deviation information according to the Z-axis coordinate in the second position information and the Z-axis coordinate in the first position information.

[0046] It should be noted that the alignment of the CT gantry and the scanning bed in space means that the X-axis coordinate of the center of the CT gantry is the same as the X-axis coordinate of the center of the scanning bed, and the difference between the Z-axis coordinate of the center of the CT gantry and the Z-axis coordinate of the center of the scanning bed meets the preset threshold.

[0047] Therefore, after determining the second position information of the CT frame, the X-axis deviation information can be determined according to the X-axis coordinate in the second position information of the CT frame and the X-axis coordinate in the first position information of the scanning bed; the Z-axis deviation information can be determined according to the relationship between the difference between the Z-axis coordinate in the second position information of the CT frame and the Z-axis coordinate in the first position information of the scanning bed and a preset threshold.

[0048] The preset threshold is a Z-direction distance between the center of the CT gantry and the center of the scanning bed.

[0049] In addition, combined Figure 3 , the angle deviation information of the CT gantry can be determined based on the position information of the first UWB tag and the position information of the second UWB tag.

[0050] In a specific implementation, the angle deviation information of the CT gantry relative to the scanning bed is determined according to the position information of the first UWB tag and the position information of the second UWB tag, including: determining the first difference information according to the Z-axis coordinate in the position information of the first UWB tag and the Z-axis coordinate in the position information of the first UWB tag; determining the second difference information according to the X-axis coordinate in the position information of the first UWB tag and the X-axis coordinate in the position information of the first UWB tag; determining the angle deviation information of the CT gantry relative to the scanning bed according to the first difference information and the second difference information.

[0051] Specifically, after determining the position information of the first UWB tag and the position information of the second UWB tag, the angle deviation information of the CT gantry relative to the scanning bed can be determined according to the position information of the first UWB tag and the position information of the second UWB tag. For example, if the position information of the first UWB tag is (x1, y1, z1) and the position information of the second UWB tag is (x2, y2, z2), the angle deviation information of the CT gantry relative to the scanning bed satisfies: .

[0052] S140: Adjust the position of the CT gantry according to the deviation information.

[0053] After determining the angle deviation information and position deviation information of the CY frame relative to the scanning bed, the CT frame is first rotated according to the angle deviation information; then the CT frame is moved along the X-axis direction according to the X-direction deviation information; finally, the CT frame is moved along the Z-axis direction according to the Z-direction deviation information, so as to realize the alignment of the scanning frame and the scanning bed of the mobile CT device in space.

[0054] The calibration method of the mobile CT device provided by the embodiment of the present disclosure first determines the position information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station and the third position information of the third base station; and determines the position information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station and the third position information of the third base station; then determines the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed; and finally adjusts the position of the CT rack according to the deviation information. By setting a first base station, a second base station and a third base station on a mobile CT device, setting a first UWB tag and a second UWB tag on a CT rack, determining the position information of the first UWB tag based on the communication between the first UWB tag and the three base stations, determining the position information of the second UWB tag based on the communication between the second UWB tag and the three base stations, and then determining the position information of the CT rack based on the position information of the first UWB tag and the position information of the second UWB tag, and then determining the deviation information of the CT rack based on the position information of the CT rack relative to the position information of the scanning bed, and finally adjusting the CT rack based on the deviation information, thereby improving the accuracy of the position adjustment of the CT rack.

[0055] Based on the above embodiments, Figure 4 is a schematic diagram of a structure of a calibration device for a mobile CT device provided in an embodiment of the present disclosure, such as Figure 4 As shown, the calibration device of the mobile CT device includes: A first UWB tag location information determination module 410 is used to determine the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station; A second UWB tag location information determination module 420 is used to determine the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; The deviation information determination module 430 is used to determine the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed, wherein the deviation information includes angle deviation information and position information deviation; The adjustment module 440 is used to adjust the position of the CT gantry according to the deviation information.

[0056] The calibration device for mobile CT equipment provided by the embodiment of the present disclosure first determines the position information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station, and the third position information of the third base station; and determines the position information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first position information of the first base station, the second position information of the second base station, and the third position information of the third base station; then determines the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed; and finally adjusts the position of the CT rack according to the deviation information. By setting a first base station, a second base station and a third base station on a mobile CT device, setting a first UWB tag and a second UWB tag on a CT rack, determining the position information of the first UWB tag based on the communication between the first UWB tag and the three base stations, determining the position information of the second UWB tag based on the communication between the second UWB tag and the three base stations, and then determining the position information of the CT rack based on the position information of the first UWB tag and the position information of the second UWB tag, and then determining the deviation information of the CT rack based on the position information of the CT rack relative to the position information of the scanning bed, and finally adjusting the CT rack based on the deviation information, thereby improving the accuracy of the position adjustment of the CT rack.

[0057] In a specific implementation, determining the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the first sending time when the first UWB tag sends a pulse signal to the first base station, the first receiving time when the first UWB tag receives a feedback pulse signal sent by the first base station, the second sending time when the first UWB tag sends a pulse signal to the second base station, the second receiving time when the first UWB tag receives a feedback pulse signal sent by the second base station, the third sending time when the first UWB tag sends a pulse signal to the third base station, and the third receiving time when the first UWB tag receives the feedback pulse signal sent by the third base station; Determine first distance information between the first UWB tag and the first base station according to the first sending time, the first receiving time, and the first signal processing time of the first base station; Determine second distance information between the first UWB tag and the second base station according to the second sending time, the second receiving time, and the second signal processing time of the second base station; Determine third distance information between the first UWB tag and the third base station according to the third sending time, the third receiving time, and the third signal processing time of the third base station; The location information of the first UWB tag is determined according to the first distance information, the second distance information, the third distance information, the first location information, the second location information and the third location information.

[0058] In a specific implementation, determining the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the fourth sending time when the second UWB tag sends a pulse signal to the first base station, the fourth receiving time when the second UWB tag receives a feedback pulse signal sent by the first base station, the fifth sending time when the second UWB tag sends a pulse signal to the second base station, the fifth receiving time when the second UWB tag receives a feedback pulse signal sent by the second base station, the sixth sending time when the second UWB tag sends a pulse signal to the third base station, and the sixth receiving time when the second UWB tag receives the feedback pulse signal sent by the third base station; Determine fourth distance information between the second UWB tag and the first base station according to the fourth sending time, the fourth receiving time and the first signal processing time of the first base station; Determine fifth distance information between the second UWB tag and the second base station according to the fifth sending time, the fifth receiving time and the second signal processing time of the second base station; Determine sixth distance information between the second UWB tag and the third base station according to the sixth sending time, the sixth receiving time, and the third signal processing time of the third base station; The location information of the second UWB tag is determined according to the fourth distance information, the fifth distance information, the sixth distance information, the first location information, the second location information and the third location information.

[0059] In a specific implementation, determining the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed includes: Determine second position information of the CT gantry and angle deviation information of the CT gantry relative to the scanning bed according to the position information of the first UWB tag and the position information of the second UWB tag; The position deviation information of the CT frame relative to the scanning bed is determined according to the first position information and the second position information.

[0060] In a specific implementation, determining the second position information of the CT gantry and the angle deviation information of the CT gantry relative to the scanning bed according to the position information of the first UWB tag and the position information of the second UWB tag includes: Determining second position information of the CT gantry according to the position information of the first UWB tag and the position information of the second UWB tag; determining first difference information according to the Z-axis coordinate in the position information of the first UWB tag and the Z-axis coordinate in the position information of the first UWB tag; determining second difference information according to the X-axis coordinate in the location information of the first UWB tag and the X-axis coordinate in the location information of the first UWB tag; Angle deviation information of the CT gantry relative to the scanning bed is determined according to the first difference information and the second difference information.

[0061] In a specific implementation, determining the position deviation information of the CT gantry relative to the scanning bed according to the first position information and the second position information includes: Determine X-axis deviation information according to the X-axis coordinate in the second position information and the X-axis coordinate in the first position information; Determine Z-axis deviation information according to the Z-axis coordinate in the second position information and the Z-axis coordinate in the first position information.

[0062] In a specific implementation, adjusting the position of the CT gantry according to the deviation information includes: Rotating the CT gantry according to the angle deviation information; According to the X-direction deviation information, move the CT gantry along the X-axis direction; The CT gantry is moved along the Z-axis direction according to the Z-direction deviation information.

[0063] The present application also provides a computer device. Figure 5 , Figure 5 This is a basic structural block diagram of the computer device in this embodiment.

[0064] The computer device includes a memory 510 and a processor 520 that are connected to each other through a system bus. It should be noted that the figure only shows a computer device with components 510-520, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0065] Computer devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Computer devices can interact with users through keyboards, mice, remote controls, touch pads, or voice control devices.

[0066] The memory 510 includes at least one type of readable storage medium, and the readable storage medium includes a non-volatile memory or a volatile memory, such as a flash memory, a hard disk, a multimedia card, a card-type memory (such as an SD or DX memory, etc.), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc., and the RAM may include a static RAM or a dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash card (Flash Card), etc., equipped on the computer device. Of course, the memory 510 may also include both an internal storage unit of the computer device and an external storage device thereof. In this embodiment, the memory 510 is generally used to store an operating system and various application software installed on the computer device, such as the program code of the above method, etc. In addition, the memory 510 may also be used to temporarily store various data that have been output or are to be output.

[0067] The processor 520 is generally used to perform the overall operation of the computer device. In this embodiment, the memory 510 is used to store program codes or instructions, the program code includes computer operation instructions, and the processor 520 is used to execute the program codes or instructions stored in the memory 510 or process data, such as running the program code of the above method.

[0068] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0069] Another embodiment of the present application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads a computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or a combination of steps in the above method; and generate a device for implementing the functional actions specified in each block or a combination of blocks in the block diagram.

[0070] Computer-readable media include but are not limited to electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any appropriate combination of the foregoing, the memory is used to store program codes or instructions, the program codes include computer operating instructions, and the processor is used to execute the program codes or instructions of the above methods stored in the memory.

[0071] For the definitions of memory and processor, please refer to the description of the aforementioned computer device embodiment and will not be repeated here.

[0072] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0073] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0075] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0076] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present application.

[0077] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A calibration method for a mobile CT device, applied to the mobile CT device, the mobile CT device comprising a first UWB tag and a second UWB tag symmetrically arranged along the center of a CT frame, a first base station, a second base station and a third base station arranged in a space of the mobile CT device, the three base stations respectively communicating with the first UWB tag and the second UWB tag, characterized in that: include: Determine the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station; Determine the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; Determine deviation information according to the position information of the first UWB tag, the position information of the second UWB tag, and the first position information of the scanning bed, wherein the deviation information includes angle deviation information and position information deviation; The position of the CT gantry is adjusted according to the deviation information.

2. The method according to claim 1, characterized in that The determining the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the first sending time when the first UWB tag sends a pulse signal to the first base station, the first receiving time when the first UWB tag receives a feedback pulse signal sent by the first base station, the second sending time when the first UWB tag sends a pulse signal to the second base station, the second receiving time when the first UWB tag receives a feedback pulse signal sent by the second base station, the third sending time when the first UWB tag sends a pulse signal to the third base station, and the third receiving time when the first UWB tag receives the feedback pulse signal sent by the third base station; Determine first distance information between the first UWB tag and the first base station according to the first sending time, the first receiving time, and the first signal processing time of the first base station; Determine second distance information between the first UWB tag and the second base station according to the second sending time, the second receiving time, and the second signal processing time of the second base station; Determine third distance information between the first UWB tag and the third base station according to the third sending time, the third receiving time, and the third signal processing time of the third base station; The location information of the first UWB tag is determined according to the first distance information, the second distance information, the third distance information, the first location information, the second location information and the third location information.

3. The method according to claim 1, characterized in that The determining the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station and the third location information of the third base station includes: Obtain the first location information of the first base station, the second location information of the second base station, the third location information of the third base station, the fourth sending time when the second UWB tag sends a pulse signal to the first base station, the fourth receiving time when the second UWB tag receives a feedback pulse signal sent by the first base station, the fifth sending time when the second UWB tag sends a pulse signal to the second base station, the fifth receiving time when the second UWB tag receives a feedback pulse signal sent by the second base station, the sixth sending time when the second UWB tag sends a pulse signal to the third base station, and the sixth receiving time when the second UWB tag receives the feedback pulse signal sent by the third base station; Determine fourth distance information between the second UWB tag and the first base station according to the fourth sending time, the fourth receiving time and the first signal processing time of the first base station; Determine fifth distance information between the second UWB tag and the second base station according to the fifth sending time, the fifth receiving time and the second signal processing time of the second base station; Determine sixth distance information between the second UWB tag and the third base station according to the sixth sending time, the sixth receiving time, and the third signal processing time of the third base station; The location information of the second UWB tag is determined according to the fourth distance information, the fifth distance information, the sixth distance information, the first location information, the second location information and the third location information.

4. The method according to claim 1, characterized in that The determining the deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed includes: Determine second position information of the CT gantry and angle deviation information of the CT gantry relative to the scanning bed according to the position information of the first UWB tag and the position information of the second UWB tag; The position deviation information of the CT frame relative to the scanning bed is determined according to the first position information and the second position information.

5. The method according to claim 4, characterized in that The determining, according to the position information of the first UWB tag and the position information of the second UWB tag, the second position information of the CT gantry and the angle deviation information of the CT gantry relative to the scanning bed comprises: Determining second position information of the CT gantry according to the position information of the first UWB tag and the position information of the second UWB tag; determining first difference information according to the Z-axis coordinate in the position information of the first UWB tag and the Z-axis coordinate in the position information of the first UWB tag; determining second difference information according to the X-axis coordinate in the location information of the first UWB tag and the X-axis coordinate in the location information of the first UWB tag; Angle deviation information of the CT gantry relative to the scanning bed is determined according to the first difference information and the second difference information.

6. The method according to claim 4, characterized in that Determining the position deviation information of the CT gantry relative to the scanning bed according to the first position information and the second position information includes: Determine X-axis deviation information according to the X-axis coordinate in the second position information and the X-axis coordinate in the first position information; Determine Z-axis deviation information according to the Z-axis coordinate in the second position information and the Z-axis coordinate in the first position information.

7. The method according to claim 6, characterized in that The adjusting the position of the CT gantry according to the deviation information includes: Rotating the CT gantry according to the angle deviation information; According to the X-direction deviation information, move the CT gantry along the X-axis direction; The CT gantry is moved along the Z-axis direction according to the Z-direction deviation information.

8. A calibration device for a mobile CT device, applied to the mobile CT device, the mobile CT device comprising a first UWB tag and a second UWB tag symmetrically arranged along the center of a CT frame, a first base station, a second base station and a third base station arranged in a space of the mobile CT device, the three base stations respectively communicating with the first UWB tag and the second UWB tag, characterized in that: include: a first UWB tag location information determination module, configured to determine the location information of the first UWB tag according to the first distance information between the first UWB tag and the first base station, the second distance information between the first UWB tag and the second base station, the third distance information between the first UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; a second UWB tag location information determination module, configured to determine the location information of the second UWB tag according to the fourth distance information between the second UWB tag and the first base station, the fifth distance information between the second UWB tag and the second base station, the sixth distance information between the second UWB tag and the third base station, the first location information of the first base station, the second location information of the second base station, and the third location information of the third base station; a deviation information determination module, configured to determine deviation information according to the position information of the first UWB tag, the position information of the second UWB tag and the first position information of the scanning bed, wherein the deviation information includes angle deviation information and position information deviation; An adjustment module is used to adjust the position of the CT rack according to the deviation information.

9. A computer device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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