Real-time three-dimensional perspective image imaging method based on C-shaped arm X-ray machine

Abstract

The invention provides a real-time three-dimensional perspective image imaging method based on a C-shaped arm X-ray machine, which comprises the following steps of: assembling a three-dimensional X-ray machine, and arranging two paths of crossed X-ray rays in the three-dimensional X-ray machine; the double-path crossed X-ray with the 12-degree visual angle difference penetrates through a detected body, signal absorption and transmission are carried out, and visual difference information rays are obtained; carrying out stereo projection based on the visual difference information ray, and obtaining a single-path stereo video signal; and transmitting the single-path stereoscopic video signal by using a high-definition line, and carrying out imaging monitoring on a stereoscopic perspective image. According to the invention, the three-dimensional perspective image can be observed in real time by using two paths of X-ray perspective image video signals with visual difference, so that the accuracy of surgical operation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of X-ray machines, and particularly to a real-time stereoscopic fluoroscopic imaging method based on a C-arm X-ray machine. Background Art

[0002] A C-arm X-ray machine is an X-ray imaging device used in interventional radiology and orthopedic surgeries. It is named after its shape resembling the English letter "C". The device mainly consists of a C-shaped frame, an X-ray tube that generates X-rays, an image intensifier, and a CCD camera, etc., and is used for angiography and photography during various surgeries. The C-arm X-ray machine consists of an X-ray combination tube, a television system, an image enhancement system, a controller, and other parts. Its working principle is to generate X-rays through the X-ray tube, irradiate the object, then collect the image through the image intensifier and the CCD camera, and finally display it on the screen. This device is mainly used for real-time image observation during surgeries to assist doctors in performing precise surgical operations.

[0003] Existing C-arm X-ray machines include: 1) a single-source C-arm X-ray machine, but it can only distinguish the height and width of the object image on a 2D plane image and cannot distinguish the depth of the object image, significantly affecting the operation accuracy. 2) a dual-source G-arm X-ray machine, whose observation range has expanded by 90 degrees compared to the single-source C-arm, reducing the repeated front and lateral position equipment movement operations, but without a three-dimensional feeling, and its operation monitoring is still inconvenient. 3) a single-source three-dimensional C-arm X-ray machine. Due to the nearly 60-millisecond delay in the image display of the dynamic image acquisition and image data post-processing modeling program for three-dimensional modeling, the surgical operation and observation are out of sync, and this out-of-sync affects the surgical accuracy and operation speed. Existing X-ray machines cannot achieve real-time 3D stereoscopic image detection in clinical interventional surgeries, significantly affecting the rapid and precise operation of interventional surgeries. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a real-time stereoscopic fluoroscopic imaging method based on a C-arm X-ray machine, which can utilize the X-ray fluoroscopic image video signals with binocular visual differences to observe real-time stereoscopic fluoroscopic images, facilitating the improvement of the accuracy of surgical operations.

[0005] To achieve the above purpose, the present invention provides the following solution: A real-time stereoscopic fluoroscopic imaging method based on a C-arm X-ray machine, comprising the following steps:

[0006] Assemble a three-dimensional X-ray machine and set a dual-path crossed X-ray in the three-dimensional X-ray machine; wherein, the crossing angle of the dual-path crossed X-ray is 12 degrees;

[0007] Use the dual-path crossed X-ray with a 12-degree viewing angle difference to pass through the object to be detected, perform signal absorption and transmission, and obtain a visual difference information ray;

[0008] Perform a stereoscopic projection based on the ray of binocular disparity information to obtain a single-channel stereoscopic video signal;

[0009] Transmit the single-channel stereoscopic video signal using a high-definition cable and perform imaging monitoring of the stereoscopic perspective image.

[0010] Optionally, the stereoscopic X-ray machine includes a high-power voltage stabilizer for providing power, a distribution box for distributing power, a tube power supply for transmitting power to the heating filament, a dual-source tube for emitting dual-channel cross X-rays, an object to be detected, a dual-channel detector for outputting dual-channel video signals, a dual-channel video distributor for distributing the dual-channel video signals, a stereoscopic display for displaying real-time X-ray fluoroscopy stereoscopic images, a dual-channel video combiner for outputting a single set of stereoscopic video signals, a stereoscopic video recorder for recording the stereoscopic video signals, a stereoscopic video monitor for transmitting the stereoscopic video, and stereoscopic glasses for displaying the stereoscopic video;

[0011] Among them, the high-power voltage stabilizer is connected to the distribution box, the distribution box is connected to the tube power supply, the tube power supply is connected to the dual-source tube, the dual-channel detector is connected to the dual-channel video distributor, the dual-channel video distributor is connected to the stereoscopic display and the dual-channel video combiner, the dual-channel video combiner is connected to the stereoscopic video recorder, the stereoscopic video recorder is connected to the stereoscopic video monitor, and the stereoscopic video monitor is connected to the stereoscopic glasses.

[0012] Optionally, assembling the stereoscopic X-ray machine and setting dual-channel cross X-rays in the stereoscopic X-ray machine includes:

[0013] Combining the tube power supply and the dual-source tube with two sets of filaments inside;

[0014] Use the tube power supply to provide two-way heating filament power and two-way high-voltage DC power to the dual-source tube. After power-on, two sets of electron beams are generated by the two sets of filaments inside the dual-source tube;

[0015] Use two sets of electron beams to strike two specified anode targets to obtain dual-channel cross X-rays; among them, the target spacing of the two anode targets is 65 mm.

[0016] Optionally, performing a stereoscopic projection based on the ray of binocular disparity information to obtain a single-channel stereoscopic video signal includes:

[0017] Use the dual-channel detector to convert the ray of binocular disparity information into two-channel image videos and transmit the two-channel image videos to the dual-channel video distributor;

[0018] Use the dual-channel video distributor to transmit two-way video images to a dual-channel stereoscopic projector with a left channel and a right channel for stereoscopic projection;

[0019] Use the dual-channel distributor to transmit the video signal of one-way video images to the dual-channel video combiner. Use the dual-channel video combiner to encapsulate the frame video images of the two channels at the same time into one frame of image, and then arrange them in chronological order as a video signal to obtain a single-channel stereoscopic video signal.

[0020] Optionally, use a high-definition cable to transmit the single-channel stereoscopic video signal and perform imaging monitoring of the stereoscopic perspective image, including: using the high-definition cable to transmit, record, and play the single-channel stereoscopic video signal, and using the stereoscopic display and the stereoscopic glasses to perform imaging monitoring of the stereoscopic perspective image.

[0021] By providing a real-time stereoscopic perspective image imaging method based on a C-arm X-ray machine, the present invention discloses the following technical effects:

[0022] 1. The present invention has X-ray fluoroscopic image video signals with two-way visual differences, which are defined as left and right stereoscopic video signals according to the parallax direction. Then, by viewing with a stereoscopic display device and performing real-time integration through the human brain, one can feel that a real-time stereoscopic perspective image is observed.

[0023] 2. During the interventional surgery operation process, by performing interventional surgery under the detection of this stereoscopic perspective image, the interventional diagnosis and treatment can be quickly and accurately performed, significantly reducing the pain of the patient during the interventional surgery. At the same time, it also reduces the fatigue operation of medical staff and improves the success rate.

[0024] 3. It reduces the irradiation of harmful radiation to medical staff and patients during the interventional medical process, is beneficial to the health of both doctors and patients, and can save some medical expenses and reduce medical costs.

[0025] The technical solution of the present invention will be further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 It is a schematic flowchart of the method provided by the embodiment of the present invention;

[0028] Figure 2 It is a schematic architecture diagram of the stereoscopic X-ray machine provided by the embodiment of the present invention. Detailed implementation manners

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0031] As Figure 1 shown, the present invention provides a real-time stereoscopic fluoroscopic imaging method based on a C-arm X-ray machine, including:

[0032] 1. Assemble a stereoscopic X-ray machine and set a dual-path crossed X-ray in the stereoscopic X-ray machine; wherein, the crossing angle of the dual-path crossed X-ray is 12 degrees.

[0033] 1.1 As Figure 2 shown, the stereoscopic X-ray machine includes:

[0034] High-power voltage stabilizer: Connected to the distribution box. It distributes various required AC or DC power supplies to multiple different power-consuming units. The high-power voltage stabilizer is connected to the mains, stabilizes the mains voltage at 220V and transmits it to the distribution box; the distribution box distributes the 220V standard power to 12 dedicated power adapters, which are converted into 12 groups of dedicated power supplies. Each group of power supplies independently transmits the adapted power to the designated power-consuming components. The specific values are determined according to the power consumption requirements of the selected accessories, and they are isolated from each other and do not interfere with each other.

[0035] Distribution box: Connected to the tube power supply. It implements real-time control of the distribution and control of the high-power power supply to distribute various required AC or DC power supplies to multiple different power-consuming units. The input and output voltages of all adapters are 220V, and the output voltages and currents of each adapter vary greatly. According to the different selected accessories, it can be adjusted at any time through the distribution box. During operation, it also needs to be adjusted at any time according to the different patients and parts observed. This is the function of the distribution box.

[0036] Tube power supply: Connected to the dual-source X-ray tube. It transmits two groups of heating filament powers to the dual-source X-ray tube at the same time. The voltage is adjustable from 3 to 18V, and the current is adjustable from 0 to 30A.

[0037] Dual-source tube: Under the action of appropriate electric power, it emits two X-ray beams that intersect at an angle of 10 - 16 degrees (12 degrees is selected in this solution), and the intersection point of the rays is selected based on the central position of the object to be detected.

[0038] Object to be detected: The two X-ray beams emitted by the dual-source tube pass through the object to be detected.

[0039] Dual-channel detector: Connected to the dual-channel video distributor. The two X-ray beams passing through the object to be detected are respectively incident on the target surface of the dual-channel detector (including functions of ray reception, conversion, and enhancement). For example, dual flat panel detectors can be selected. Dual flat panel detectors can directly output two high-definition video signals on the left and right and transmit them to the dual-channel distributor, or two industrial cameras can be used to shoot the display screen of the flat panel detector and convert it into two high-definition video signals.

[0040] Dual-channel video distributor: Connected to the stereoscopic display and the dual-channel video combiner. It distributes the dual-channel video signal into two identical groups of dual-video signals and transmits them to the stereoscopic display and the dual-channel video combiner respectively.

[0041] Stereoscopic display: The display is connected to the dual-channel video distributor, receives the dual-channel video signal transmitted by the dual-channel video distributor, and directly displays the real-time X-ray fluoroscopy stereoscopic image. The stereoscopic image has types such as time difference shutter type, circular polarization non-flicker type, and red-blue type. The circular polarization non-flicker type can be selected in the present invention.

[0042] Dual-channel video combiner: Connected to the stereoscopic video recorder. The other group of dual-channel video signals separated by the dual-channel video distributor is transmitted to the dual-channel video combiner. The dual-channel video combiner (also called the stereoscopic video processor) takes one frame of the left and right images at the same time from the left and right channels of the video, compresses and encapsulates them into one frame of image, and then arranges them in chronological order into a group of video signals. The dual-channel video combiner outputs a single group of stereoscopic video signals, and one-way stereoscopic video is transmitted to the stereoscopic video recorder.

[0043] Stereoscopic video recorder: Connected to the stereoscopic video monitor. It can record and play the single-channel stereoscopic video signal, save it as stereoscopic data for future playback.

[0044] Stereoscopic video monitor: Docked with the corresponding optical stereoscopic glasses. While the stereoscopic video recorder is recording and playing, it can also loop out a synchronous single-channel stereoscopic video signal output and transmit it to the stereoscopic video monitor. This transmission process only requires one HDMI digital high-definition cable. It can also be transmitted to a distance through a network cable for remote consultation or remote stereoscopic surgery.

[0045] Stereoscopic glasses: Receive the stereoscopic video signal and play it. During the operation, the doctor can directly perform the operation freely without looking at the screen.

[0046] 1.2 Obtaining dual-path crossed X-ray, including:

[0047] Combining the tube power supply and the dual-source tube with two sets of filaments built in;

[0048] Using the tube power supply to provide two paths of heating filament power supplies and two paths of high-voltage DC power supplies for the dual-source tube. Specifically: using the tube power supply to distribute and provide 2 paths of heating filament power supplies for the dual-source tube. After power-on, a large number of free electrons accumulate around the filaments in the tube ball. There are also 2 paths of high-voltage DC power supplies connected, with the negative pole connected to the filament and the positive pole connected to the anode of the electron target.

[0049] After power-on, since there are 2 sets of filaments in the dual-source tube, when the filaments are heated, 2 sets of electron beams will be generated respectively by the 2 sets of filaments. After electron focusing, they are respectively shot at the designated anode targets. After the 2 anode targets are respectively impacted by the designated cathode electron beams, 2 sets of X-rays are generated respectively, thus forming a two-path X-ray system. The distance between the 2 targets is 65 mm, which is equivalent to the pupil distance of a person's two eyes.

[0050] 2. Using the dual-path crossed X-ray with a 12-degree viewing angle difference to pass through the object to be detected, performing signal absorption and transmission, and obtaining a visual difference information ray.

[0051] Using the dual-path crossed X-ray to cross-illuminate the object to be detected (which can be a human body), and 2 sets of X-rays carrying the fluoroscopic information of the object to be detected are emitted through the object to be detected. These 2 X-ray beams cross-illuminate the object to be detected at a 12-degree angle. The 2 sets of rays respectively carry X-ray signals with a 12-degree parallax angle difference. These 2 sets of X-ray signals with visual differences pass through the object to be detected. Part of the rays are absorbed by the object to be detected and part are transmitted through, obtaining a visual difference information ray.

[0052] 3. Performing stereoscopic projection based on the visual difference information ray and obtaining a single-path stereoscopic video signal. Including:

[0053] Using the dual-path detector to convert the visual difference information ray into two paths of image videos and transmitting the two paths of image videos to the dual-path video distributor;

[0054] Using the dual-path video distributor to transmit the two paths of image videos to a dual-path stereoscopic projector with a left path and a right path for stereoscopic projection. Among them, double-mirror stereoscopic projection can be used to directly view the stereoscopic X-ray projection monitoring, or two single-eye video glasses displays can be used to view the left and right stereoscopic images in real time. From the operation of the object to be detected to seeing the stereoscopic perspective image of the object to be detected. From the X-ray irradiating the object to be detected to seeing the stereoscopic image, there is a delay of about 10 milliseconds. It is almost close to real-time viewing, reducing the delay phenomenon in the 3D post-processing process of the image, and the image maintains the original pixels and has very good clarity. Greatly reducing the risk of errors in surgical operations.

[0055] The dual-channel distributor is used to transmit the video signal of one channel to the dual-channel video combiner, and the dual-channel video combiner is used to encapsulate the frame video images of the two channels of video at the same time into one frame image, and then arrange them into video signals in time sequence to obtain a single-channel stereoscopic video signal.

[0056] 4. Use high-definition lines to transmit the single-channel stereoscopic video signal and perform imaging monitoring of stereoscopic perspective images.

[0057] The single-channel packaged stereoscopic video transmitted from the dual-channel video combiner can transmit the stereoscopic video with only one high-definition line, and can also conveniently perform single-line stereoscopic video transmission, recording, and stereoscopic video playback transmission.

[0058] The single-line stereo display has the function of decapsulating and playing the single-line stereo video packaged signal. By wearing corresponding stereo glasses, the stereo video signal can be seen.

[0059] Stereo glasses are available in two types: head-mounted hanging type and glasses type. The present invention uses a head-mounted hanging type. This head-mounted hanging display is light and stable, and will not fall easily from the hand. In addition, the head-mounted hanging display can monitor the perspective image during the operation forward, and there is a wide field of view forward and downward, and the surgical operation can be seen at the same time. Compared with VR glasses or AR glasses, it is more suitable for monitoring during surgery.

[0060] 5. Stereoscopic viewing mode

[0061] There are roughly two categories and five modes:

[0062] Category A: Large screen + special optical glasses

[0063] 1) Time-difference shutter large screen + matching glasses. (One frame on each side is interspersed, and the playback is arranged in chronological order. The disadvantage is that it has a sense of flickering and is easy to cause visual fatigue);

[0064] 2) Circular polarized flicker-free large screen + matching glasses. (One line is interspersed on the left and right, and the upper and lower lines are interspersed and played according to the frame picture. The disadvantage is that one line of signal is lost in each frame, and the brightness decreases, and the display brightness needs to be increased to compensate).

[0065] 3) Red and blue color difference large screen + matching glasses. (One color on each side is interspersed in the same screen. The clarity and brightness are improved, but the disadvantage is glare.) The advantage is that it can be viewed with an ordinary color display device. (Applicable to displays, monitors, TV screens, projectors). Used for teaching and consultation.

[0066] Category B: Small screen in front of the eyes

[0067] 4) Microdisplay glasses type. Dual channels on the left and right, without a large screen display. The images are high-definition microdisplays in front of each of the left and right eyes. The disadvantages are that it may occasionally fall off during surgery, there is a sense of compression on the ears and nose, and it is easy to get fatigued;

[0068] 5) Microdisplay head-mounted type. Clear and stable. The fixation on the ears and nose is transferred to the head, looking relatively relaxed and not likely to fall off during surgery.

[0069] Therefore, by providing a real-time stereoscopic fluoroscopic imaging method based on a C-arm X-ray machine, the present invention can utilize the X-ray fluoroscopic imaging video signals with binocular visual differences to observe the stereoscopic fluoroscopic images in real time, which is beneficial to improving the accuracy of surgical operations.

[0070] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0071] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, there will be changes in the specific implementation manners and application scopes according to the idea of the present invention. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A real-time stereoscopic imaging method based on a C-arm X-ray machine, characterized in that: The following steps are involved: Assembling a stereoscopic X-ray machine, and setting a double-path cross X-ray in the stereoscopic X-ray machine; wherein the cross angle of the double-path cross X-ray is 12 degrees; The double-path cross X-rays with a 12-degree visual angle difference are used to pass through the object to be detected, perform signal absorption and transmission, and obtain visual difference information rays; Performing stereoscopic projection based on the visual difference information ray and obtaining a single-channel stereoscopic video signal; The single-channel stereoscopic video signal is transmitted via a high-definition line, and stereoscopic perspective image imaging monitoring is performed.

2. A real-time stereoscopic imaging method based on a C-arm X-ray machine according to claim 1, characterized in that: The stereoscopic X-ray machine includes a high-power voltage stabilizer for providing power, a distribution box for distributing power, a tube power supply for transmitting power for heating filaments, a dual-source tube for radiating dual-path cross X-rays, an object to be detected, a dual-path detector for outputting dual-path video signals, a dual-path video distributor for distributing dual-path video signals, a stereoscopic display for displaying real-time X-ray perspective stereoscopic images, a dual-path video merger for outputting a single set of stereoscopic video signals, a stereoscopic video recorder for recording stereoscopic video signals, a stereoscopic video monitor for transmitting stereoscopic videos, and stereoscopic glasses for displaying stereoscopic videos; Among them, the high-power voltage regulator is connected to the distribution box, the distribution box is connected to the tube power supply, the tube power supply is connected to the dual-source tube, the dual-channel detector is connected to the dual-channel video distributor, the dual-channel video distributor is connected to the stereo display and the dual-channel video merger, the dual-channel video merger is connected to the stereo video recorder, the stereo video recorder is connected to the stereo video monitor, and the stereo video monitor is connected to the stereo glasses.

3. A real-time stereoscopic imaging method based on a C-arm X-ray machine according to claim 2, characterized in that: Assembling a stereoscopic X-ray machine and setting up a double-path cross X-ray beam in the stereoscopic X-ray machine, comprising: Combining the bulb power supply device with the dual-source bulb having two sets of filaments built therein; The tube power supply device is used to provide two heating filament power supplies and two high-voltage direct current power supplies to the dual-source tube, and after power is turned on, two groups of filaments in the dual-source tube respectively generate two groups of electron beams; Two groups of electron beams are used to impact two anode targets to obtain double-path cross X-rays; wherein the target point spacing between the two anode targets is 65 mm.

4. A real-time stereoscopic imaging method based on a C-arm X-ray machine according to claim 3, characterized in that: Performing stereoscopic projection based on the visual difference information ray and obtaining a single-channel stereoscopic video signal includes: The two-way detector is used to convert the visual difference information ray into two-way image videos, and the two-way image videos are transmitted to the two-way video distributor; The two-channel video distributor is used to transmit two-channel video images to a two-channel stereoscopic projector having a left channel and a right channel for stereoscopic projection; The dual-channel distributor is used to transmit the video signal of one channel to the dual-channel video combiner, and the dual-channel video combiner is used to encapsulate the frame video images of the two channels of video at the same time into one frame image, and then arrange them into video signals in time sequence to obtain a single-channel stereoscopic video signal.

5. A real-time stereoscopic imaging method based on a C-arm X-ray machine according to claim 4, characterized in that: The single-channel stereo video signal is transmitted by high-definition lines, and the imaging monitoring of stereoscopic perspective images is performed, including: the single-channel stereo video signal is transmitted, recorded and played by high-definition lines, and the stereo display and the stereo glasses are used to perform the imaging monitoring of stereoscopic perspective images.

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