Bulb tube and detector alignment method and device, storage medium and terminal

Abstract

The invention provides a bulb tube and detector alignment method and device, a storage medium and a terminal, and the method comprises the steps: obtaining preset sensor data in a moved detector, and converting the preset sensor data, so as to obtain the post-movement pose information of the detector; acquiring a relative pose of the detector and the DR control module according to the post-movement pose information and the initial pose information; the bulb tube is moved based on the relative pose of the detector and the DR control module, so that the bulb tube is aligned with the detector; wherein the preset sensor comprises a gyroscope and an accelerometer, and the initial pose information is the initial relative pose of the detector and the DR control module. According to the invention, the efficiency and precision of alignment of the bulb tube and the detector can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical systems, and relates to an alignment method for a tube and a detector, in particular to an alignment method and device for a tube and a detector, a storage medium, and a terminal. Background Art

[0002] Mobile DR (Digital Radiography) systems are widely used in medical diagnosis to provide high-resolution images to help doctors accurately evaluate patients' conditions. However, in mobile DR systems, there are still certain technical bottlenecks in the relative pose adjustment between the flat panel detector and the tube.

[0003] In the prior art, the relative position and angle adjustment between the flat panel detector and the tube mainly rely on manual operation and mechanical calibration. This method requires operators to have certain technical experience and often takes a long time for precise adjustment. Therefore, the operation is complex, the efficiency is low, and it depends on manual intervention. In addition, the pose calibration method in the prior art is prone to cumulative errors after the flat panel detector is moved or repositioned. This is because the errors between the detector and the tube cannot be effectively compensated during the manual adjustment process. Especially in a mobile environment, the relative pose between the detector and the tube is prone to small changes. During long-term operation, these errors will gradually accumulate, resulting in inaccurate imaging positions. The pose deviation of imaging may directly affect the diagnosis result. Especially in medical application scenarios that require high precision, incorrect pose calibration may lead to blurred images and misinterpretation, thus having a negative impact on the evaluation of the patient's condition. Summary of the Invention

[0004] The purpose of the present invention is to provide an alignment method and device for a tube and a detector, a storage medium, and a terminal, which are used to solve the technical problems of low alignment efficiency and high error between the tube and the detector in the prior art.

[0005] In a first aspect, the present invention provides an alignment method for a tube and a detector, including:

[0006] Obtaining preset sensor data in the detector after movement, and converting the preset sensor data to obtain the pose information of the detector after movement;

[0007] According to the pose information after movement and the initial pose information, obtaining the relative pose between the detector and the DR control module;

[0008] Moving the tube based on the relative pose between the detector and the DR control module to align the tube with the detector;

[0009] Wherein, the initial pose information is the initial relative pose between the detector and the DR control module.

[0010] In one embodiment of the present invention, the preset sensor includes a gyroscope and an accelerometer.

[0011] In one embodiment of the present invention, converting the preset sensor data to obtain the post-movement pose information of the detector includes:

[0012] Converting the angular velocity data of the gyroscope to the coordinate system of the detector to obtain the angular velocity in the detector coordinate system, and updating the angular velocity quaternion in the detector coordinate system to obtain the updated attitude quaternion;

[0013] Converting the acceleration data of the accelerometer to the coordinate system of the detector to obtain the acceleration in the detector coordinate system, and using the updated attitude quaternion to convert the acceleration in the detector coordinate system to the geodetic coordinate system to obtain the acceleration in the geodetic coordinate system;

[0014] Based on the pre-change detector coordinates, pre-change detector velocity, and the acceleration in the geodetic coordinate system, obtaining the post-change coordinates of the detector in the geodetic coordinate system, and combining the post-change coordinates and the updated attitude quaternion as the post-movement pose information.

[0015] In one embodiment of the present invention, it further includes:

[0016] Before each time the detector is taken out of the DR control module, resetting the relative pose between the detector and the DR control module to the initial relative pose.

[0017] In one embodiment of the present invention, moving the X-ray tube based on the relative pose between the detector and the DR control module to align the X-ray tube with the detector includes:

[0018] Obtaining the relative pose between the X-ray tube and the DR control module, and obtaining the target relative pose between the X-ray tube and the detector;

[0019] According to the relative pose between the detector and the DR control module and the relative pose between the X-ray tube and the DR control module, obtaining the relative pose between the X-ray tube and the detector;

[0020] Based on the relative pose between the X-ray tube and the detector and the target relative pose, moving the X-ray tube to align the X-ray tube with the detector.

[0021] In one embodiment of the present invention,

[0022] According to the relative pose between the detector and the DR control module and the relative pose between the X-ray tube and the DR control module, obtaining the relative pose between the X-ray tube and the detector includes:

[0023] P hvg / fpd = q fpd-1 ·(P hvg -P fpd )

[0024] q hvg / fpd =q fpd -1 ·q hvg

[0025] where p hvg / fpd represents the coordinates of the tube in the detector coordinate system, P hvg represents the relative coordinates between the tube and the DR control module, q hvg represents the relative attitude quaternion between the tube and the DR control module, P fpd represents the relative coordinates between the detector and the DR control module, q fpd -1 represents the transpose of q fpd q fpd represents the relative attitude quaternion between the detector and the DR control module, q hvg / fpd represents the relative attitude quaternion of the tube relative to the detector coordinate system. The relative pose between the tube and the detector includes the coordinates of the tube in the detector coordinate system and the relative attitude quaternion of the tube coordinate system relative to the detector coordinate system.

[0026] In an embodiment of the present invention, before converting the preset sensor data, it further includes:

[0027] Smoothing the preset sensor data by using a preset filtering algorithm.

[0028] In a second aspect, the present invention further provides an alignment device for a tube and a detector, characterized by including:

[0029] A sensing and acquisition module, configured to acquire preset sensor data in the moved detector and convert the preset sensor data to obtain the post-movement pose information of the detector;

[0030] A pose update module, configured to obtain the relative pose between the detector and the DR control module according to the post-movement pose information and the initial pose information;

[0031] An alignment and movement module, configured to move the tube based on the relative pose between the detector and the DR control module so that the tube is aligned with the detector;

[0032] where the initial pose information is the initial relative pose between the detector and the DR control module.

[0033] In a third aspect, the present invention further provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, the alignment method of the tube and the detector as described above is implemented.

[0034] In a fourth aspect, the present invention further provides a terminal, including a processor and a memory, and the memory is communicatively connected to the processor;

[0035] The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the alignment method of the tube and the detector as described above.

[0036] As described above, the alignment method and device of the tube and the detector, the storage medium and the terminal of the present invention have the following

[0037] Beneficial effects:

[0038] 1. By using the preset sensor data in the detector and performing a series of conversions, the present invention finally obtains the relative pose between the tube and the detector, and adjusts the tube according to the relative pose to align it with the detector, improving the efficiency and accuracy of the alignment between the tube and the detector.

[0039] 2. By presetting a filtering algorithm, the present invention effectively reduces the positioning error, and resets the relative pose between the detector and the DR control module to the initial relative pose, avoiding the error accumulation in the alignment process and further ensuring the alignment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The flowchart of the alignment method of the tube and the detector according to the embodiment of the present invention is shown.

[0041] Figure 2 The schematic diagram of the data flow process in the alignment method of the tube and the detector according to the embodiment of the present invention is shown.

[0042] Figure 3 The schematic diagram of the coordinate system relationship in the alignment method of the tube and the detector according to the embodiment of the present invention is shown.

[0043] Figure 4 The schematic diagram of the structure of the alignment device of the tube and the detector according to the embodiment of the present invention is shown.

[0044] Figure 5 The schematic diagram of the structure of the terminal according to the embodiment of the present invention is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0046] The present invention is mainly applied to the alignment of the X-ray tube and the detector in a DR system. A DR system (Digital Radiography, a digital X-ray imaging system) is a medical imaging system that combines X-ray imaging technology with digital image processing and is mainly used to obtain images of the internal structure of the human body. The DR system consists of multiple core components, including an X-ray tube, a detector, and a DR control module. The X-ray tube is a device that generates X-rays in the DR system, and its main function is to convert electrical energy into X-rays. The detector is an image receiving and converting unit in the DR system and is used to convert X-ray signals into digital images.

[0047] The following will elaborate in detail on the principles and implementation manners of the alignment method and device for the X-ray tube and the detector, the storage medium, and the terminal in this embodiment, so that those skilled in the art can understand the alignment method, device, storage medium, and terminal for the X-ray tube and the detector in this embodiment without creative labor.

[0048] To solve the above technical problems existing in the prior art, an embodiment of the present invention provides an alignment method for an X-ray tube and a detector.

[0049] Figure 1 The flowchart of the alignment method for the X-ray tube and the detector according to the embodiment of the present invention is shown. Refer to Figure 1 As shown, the alignment method for the X-ray tube and the detector in the embodiment of the present invention mainly includes steps S100 to S300. Figure 2 The schematic diagram of the data flow process in the alignment method for the X-ray tube and the detector according to the embodiment of the present invention is shown. Refer to Figure 2 As shown, in the embodiment of the present invention, the sensor data of the gyroscope and the accelerometer are acquired and converted into the coordinate system of the detector to obtain the post-movement pose information of the detector. By acquiring the relative pose between the detector and the DR control module, the position of the X-ray tube is moved to align it with the detector. The specific steps are as follows:

[0050] Step S100: Acquire the preset sensor data in the moved detector and perform conversion on the preset sensor data to obtain the post-movement pose information of the detector;

[0051] Optionally, the preset sensor in the embodiment of the present invention includes a gyroscope and an accelerometer. The gyroscope is used to measure the angular velocity data of the gyroscope, and the accelerometer is used to measure the acceleration data of the accelerometer. By collecting the preset sensor data, the post-movement pose information of the detector is determined. The preset sensor is disposed in the detector, and the corresponding sensor data is obtained by using the preset sensor in the detector, and the sensor data is converted to obtain the post-movement pose information of the detector. The post-movement pose information is the position data and attitude data of the detector after movement.

[0052] In an embodiment of the present invention, converting the preset sensor data to obtain the post-movement pose information of the detector includes the following steps:

[0053] Step S101: Convert the angular velocity data of the gyroscope to the coordinate system of the detector to obtain the angular velocity in the detector coordinate system, and update the angular velocity quaternion in the detector coordinate system to obtain the updated attitude quaternion.

[0054] Figure 3 The schematic diagram of the coordinate system relationship in the alignment method of the tube and the detector according to the embodiment of the present invention is shown. Refer to Figure 3 As shown, since the angular velocity data provided by the gyroscope is based on the gyroscope, it is necessary to convert the angular velocity data to the detector coordinate system to obtain the angular velocity in the detector coordinates as the basis for characterizing the acceleration of the detector. The conversion method refers to the following formula:

[0055] ω fpd =R gy-to-fpd ·ω gy

[0056] where ω gy represents the angular velocity data of the gyroscope, R gy-to-fpd represents the conversion matrix from the gyroscope coordinate system to the detector coordinate system, and ω fpd represents the angular velocity in the detector coordinate system.

[0057] Calculate the rotation increment based on the angular velocity in the detector coordinate system, and update this increment to the angular velocity quaternion in the detector coordinate system to obtain the updated attitude quaternion. Specifically, refer to the following formula:

[0058]

[0059] where Ω fpd represents the angular velocity quaternion in the detector coordinate system, Δt gy represents the sampling interval of the magnetic compass data, q k+1 represents the updated attitude quaternion, and q k represents the attitude quaternion before the change.

[0060] Step S102: Convert the acceleration data of the accelerometer to the coordinate system of the detector to obtain the acceleration in the detector coordinate system, and use the updated attitude quaternion to convert the acceleration in the detector coordinate system to the geodetic coordinate system to obtain the acceleration in the geodetic coordinate system.

[0061] Specifically, to convert the acceleration data of the accelerometer to the coordinate system of the detector, refer to the following formula:

[0062] A fpd = R ac-to-fpd · A ac

[0063] where A fpd represents the acceleration in the detector coordinate system, R ac-to-fpd represents the transformation matrix from the accelerometer coordinate system to the detector coordinate system, and A ac represents the acceleration data of the accelerometer.

[0064] To obtain the acceleration in the geodetic coordinate system, refer to the following formula:

[0065]

[0066] where A world represents the acceleration in the geodetic coordinate system, A fpd represents the acceleration in the detector coordinate system, q k+1 represents the updated attitude quaternion, represents the conjugate quaternion of q k+1 .

[0067] Step S103: Based on the pre-change detector coordinates, pre-change detector velocity, and the acceleration in the geodetic coordinate system, obtain the post-change coordinates of the detector in the geodetic coordinate system, and combine the post-change coordinates and the updated attitude quaternion as the moved pose information.

[0068] Integrate the acceleration in the geodetic coordinate system to obtain the velocity change of the detector, and integrate the post-change detector velocity to obtain the displacement change. Specifically, to obtain the moved pose information, refer to the following formula:

[0069] v k+1 = v k + A world Δt ac

[0070] p k+1 = p k + v k+1 Δt ac

[0071] where A world Δt ac represents the velocity change, and vk+1 Δt ac represents the displacement change, v k represents the velocity of the detector before the change, p k+1 represents the coordinate after the change, p k represents the coordinate of the detector before the change, Δt ac represents the integration time interval. The pose information after movement includes the coordinate p after the change k+1 and the updated attitude quaternion q k+1 . By converting the gyroscope data and accelerometer data, step S100 can accurately obtain the pose information of the detector after movement, providing efficient and accurate data support for subsequent alignment.

[0072] In an embodiment of the present invention, before converting the preset sensor data, it further includes: using a preset filtering algorithm to smooth the preset sensor data. The preset sensor may be affected by external interference and measurement errors, resulting in noise in the data. Through smoothing, the jitter of the sensor data can be effectively reduced, the accuracy of subsequent relative pose calculation can be improved, and the impact of noise on the overall alignment accuracy of the system can be reduced.

[0073] In an embodiment of the present invention, the preset filtering algorithm is the Kalman filtering algorithm. Kalman filtering is a recursive algorithm that dynamically smooths data by combining sensor measurements with predicted values based on the state estimation model of a dynamic system. By smoothing the preset sensor data through the Kalman filtering algorithm, high-precision and low-noise input data are provided for subsequent pose estimation and alignment operations of the detector, which is beneficial to improving the alignment accuracy.

[0074] Step S200: Obtain the relative pose between the detector and the DR control module according to the pose information after movement and the initial pose information.

[0075] Specifically, the initial pose information is the initial relative pose between the detector and the DR control module. The initial pose information includes the relative coordinate and relative attitude quaternion of the detector in the coordinate system of the DR control module in the initial state. After obtaining the pose information after movement in step S100, by making the earth coordinate system coincide with the coordinate system of the DR control module, the relative pose between the detector and the DR control module after the change can be obtained.

[0076] In an embodiment of the present invention, it further includes: before taking out the detector from the DR control module each time, resetting the relative pose between the detector and the DR control module to the initial relative pose. Before taking out the detector from the DR control module each time, ensuring that the relative pose between the detector and the DR control module returns to a unified initial state can provide a benchmark for subsequent adjustment and alignment, and avoid the accumulation of errors.

[0077] Step S300: Move the X-ray tube based on the relative pose between the detector and the DR control module so that the X-ray tube is aligned with the detector.

[0078] In an embodiment of the present invention, moving the X-ray tube based on the relative pose between the detector and the DR control module so that the X-ray tube is aligned with the detector includes the following steps:

[0079] Step S301: Obtain the relative pose between the X-ray tube and the DR control module, and obtain the target relative pose between the X-ray tube and the detector.

[0080] Since both the X-ray tube and the DR control module are components in the DR system, the relative pose between the two can be obtained in the DR system. The target relative pose between the X-ray tube and the detector is the target position and direction when the X-ray tube is aligned with the detector.

[0081] Step S302: Obtain the relative pose between the X-ray tube and the detector according to the relative pose between the detector and the DR control module and the relative pose between the X-ray tube and the DR control module.

[0082] In an embodiment of the present invention,

[0083] Obtaining the relative pose between the X-ray tube and the detector according to the relative pose between the detector and the DR control module and the relative pose between the X-ray tube and the DR control module includes:

[0084] P hvg / fps = q fpd -1 · (P hvg - P fpd )

[0085] q hvg / fpd = q fpd -1 · q hvg

[0086] where p hvg / fpd represents the coordinates of the X-ray tube in the detector coordinate system, R hvg represents the relative coordinates between the X-ray tube and the DR control module, q hvg represents the relative attitude quaternion between the X-ray tube and the DR control module, P fpd represents the relative coordinates between the detector and the DR control module, q fpd -1 represents the transpose of q fpd , q fpd represents the relative attitude quaternion between the detector and the DR control module, q hvg / fpd represents the relative attitude quaternion of the X-ray tube coordinate system with respect to the detector coordinate system. Thus, P hvg / fpd and q hvg / fpdAs the relative pose between the X-ray tube and the detector. The relative pose of the X-ray tube and the detector includes the coordinates of the X-ray tube in the detector coordinate system and the relative attitude quaternion of the X-ray tube coordinate system with respect to the detector coordinate system.

[0087] Step S303: Move the X-ray tube based on the relative pose between the X-ray tube and the detector and the target relative pose, so that the X-ray tube is aligned with the detector.

[0088] Obtain the target pose for aligning the X-ray tube and the detector, and move the X-ray tube based on the relative pose between the X-ray tube and the detector and the target pose for aligning the X-ray tube and the detector, so that the X-ray tube is aligned with the detector.

[0089] The protection scope of the method for aligning the X-ray tube and the detector according to the embodiments of the present invention is not limited to the execution order of the steps listed in this embodiment. Any solution achieved by adding or reducing steps of the prior art and replacing steps according to the principle of the present invention is included in the protection scope of the present invention.

[0090] The method for aligning the X-ray tube and the detector according to the embodiments of the present invention obtains the relative pose between the X-ray tube and the detector through the preset sensor data in the detector and a series of conversions, and adjusts the X-ray tube according to this relative pose to align it with the detector, improving the efficiency and accuracy of aligning the X-ray tube and the detector. In addition, the preset filtering algorithm is also used to effectively reduce the positioning error, and the relative pose between the detector and the DR control module is reset to the initial relative pose, avoiding the error accumulation during the alignment process and further ensuring the alignment accuracy.

[0091] To solve the above technical problems existing in the prior art, the embodiments of the present invention also provide an alignment device for an X-ray tube and a detector.

[0092] Figure 4 shows a schematic structural diagram of the alignment device for the X-ray tube and the detector according to the embodiments of the present invention. Refer to Figure 4 As shown, the alignment device for the X-ray tube and the detector according to the embodiments of the present invention includes:

[0093] A sensing and acquisition module, configured to acquire preset sensor data in the moved detector and perform conversions on the preset sensor data to obtain the moved pose information of the detector;

[0094] A pose update module, configured to obtain the relative pose between the detector and the DR control module according to the moved pose information and the initial pose information;

[0095] An alignment and movement module, configured to move the X-ray tube based on the relative pose between the detector and the DR control module, so that the X-ray tube is aligned with the detector;

[0096] Wherein, the initial pose information is the initial relative pose between the detector and the DR control module.

[0097] The alignment device for the X-ray tube and the detector according to the embodiment of the present invention obtains the relative pose between the X-ray tube and the detector through a series of conversions based on the preset sensor data in the detector, and adjusts the X-ray tube according to the relative pose to align it with the detector, improving the efficiency and accuracy of the alignment between the X-ray tube and the detector. In addition, the preset filtering algorithm is used to effectively reduce the positioning error, and the relative pose between the detector and the DR control module is reset to the initial relative pose, avoiding the accumulation of errors during the alignment process and further ensuring the alignment accuracy.

[0098] To solve the above technical problems existing in the prior art, the embodiment of the present invention also provides a storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, all steps of the alignment method for the X-ray tube and the detector in the embodiment are implemented.

[0099] The specific steps of the alignment method for the X-ray tube and the detector and the beneficial effects obtained by using the readable storage medium provided by the embodiment of the present invention are the same as those in the above embodiments, and will not be described herein again.

[0100] Those of ordinary skill in the art can understand that all or part of the steps in the method of the above embodiments can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium. The storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital video disc (DVD)), or a semiconductor medium (such as a solid-state disk (SSD)).

[0101] To solve the above technical problems existing in the prior art, the embodiment of the present invention also provides a terminal. Figure 5 The structural schematic diagram of the terminal according to the embodiment of the present invention is shown, refer to Figure 5As shown in the figure, the terminal according to the embodiment of the present invention includes a processor and a memory, and the memory is communicatively connected to the processor; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes all steps of the alignment method of the tube and the detector in the above embodiment.

[0102] The specific steps of the alignment method of the tube and the detector and the beneficial effects obtained by using the terminal according to the embodiment of the present invention are the same as those in the above embodiment, and will not be elaborated here.

[0103] It should be noted that the memory may include a random access memory (Random Access Memory, RAM for short), and may also include a non-volatile memory, such as at least one disk memory. Similarly, the processor may also be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP for short), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), a field programmable gate array (Field Programmable Gate Array, FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0104] Although the disclosed embodiments of the present invention are as above, the described content is only an embodiment adopted for the convenience of understanding the present invention, and is not used to limit the present invention. Any person skilled in the art within the technical field to which the present invention pertains, without departing from the spirit and scope disclosed by the present invention, can make any modifications and changes in the form of implementation and details, but the protection scope of the present invention must still be subject to the scope defined by the appended claims.

Claims

1. A method for aligning a tube and a detector, comprising: Acquire preset sensor data in the moved detector, and convert the preset sensor data to obtain the position and posture information of the moved detector; According to the posture information after the movement and the initial posture information, the relative posture of the detector and the DR control module is obtained; Moving the tube based on the relative position of the detector and the DR control module so that the tube is aligned with the detector; The initial posture information is the initial relative posture of the detector and the DR control module.

2. The alignment method according to claim 1, characterized in that: The preset sensors include a gyroscope and an accelerometer.

3. The alignment method according to claim 2, characterized in that: Converting the preset sensor data to obtain the position information of the detector after movement includes: The angular velocity data of the gyroscope is converted into the coordinate system of the detector to obtain the angular velocity in the coordinate system of the detector, and the angular velocity quaternion in the coordinate system of the detector is updated to obtain the updated attitude quaternion; Convert the acceleration data of the accelerometer to the coordinate system of the detector to obtain the acceleration in the detector coordinate system, and use the updated attitude quaternion to convert the acceleration in the detector coordinate system to the earth coordinate system to obtain the acceleration in the earth coordinate system; Based on the detector coordinates before the change, the detector speed before the change and the acceleration in the earth coordinate system, the detector coordinates after the change in the earth coordinate system are obtained, and the coordinates after the change and the updated attitude quaternion are combined as the posture information after the movement.

4. The alignment method according to claim 1, characterized in that: Also includes: Each time before the detector is taken out of the DR control module, the relative posture between the detector and the DR control module is reset to the initial relative posture.

5. The alignment method according to claim 1, characterized in that: Moving the tube based on the relative position of the detector and the DR control module so that the tube is aligned with the detector includes: Obtain the relative position and posture of the tube and the DR control module, and obtain the target relative position and posture of the tube and the detector; According to the relative posture of the detector and the DR control module, and the relative posture of the tube and the DR control module, the relative posture of the tube and the detector is obtained; Based on the relative position of the tube and the detector and the relative position of the target, the tube is moved so that the tube is aligned with the detector.

6. The alignment method according to claim 5, characterized in that: According to the relative posture of the detector and the DR control module, and the relative posture of the tube and the DR control module, the relative posture of the tube and the detector is obtained, including: P hvg / fpd =q fpd -1 ·(P hvg -P fpd ) q hvg / fpd =q fpd -1 ·q hvg Among them, P hvg / fpd represents the coordinates of the tube in the detector coordinate system, P hvg Indicates the relative coordinates between the tube and the DR control module, q hvg Represents the relative attitude quaternion between the tube and the DR control module, P fpd represents the relative coordinates between the detector and the DR control module, q fpd -1 Indicates q fpd The transpose of q fpd Represents the relative attitude quaternion between the detector and the DR control module, q hvg / fpd The quaternion represents the relative attitude of the tube relative to the detector coordinate system. The relative position and posture of the tube and the detector include the coordinates of the tube in the detector coordinate system and the relative attitude quaternion of the tube coordinate system relative to the detector coordinate system.

7. The alignment method according to claim 1, characterized in that: Before converting the preset sensor data, the method further includes: The preset sensor data is smoothed using a preset filtering algorithm.

8. An alignment device for a tube and a detector, comprising: A sensor acquisition module, used to acquire preset sensor data in the detector after the movement, and convert the preset sensor data to obtain the position and posture information of the detector after the movement; A posture updating module, used for obtaining the relative posture of the detector and the DR control module according to the posture information after the movement and the initial posture information; An alignment movement module, used for moving the tube based on the relative position of the detector and the DR control module, so that the tube is aligned with the detector; The initial posture information is the initial relative posture of the detector and the DR control module.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for aligning a tube and a detector according to any one of claims 1 to 7 is implemented.

10. A terminal, characterized in that: It comprises a processor and a memory, wherein the memory is communicatively connected to the processor; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the method for aligning a tube and a detector as described in any one of claims 1 to 7.

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