Multi-mode scanning CBCT imaging system, device and method

Abstract

The invention relates to a multi-mode scanning CBCT imaging system, device and method. The multi-mode scanning CBCT imaging system comprises a rotating rack, a ray generating device, a detector and at least three laser positioning devices, the ray generating device, the detector and the at least three laser positioning devices are arranged on the rotating rack, the detector and the ray generating device are oppositely arranged on the rotating rack, and the detector is used for receiving rays emitted by the ray generating device. The laser positioning devices are sequentially arranged at intervals in the circumferential direction of the rotating rack, a ray generating device and a detector in the multi-mode scanning CBCT imaging system can rotate along with rotation of the rotating rack, and the laser positioning devices are used for assisting rapid positioning during different-mode imaging scanning. Therefore, the multi-mode scanning CBCT imaging system can carry out imaging scanning in multiple different modes and does not consume high cost at the same time.

Description

Technical Field

[0001] The present application relates to the technical field of computed tomography, and particularly to a multi-mode scanning CBCT imaging system, device and method. Background Art

[0002] Cone-beam Computed Tomography (CBCT) has been relatively maturely applied in dental diagnosis and image guidance. At present, there are five mature imaging methods derived from CBCT technology, namely DR (Digital Radiography) scanning, fluoroscopy scanning, small-angle tomography scanning, circular orbit CBCT scanning, and spiral CBCT scanning. Different scanning methods are suitable for different diseases. Doctors select the optimal scanning method according to the tissue characteristics and dosimetry characteristics of the diseases. For example, DR scanning mode can be used for conventional chest radiograph scanning, while fluoroscopy scanning mode is required for angiography and lesion tracking. Small-angle tomography scanning is needed for breast lesion examination, and circular orbit CBCT scanning is generally used for conventional three-dimensional imaging (such as dentistry). Spiral CBCT scanning mode can be selected for whole-body scanning.

[0003] However, each scanning mode has different requirements for the geometric structure, control movement, and quality control calibration of the CBCT system, and it is difficult to be compatible. Currently, most devices only have one scanning mode. If multiple scanning modes are required, multiple devices need to be configured. A few devices integrate three modes of DR, fluoroscopy, and circular orbit CBCT scanning, but they cannot be compatible with all scanning modes. Summary of the Invention

[0004] Based on this, it is necessary to provide a multi-mode scanning CBCT imaging system, device and method that can be of relatively low cost and be compatible with all scanning modes for the above technical problems.

[0005] In a first aspect, the present application provides a multi-mode scanning CBCT imaging system, including:

[0006] A rotating gantry;

[0007] A ray generating device, arranged on the rotating gantry;

[0008] A detector, arranged on the rotating gantry, and the detector and the ray generating device are oppositely arranged on the rotating gantry for receiving the rays emitted by the ray generating device;

[0009] At least three laser positioning devices, arranged on the rotating gantry, and the laser positioning devices are sequentially arranged at intervals along the circumferential direction of the rotating gantry, wherein any one laser positioning device is arranged at the same position as the ray generating device.

[0010] In one embodiment, when at least three laser positioning devices are operating, they can emit at least three mutually perpendicular laser beams, and the laser beams intersect at the rotation center of the rotating gantry.

[0011] In one embodiment, the system further includes:

[0012] A filtering component, arranged at the beam outlet of the radiation generating device, and the filtering component is used to adjust the state of the radiation.

[0013] In one embodiment, the filtering component includes:

[0014] An adjustable collimator, arranged at the beam outlet, and the adjustable collimator is used to shape the beam of the radiation;

[0015] A filter plate, embedded at the rear of the adjustable collimator, and the filter plate is used to filter the radiation.

[0016] In one embodiment, the adjustable collimator includes a first lead baffle, a second lead baffle, a third lead baffle, and a fourth lead baffle;

[0017] Among them, the first lead baffle, the second lead baffle, the third lead baffle, and the fourth lead baffle surround to form a closed rectangular frame structure. The first lead baffle and the second lead baffle are used to shape the beam of the radiation in the front-back direction, and the third lead baffle and the fourth lead baffle are used to shape the beam of the radiation in the left-right direction.

[0018] In one embodiment, the system further includes:

[0019] A sliding guide rail, the sliding guide rail is connected to the rotating gantry, and the detector is connected to the rotating gantry through the sliding guide rail.

[0020] In one embodiment, the rotating gantry includes:

[0021] A load-bearing framework;

[0022] A circular sliding rail, connected to the load-bearing framework through a bearing. Tooth marks are provided on the outer side of the circular sliding rail, and the tooth marks are meshed with a gear;

[0023] A driving component, arranged on the load-bearing framework, the driving component is connected to the gear, and the driving component is used to drive the gear to drive the circular sliding rail to rotate.

[0024] In one embodiment, the system further includes:

[0025] An examination couch, used to carry the scanning object, and the laser beams emitted by the laser positioning device irradiate on the examination couch.

[0026] In a second aspect, the present application further provides a multi-mode scanning CBCT imaging device, including the multi-mode scanning CBCT imaging system as described above.

[0027] In a third aspect, the present application also provides a multi-mode scanning CBCT imaging method, which is applied to the multi-mode scanning CBCT imaging system as described above. The method includes:

[0028] In response to the received mode selection instruction, determine the target scanning mode, and obtain the position information, target dose, target rotation speed, and target algorithm corresponding to the target scanning mode;

[0029] Control the rotating gantry to rotate to the first position according to the position information, and control the laser beam emitted by the laser positioning device to irradiate at the second position;

[0030] In response to the received emission instruction, control the ray generating device to emit rays according to the target dose, and control the rotating gantry to rotate at the target rotation speed;

[0031] Receive the ray data detected by the detector, and obtain the target image based on the target algorithm and the ray data.

[0032] In the above multi-mode scanning CBCT imaging system, device and method, the system includes a rotating gantry, and a ray generating device, a detector and at least three laser positioning devices respectively arranged on the rotating gantry. Among them, the detector and the ray generating device are oppositely arranged on the rotating gantry for receiving the rays emitted by the ray generating device, and the laser positioning devices are arranged at intervals in sequence along the circumferential direction of the rotating gantry; in the present application, both the ray generating device and the detector can rotate following the rotation of the rotating gantry, and each laser positioning device is used to assist in quick positioning during imaging scans of different modes, so that the imaging system provided by the present application can perform imaging scans of multiple different modes without consuming high costs. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic structural diagram of a multi-mode scanning CBCT imaging system in an embodiment;

[0035] Figure 2 It is a schematic structural diagram of a filter component in an embodiment;

[0036] Figure 3 It is a schematic structural diagram of a multi-mode scanning CBCT imaging system in another embodiment;

[0037] Figure 4 It is the enhanced effect diagram of the static 2D-DR mode of an animal in the prone position in an embodiment;

[0038] Figure 5 It is the enhanced effect diagram of a certain frame of the dynamic 2D-DR mode of an animal in the prone position in an embodiment;

[0039] Figure 6 It is the reconstructed image of the focusing layer of the 2.5D-tomography mode of a simulation phantom in the supine position in an embodiment;

[0040] Figure 7 It is the three-dimensional reconstructed image of the 3D-CBCT mode of a human lung in an embodiment;

[0041] Figure 8 It is the cross-sectional reconstructed image of different respiratory phases of the 4D-CBCT mode of an animal lung in an embodiment;

[0042] Figure 9 It is the three-dimensional reconstructed image of the spiral CBCT mode of a human lung in an embodiment;

[0043] Figure 10 It is the internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0044] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0046] It can be understood that the terms "first", "second", etc. used in this application can be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0047] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In addition, in the following embodiments, "connection", if there is an electrical signal or data transmission between the connected objects, should be understood as "electrical connection", "communication connection", etc.

[0048] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprising", "including" or "having" and the like specify the presence of the stated features, wholes, steps, operations, components, parts or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the related listed items.

[0049] A multi-mode scanning CBCT imaging system (hereinafter referred to as the imaging system) provided by an embodiment of the present application, in which both the ray generating device and the detector in the imaging system can rotate following the rotation of the rotating gantry, and each laser positioning device is used to assist in rapid positioning during imaging scans in different modes, so that the multi-mode scanning CBCT imaging system provided by the present application can perform imaging scans in multiple different modes, for example: static 2D-DR mode scan, dynamic 2D-DR mode scan, 2.5D-tomography mode scan, 3D-CBCT mode scan, 4D-CBCT mode scan and spiral CBCT mode scan. At the same time, the multi-mode scanning CBCT imaging system provided by the embodiment of the present application has a small overall volume and a small floor area, and the ray radiation dose is much smaller than that of a spiral CT (Computed Tomography) device, has low requirements for the environment, and has low cost, and is especially suitable for secondary hospitals, pet clinics and other diagnostic applications with insufficient budget.

[0050] In an exemplary embodiment, as Figure 1 shown, a multi-mode scanning CBCT imaging system is provided, including:

[0051] A rotating gantry 101;

[0052] A ray generating device 102, arranged on the rotating gantry 101;

[0053] A detector 103, arranged on the rotating gantry 101, and the detector 103 and the ray generating device 102 are oppositely arranged on the rotating gantry 101 for receiving the rays emitted by the ray generating device 102;

[0054] At least three laser positioning devices 107, arranged on the rotating gantry 101, and the laser positioning devices 107 are sequentially arranged at intervals along the circumferential direction of the rotating gantry 101, wherein any one of the laser positioning devices 107 is arranged at the same position as the ray generating device 102.

[0055] Wherein, the shape of the rotating gantry can be set according to the actual situation. In the embodiment of the present application, the mechanism capable of rotating in the rotating gantry is taken as an example of a circular ring for illustration.

[0056] Specifically, as Figure 1 shown, there is a mechanism (referred to as a rotatable mechanism) in the rotating gantry 101 that can be used for rotation, and a radiation generating device 102, a detector 103, and a laser positioning device 107 are respectively arranged on the rotatable mechanism. Among them, the radiation generating device 102 and the detector 103 are arranged opposite to each other, so that the detector 103 can receive the radiation emitted by the radiation generating device 102. The scanning object can be arranged between the radiation generating device 102 and the detector 103 to perform imaging scans in multiple different modes. At the same time, the laser beams emitted by each laser positioning device 107 can be used to indicate the placement position of the scanning object. Any one of the laser positioning devices 107 and the radiation generating device 102 are arranged at the same position, which is convenient for adjusting the placement position of the scanning object according to the laser beam emitted by the laser positioning device 107. The imaging scans in different modes respectively correspond to different placement positions, which is convenient for performing imaging scans in multiple different modes.

[0057] It should be noted that the radiation generating device 102 can be connected to the rotating gantry 101 through a frame, and the laser positioning device 107 can be directly installed on the rotating gantry 101. Among them, Figure 1 the laser positioning device 107 arranged at the same position as the radiation generating device 102 is blocked, so it is shown in Figure 1 in a dashed line form. It can be understood that the number and setting position of the laser positioning device 107 can be set according to the actual situation as long as it can achieve the function of indicating the placement position of the scanning object. In the embodiment of the present application, 3 laser positioning devices 107 arranged at 90° intervals in sequence are taken as an example for illustration.

[0058] Exemplarily, the types of the radiation generating device, the detector, and the laser positioning device can all be set according to the actual situation and are not limited in the embodiment of the present application. In the embodiment of the present application, the radiation emitted by the radiation generating device is X-ray, that is, the radiation generating device is an X-ray generating device, and the detector is a flat panel detector as an example for illustration.

[0059] The above multi-mode scanning CBCT imaging system includes a rotating gantry, as well as a ray generating device, a detector, and at least three laser positioning devices respectively arranged on the rotating gantry. Among them, the detector and the ray generating device are oppositely arranged on the rotating gantry for receiving the rays emitted by the ray generating device. The laser positioning devices are arranged at intervals in sequence along the circumferential direction of the rotating gantry. The ray generating device and the detector can both rotate following the rotation of the rotating gantry, and each laser positioning device is used to assist in quickly positioning during imaging scans in different modes. Compared with existing equipment, the multi-mode scanning CBCT imaging system provided by the embodiments of the present application has a small floor area, the ray radiation dose is much smaller than that of spiral CT equipment, has low requirements for the environment, and has a low cost. The imaging system provided by the embodiments of the present application has a wide range of applications and can perform imaging scans in multiple different modes.

[0060] In one of the embodiments, when at least three laser positioning devices work, they can emit at least three mutually perpendicular laser beams, and each laser beam intersects at the rotation center of the rotating gantry.

[0061] Specifically, the laser beams emitted by the laser positioning device include three mutually perpendicular laser beams in the transverse direction, the horizontal direction, and the vertical direction. Among them, the three mutually perpendicular laser beams intersect at the rotation center of the rotating gantry, which is convenient for the positioning scan of the scanned object.

[0062] Exemplarily, when the number of laser positioning devices in the multi-mode scanning CBCT imaging system is three, the three laser positioning devices can be arranged at intervals of 90° in sequence, and one of the laser positioning devices is arranged at the same position as the ray generating device, which is convenient for finding the placement position of the scanned object.

[0063] In the embodiments of the present application, the laser positioning devices configured in the multi-mode scanning CBCT imaging system can emit at least three mutually perpendicular laser beams when working, and each laser beam intersects at the rotation center of the rotating gantry, which is convenient for the positioning scan of the scanned object and at the same time convenient for subsequent imaging scans in multiple different modes.

[0064] In one of the embodiments, the system further includes:

[0065] A filtering component, which is arranged at the ray exit of the ray generating device, and the filtering component is used to adjust the state of the rays.

[0066] Among them, in the embodiments of the present application, the state of the rays is taken as an example including the shape of the rays and the component content of the rays for illustration.

[0067] Specifically, a filtering component is provided at the ray exit of the ray generating device. The filtering component can be used to perform beam shaping and soft ray absorption filtering on the rays. Since different modes of imaging scans have different requirements for the state of the rays, the filtering component can be controlled to make the rays emitted by the ray generating device meet the requirements of each mode of imaging scan.

[0068] In the embodiment of the present application, by providing a filtering component at the ray exit of the ray generating device, the ray generating device can match multiple subsequent imaging scans of different modes.

[0069] In one embodiment, the filtering component includes:

[0070] An adjustable collimator, which is provided at the ray exit. The adjustable collimator is used to perform beam shaping on the rays;

[0071] A filter plate, which is embedded in the rear of the adjustable collimator. The filter plate is used to filter the rays.

[0072] Specifically, the filtering component includes an adjustable collimator, and the filter plate is embedded in the rear of the adjustable collimator, so that the rays emitted by the ray generating device are beam-shaped and the soft rays are absorbed and filtered after passing through the adjustable collimator and the filter plate, and then match multiple subsequent imaging scans of different modes.

[0073] It should be noted that the rays emitted by the ray generating device not only contain useful rays, but also generate some scattered rays, also known as soft rays. These soft rays are not only useless for penetrating the scanned object, but also cause the ray data detected by the detector to be blurred and reduce the contrast of the image. Therefore, effective measures should be taken to remove the soft rays. Most of the soft rays are low-energy rays, and the useless low-energy ray components are filtered out in advance by adding a filter plate.

[0074] In one embodiment, as Figure 2 shown, the adjustable collimator 201 includes a first lead baffle 201a, a second lead baffle 201b, a third lead baffle 201c, and a fourth lead baffle 201d;

[0075] Among them, the first lead baffle 201a, the second lead baffle 201b, the third lead baffle 201c, and the fourth lead baffle 201d surround a closed square frame structure. The first lead baffle 201a and the second lead baffle 201b are used to perform beam shaping on the front and back directions of the rays, and the third lead baffle 201c and the fourth lead baffle 201d are used to perform beam shaping on the left and right directions of the rays.

[0076] Among them, the first lead baffle 201a, the second lead baffle 201b, the third lead baffle 201c, and the fourth lead baffle 201d are all adjustable lead baffles, and their sizes can be set according to the actual situation and are not limited in the embodiment of the present application.

[0077] Specifically, as Figure 2 shown, the filter 202 is embedded in the rear part of the adjustable collimator 201. The first lead baffle 201a, the second lead baffle 201b, the third lead baffle 201c, and the fourth lead baffle 201d included in the adjustable collimator 201 are used to shape the beam in the front, back, left, and right directions of the ray.

[0078] In one embodiment, the system further includes:

[0079] A sliding guide rail, which is connected to the rotating gantry. The detector is connected to the rotating gantry through the sliding guide rail.

[0080] Specifically, the sliding guide rail is connected to the rotating gantry through a mechanical device. The detector and the ray generating device can be installed in a 180° facing position. For example, when the ray generating device is installed at the top of the rotating gantry, the detector is installed at the bottom of the rotating gantry; if the ray generating device is installed on the left side of the rotating gantry, the detector is installed on the right side of the rotating gantry.

[0081] Exemplarily, the imaging system may further include a driving motor, which can drive the sliding guide rail to drive the detector to translate to a specified position. Preferably, when the detector is installed at the bottom of the rotating gantry, the translation direction is to the left, and the maximum translation distance can be 180 millimeters. Among them, the detector defaults or preferentially translates to the left. When there are other mechanical components on the left that hinder the detector from moving to the left (mechanical structure conflict), the detector translates to the right.

[0082] In the embodiment of the present application, the detector is connected to the rotating gantry through the sliding guide rail, and the detector can translate on the sliding guide rail, which is convenient to meet the field of view imaging requirements during CBCT scanning.

[0083] In one embodiment, the rotating gantry includes:

[0084] A load-bearing skeleton;

[0085] A circular slide rail, which is connected to the load-bearing skeleton through a bearing. Tooth marks are provided on the outer side of the circular slide rail, and the tooth marks are meshed with a gear;

[0086] A driving component, which is arranged on the load-bearing skeleton. The driving component is connected to the gear, and the driving component is used to drive the gear to drive the circular slide rail to rotate.

[0087] Among them, the size of the circular slide rail can be set according to the actual situation and is not limited in the embodiment of the present application; the type of the driving component can be set according to the actual situation, as long as it can achieve the function of driving the gear to drive the circular slide rail to rotate. In the embodiment of the present application, the driving component is taken as a rotating motor as an example for illustration.

[0088] Specifically, the load-bearing skeleton is connected to the circular slide rail through a central bearing. There are tooth marks set at the center of the circular slide rail, which are tightly fitted with the gear. The three are driven by a rotating motor. The rotating motor drives the gear to rotate, and drives the circular slide rail (rotatable mechanism) and other loads to complete a specific angle of rotation, such as rotating 360 degrees. Among them, the angle range that the rotating frame can support rotation is from 0 degrees to 360 degrees.

[0089] It should be noted that the ray generating device, the detector, the laser positioning device, and the sliding guide rail can all be arranged on the circular slide rail and rotate following the rotation of the circular slide rail.

[0090] In the embodiment of the present application, the rotating frame includes a load-bearing skeleton, a circular slide rail, and a driving component. The driving component can drive the circular slide rail to rotate, so that the ray generating device, the detector, the laser positioning device, and the sliding guide rail all rotate together, facilitating the realization of subsequent imaging scans in multiple different modes.

[0091] In one of the embodiments, the system further includes:

[0092] An examination table for carrying the scanning object, and the laser beam emitted by the laser positioning device is irradiated on the examination table.

[0093] Among them, the type of the examination table can be set according to the actual situation and is not limited in the embodiment of the present application.

[0094] Specifically, the laser beams emitted by each laser positioning device are irradiated on the examination table. The laser beams emitted by each laser positioning device can include: a first laser beam for indicating the left-right orientation of the scanning object, a second laser beam for indicating the front-back orientation of the scanning object, and a third laser beam for indicating the height orientation of the scanning object. The user can place the scanning object on the examination table according to the prompts of each laser beam, facilitating the realization of subsequent imaging scans in multiple different modes.

[0095] It should be noted that the examination table can be translated relative to the rotating frame to realize imaging scans of different modes for the scanning object.

[0096] For the convenience of understanding by those skilled in the art, the imaging system will be described below with a specific example. For example, Figure 3 as shown, taking the imaging system including a rotating frame 101, a ray generating device 102, a flat panel detector 103, and a laser positioning device 107 as an example for illustration.

[0097] The rotating frame 101 consists of a load-bearing skeleton 101a, a circular slide rail 101b, a gear 101c, and a rotating motor 101d. The load-bearing skeleton 101a is connected to the circular slide rail 101b through a central bearing. Tooth marks are provided at the center of the circular slide rail and are tightly fitted with the gear 101c. The three are driven by the rotating motor 101d to operate. Among them, the rotating motor 101d drives the gear 101c to operate and drives the load such as the circular slide rail 101b to rotate at a specific angle, such as rotating 360 degrees.

[0098] The ray generating device 102 can be fixedly installed at the top of the rotating frame 101. The center distance from the rotation center can be 640 millimeters. The entire device rotates with the rotating frame 101. Among them, a filtering component (also known as a beam limiting device and a filtration integrated device) is installed at the ray exit port of the ray generating device 102 to perform beam shaping and soft ray absorption and filtration on the rays. The filter plate is embedded in the rear of the adjustable beam limiting device. It should be noted that the rotation center can refer to the point between the ray generating device 102 and the detector 103, and the ray generating device 102 and the flat panel detector 103 rotate around this point. It can be understood that if there is no mechanical error or installation error, the rotation center coincides with the center of the circle corresponding to the circular slide rail.

[0099] The flat panel detector 103 is installed on a translatable sliding guide 104. The sliding guide 104 is connected to the rotating frame 101 through a mechanical device and is installed in a 180° facing position with the ray generating device 102. The center distance from the rotation center is 400 millimeters. As Figure 3 shown, when the ray generating device 102 is installed at the top of the rotating frame 101, the flat panel detector 103 is installed at the bottom of the rotating frame 101; preferably, when the flat panel detector 103 is installed at the bottom of the rotating frame 101, the translation direction is to the left, and the maximum translation distance is 180 millimeters. The flat panel detector 103 only translates to the right when there is a conflict with the mechanical structure.

[0100] The laser positioning device 107 is installed at the top, left, and right sides of the rotating frame 101 and can rotate with the rotating frame 101. Among them, the laser beams emitted by the laser positioning device 107 include three mutually perpendicular indicating lasers in the horizontal, vertical, and lateral directions. The three mutually perpendicular indicating lasers intersect at the rotation center of the rotating frame 101, facilitating the positioning scan of the scanned object; as Figure 3 shown, the laser positioning devices 107 are respectively installed at the 9 o'clock, 12 o'clock, and 3 o'clock positions of the circular slide rail. The laser beams emitted by each laser positioning device 107 can include: a first laser beam for indicating the left and right orientation of the scanned object, a second laser beam for indicating the front and back orientation of the scanned object, and a third laser beam for indicating the height orientation of the scanned object.

[0101] The fluoroscopic examination table 105 is composed of a liftable column 105a, a front-back movable guide rail 105b, and a detachable bed board 105c. Among them, position indicators required for different-mode imaging, length scales, and other information are pre-printed on the detachable bed board 105c to facilitate the placement of the scanned object. Preferably, the detachable bed board 105c is preferably a curved bed board, and can be replaced with a flat bed board when the curved bed board cannot meet the imaging requirements.

[0102] In an exemplary embodiment, the present application also provides a multi-mode scanning CBCT imaging device, including the multi-mode scanning CBCT imaging system as described above.

[0103] Specifically, the multi-mode scanning CBCT imaging device can perform imaging scans of different modalities on the scanned object carried on the fluoroscopic examination table to meet the diagnostic requirements. Moreover, compared with traditional spiral CT devices and MRI devices, the medical device provided in the embodiment of the present application has a small floor area, the radiation dose is much smaller than that of spiral CT devices, has low environmental requirements, and low costs. While compared with traditional DR devices, the medical device provided in the embodiment of the present application has a wide range of applications, can perform imaging scans of multiple different modalities, and can also be extended to other application fields of cone beam CT imaging, which will not be elaborated in the embodiment of the present application.

[0104] In an exemplary embodiment, the present application also provides a multi-mode scanning CBCT imaging method, which is applied to the multi-mode scanning CBCT imaging system as described above. The method includes:

[0105] In response to the received mode selection instruction, determine the target scanning mode, and obtain the position information, target dose, target rotation speed, and target algorithm corresponding to the target scanning mode;

[0106] According to the position information, control the rotating gantry to rotate to the first position, and control the laser beam emitted by the laser positioning device to irradiate at the second position;

[0107] In response to the received emission instruction, control the ray generating device to emit rays according to the target dose, and control the rotating gantry to rotate according to the target rotation speed;

[0108] Receive the ray data detected by the detector, and based on the target algorithm and the ray data, obtain the target image.

[0109] Specifically, the imaging system may further include a computer device, which can be used to control the rotation of the gantry, the detector, and the examination table to move or rotate to a predetermined position, control the radiation generating device to emit radiation with a preset radiation dose, and start a preset imaging mode to collect and process radiation data, and finally display the reconstructed three-dimensional tomographic image and the rendered image (target image). Among them, the imaging scans of different modes include: static 2D-DR mode scan, dynamic 2D-DR mode scan, 2.5D-tomography mode scan, 3D-CBCT mode scan, 4D-CBCT mode scan, and spiral CBCT mode scan, a total of six scan modes, covering all scan modes of cone beam X-ray imaging.

[0110] The user inputs a mode selection instruction to the computer device according to actual needs. The computer device determines the target scan mode in response to the received mode selection instruction, and obtains the position information, target dose, target rotation speed, and target algorithm corresponding to the target scan mode; among them, the position information, target dose, target rotation speed, and target algorithm can all be pre-stored in the computer device according to the actual situation, and are not limited in the embodiments of the present application; the target scan mode can be any one of the six scan modes of static 2D-DR mode scan, dynamic 2D-DR mode scan, 2.5D-tomography mode scan, 3D-CBCT mode scan, 4D-CBCT mode scan, and spiral CBCT mode scan, and is not limited in the embodiments of the present application.

[0111] The computer device controls the circular slide rail in the gantry to rotate to the first position according to the position information, controls the laser beam emitted by the laser positioning device to irradiate at the second position, and controls the examination table to move to the third position. The user can place the scanned object on the examination table according to the indication of each laser beam; among them, the first position, the second position, and the third position can all be set according to the actual situation, and are not limited in the embodiments of the present application.

[0112] After the user finishes placing the scanned object, the user outputs an emission instruction. The computer device controls the radiation generating device to emit radiation according to the target dose and controls the gantry to rotate at the target rotation speed in response to the received emission instruction; it should be noted that if the gantry does not need to rotate in the current target scan mode, the computer device can also control the gantry to be stationary.

[0113] The detector transmits the detected radiation data to the computer device. The computer device obtains the target image based on the target algorithm and the radiation data, that is, the imaging system scans the scanned object according to the target scan mode.

[0114] To facilitate the understanding of the multi - mode scanning CBCT imaging method by those skilled in the art, the multi - mode scanning CBCT imaging method under six scanning modes will be described below with six specific examples respectively. Among them, the computer device includes a control program, an acquisition program, a processing program, and a software program.

[0115] The user selects the static 2D - DR mode scanning (target scanning mode) through the software program of the computer device. At this time, the control program prohibits the rotation of the rotating gantry and moves the detector to a position directly opposite to the ray generating device. Finally, the control program controls the lifting column to lower the examination table to the lowest position, and at this time, the examination table is close to the detector. After the components are in place, the control program activates the laser positioning device to emit positioning laser (laser beam). The user positions the scanning object into the imaging area according to the laser prompt information (laser beam). After the positioning is completed, the user outputs an emission instruction through the software program. The acquisition program starts the ray generating device to emit rays according to the preset dose condition (target dose) and controls the detector to collect a frame of ray data attenuated by the scanning object. The collected ray data is processed by the static DR enhancement algorithm (target algorithm) of the processing program, and the software program displays the final static enhanced image for doctors to diagnose. Figure 4 An exemplary enhanced effect diagram of a static 2D - DR mode in the prone position of an animal is shown.

[0116] The user selects the dynamic 2D - DR mode scanning (target scanning mode) through the software program of the computer device. At this time, the control program prohibits the rotation of the rotating gantry, moves the detector to a position directly opposite to the ray generating device, and finally controls the lifting column to adjust the examination table to the rotation center position, and at this time, the center of the examination table coincides with the rotation center. After the components are in place, the control program activates the laser positioning device to emit positioning laser. The user positions the scanning object into the imaging area according to the laser prompt information. After the positioning is completed, the user outputs an emission instruction through the software program. The acquisition program starts the ray generating device to emit rays according to the set dose condition and controls the detector to collect more than 360 frames of ray data attenuated by the object. The collected ray data is processed by the dynamic DR enhancement algorithm (target algorithm) of the processing program, and the software program displays the final dynamic enhanced image (target image) for the user to diagnose. Figure 5 An exemplary enhanced effect diagram of a certain frame in the dynamic 2D - DR mode in the prone position of an animal is shown.

[0117] The user selects the 2.5D-tomography mode scan (target scan mode) through the software program of the computer device. At this time, the control program allows the rotating gantry to rotate at a small angle when collecting ray data, and the rotation angle range is about -15 degrees to 15 degrees. Then, the control program moves the detector to the position directly opposite to the ray generating device. Finally, the control program adjusts the fluoroscopy table to a position 64 millimeters away from the surface of the detector. After the components are in place, the control program activates the laser positioning device to emit positioning laser. The user positions the scanning object in the imaging area according to the laser prompt information. After the positioning is completed, the user outputs an emission instruction through the software program. The acquisition program controls the rotating gantry to rotate uniformly every 1 degree starting from -15 degrees, and at the same time starts the emission of the X-ray beam by the ray generating device synchronously according to the set dose conditions, and controls the detector to collect 31 frames of ray data attenuated by the object. The collected ray data is processed by the projection reconstruction algorithm (target algorithm) and the 2.5D tomography reconstruction algorithm (target algorithm) of the processing program, and the final tomography reconstruction image (target image) for the user to diagnose is displayed by the software program. Figure 6 An exemplary reconstructed image of the focused layer in the supine position of a phantom in the 2.5D-tomography mode is shown. It can be seen that it has the tissue depth information of a common 2D-DR image, so it is called 2.5D, and it has the clarity of a common 2D-DR image in the focused layer. It should be further explained that since both the flat panel detector and the ray generating device rotate at a small angle in the 2.5D-tomography mode, while in the traditional 2.5D-tomography scan imaging, the flat panel detector remains stationary and only the ray generating device rotates at a small angle. Therefore, it is necessary to transform the collected projections through the projection reconstruction algorithm (target algorithm) to be equivalent to the traditional 2.5D-tomography scan result, and then process it through the 2.5D tomography reconstruction algorithm (target algorithm) to obtain the reconstructed image (target image).

[0118] The user selects the 3D-CBCT mode scan (target scan mode) through the software program of the computer device. At this time, the control program allows the rotating gantry to rotate at a large angle when collecting ray data, and the rotation angle range is approximately -0 degrees to 360 degrees. According to different field of view selections, the position of the flat panel detector is also different. When imaging with a small field of view, the detector moves along the sliding guide rail to a position directly opposite to the ray generating device. When imaging with a large field of view, the detector moves along the sliding guide rail to the leftmost position 180 mm away from the rotation center. Finally, the control elevating column adjusts the examination couch to the rotation center position, and at this time, the center of the examination couch coincides with the rotation center. After the components are in place, the control program activates the laser positioning device to emit positioning laser. The user positions the scanning object in the imaging area according to the laser prompt information. After the positioning is completed, the user outputs an emission instruction through the software program. The acquisition program controls the rotating gantry to rotate uniformly every 1 degree starting from 0 degrees, and at the same time starts the ray generating device to emit rays synchronously according to the set dose conditions, and controls the detector to collect 360 frames of ray data attenuated by the object. The collected ray data is processed by the 3D-CBCT reconstruction algorithm (target algorithm) of the processing program, and the software program displays the final CBCT reconstruction image (target image) for the user to diagnose. Figure 7 An exemplary three-dimensional reconstruction image of a human lung in the 3D-CBCT mode is shown. It can be seen that the image information becomes three-dimensional in the CBCT mode, which is convenient for viewing the three-dimensional tomographic information of the image and more convenient for users to diagnose diseases or understand the anatomical situation before surgery.

[0119] The user selects the 4D-CBCT mode scan (target scan mode) through the software program of the computer device. At this time, the control program allows the rotating gantry to rotate at a large angle when collecting ray data, and the rotation angle range is approximately -0 degrees to 360 degrees. According to different field of view selections, the position of the flat panel detector is also different. When imaging with a small field of view, the detector moves along the sliding guide rail to a position directly opposite to the ray generating device. When imaging with a large field of view, the detector moves along the sliding guide rail to the leftmost position 180 mm away from the rotation center. Finally, the control elevating column adjusts the examination couch to the rotation center position, and at this time, the center of the examination couch coincides with the rotation center. After the components are in place, the control program activates the laser positioning device to emit positioning laser. The user positions the animal in the imaging area according to the laser prompt information. After the positioning is completed, the user outputs an emission instruction through the software program. The acquisition program controls the rotating gantry to rotate uniformly every 0.1 degree starting from 0 degrees, and at the same time starts the ray generating device to emit rays synchronously according to the set dose conditions, and controls the detector to collect 3600 frames of ray data attenuated by the object. The collected ray data is separated into ray data of different respiratory phases by the processing program and processed by the 4D-CBCT reconstruction algorithm (target algorithm) respectively. The software program displays the final CBCT reconstruction 4D time series image (target image) for the user to diagnose, and the time series image is displayed in sequence according to the respiratory phase. Figure 8Exemplarily, cross-sectional reconstructed images of different respiratory phases of an animal's lung 4D-CBCT mode are shown and sorted according to the phase sequence of the animal's respiration, and the three-dimensional tissue information changes of the animal's lung during respiration can be well observed.

[0120] It should be noted that the respiratory phase refers to the state of the lung at a certain time point during a respiratory cycle. Since the free breathing of the lung can be regarded as a cyclic motion, if all the ray data (i.e., the data of a certain respiratory phase) when the lung moves to a certain state are extracted for reconstruction, the resulting image can be considered as the lung without movement, and there is no motion artifact in this image.

[0121] The user selects the helical CBCT mode scan (target scan mode) through the software program of the computer device. At this time, the control program allows the rotating gantry to rotate at a large angle during the acquisition of ray data, and the rotation angle range is about -0 degrees to 360 degrees. According to the different selections of the field of view, the position of the flat panel detector is also different. When imaging with a small field of view, the detector moves along the sliding guide rail to a position directly opposite to the ray generating device. When imaging with a large field of view, the detector moves along the sliding guide rail to the leftmost position 180 mm away from the rotation center. Finally, the control elevating column adjusts the examination table to the rotation center position, and at this time, the center of the examination table coincides with the rotation center. After the components are in place, the control program activates the laser positioning device to emit positioning laser. The user positions the animal into the imaging area according to the laser prompt information. After the positioning is completed, the user outputs the emission instruction through the software program. The acquisition program controls the rotating gantry to rotate uniformly at intervals of 0.5 degrees starting from 0 degrees and controls the examination table to move into the bed at a bed moving speed of 25 mm / s. At the same time, the ray generating device is started to emit rays synchronously according to the set dose conditions, and the detector is controlled to acquire 360 frames of ray data attenuated by the object. Then the acquisition program continues to control the rotating gantry to rotate uniformly at intervals of -0.5 degrees starting from 360 degrees and controls the examination table to move into the bed at a bed moving speed of 25 mm / s. At the same time, the ray generating device is started to emit rays synchronously according to the set dose conditions, and the detector is controlled to continue to acquire 360 frames of ray data attenuated by the object, for a total of 720 frames of ray data. That is, one helical CBCT mode scan involves the forward and reverse rotations of the rotating gantry and two forward movements of the examination table. The acquired ray data is processed by the helical CBCT reconstruction algorithm (target algorithm) of the processing program, and the final helical CBCT reconstructed image (target image) for the user to diagnose is displayed by the software program. Figure 9An exemplary three-dimensional reconstructed image of a spiral CBCT mode of the human lung is shown. Compared with the 3D-CBCT mode, the spiral CBCT mode solves the problem of cone angle artifacts in the upper and lower parts of the sagittal and coronal planes of the 3D-CBCT reconstructed image, and the reconstruction quality is more accurate than that of the 3D-CBCT mode. It should be further explained that the rotating gantry with mechanical limit used in this embodiment is of low cost and cannot perform continuous multiple forward rotations. Therefore, the "forward-backward" rotation method is adopted to achieve repetitive spiral scanning, so as to achieve the compatibility of the spiral scanning mode at low cost, which is different from the traditional spiral scanning. It should be noted that those skilled in the art can easily increase the cost to use an advanced slip-ring gantry to achieve continuous multi-turn spiral scanning, or adopt other spiral scanning methods (such as two forward scans after the gantry is reset), which also fall within the protection scope of the multi-mode scanning CBCT system, device and method of the present invention.

[0122] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are displayed sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0123] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 10As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a multi-mode scanning CBCT imaging method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0124] Those skilled in the art can understand that Figure 10 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0125] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the above-mentioned multi-mode scanning CBCT imaging method.

[0126] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the above-mentioned multi-mode scanning CBCT imaging method.

[0127] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, it implements the above-mentioned multi-mode scanning CBCT imaging method.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0129] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0130] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0131] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A multi-mode scanning CBCT imaging system, characterized in that, Comprising: A rotating gantry; A ray generating device, disposed on the rotating gantry; A detector, disposed on the rotating gantry, the detector and the ray generating device being oppositely disposed on the rotating gantry for receiving the rays emitted by the ray generating device; At least three laser positioning devices, disposed on the rotating gantry, and the laser positioning devices are sequentially arranged at intervals along the circumferential direction of the rotating gantry, wherein any one of the laser positioning devices is disposed at the same position as the ray generating device.

2. The system according to claim 1, wherein When at least three of the laser positioning devices are operating, they can emit at least three mutually perpendicular laser beams, and the laser beams intersect at the rotation center of the rotating gantry.

3. The system according to claim 1, wherein The system further comprises: A filtering assembly, disposed at the ray exit of the ray generating device, and the filtering assembly is used for adjusting the state of the rays.

4. The system according to claim 3, wherein The filtering assembly comprises: An adjustable collimator, disposed at the ray exit, and the adjustable collimator is used for shaping the rays; A filter plate, embedded in the rear of the adjustable collimator, and the filter plate is used for filtering the rays.

5. The system according to claim 4, wherein The adjustable collimator comprises a first lead baffle, a second lead baffle, a third lead baffle and a fourth lead baffle; Wherein, the first lead baffle, the second lead baffle, the third lead baffle and the fourth lead baffle surround to form a closed square frame structure, the first lead baffle and the second lead baffle are used for shaping the rays in the front and rear directions of the rays, and the third lead baffle and the fourth lead baffle are used for shaping the rays in the left and right directions of the rays.

6. The system according to claim 1, wherein The system further comprises: A sliding guide rail, the sliding guide rail connects the rotating gantry, and the detector is connected to the rotating gantry through the sliding guide rail.

7. The system according to claim 1, wherein The rotating gantry comprises: A load-bearing framework; A circular sliding rail, connected to the load-bearing framework through a bearing, tooth marks are provided on the outer side of the circular sliding rail, and the tooth marks are meshed with a gear; A driving assembly, disposed on the load-bearing framework, the driving assembly connects the gear, and the driving assembly is used for driving the gear to drive the circular sliding rail to rotate.

8. The system according to claim 1, wherein The system further comprises: An examination couch, used for carrying a scanning object, and the laser beams emitted by the laser positioning device are irradiated on the examination couch.

9. A multi-mode scanning CBCT imaging device, characterized in that, Including the multi-mode scanning CBCT imaging system according to any one of claims 1 to 8.

10. A multi-mode scanning CBCT imaging method, characterized in that, Applied to the multi-mode scanning CBCT imaging system according to any one of claims 1 to 8, the method comprises: In response to a received mode selection instruction, determining a target scanning mode, and obtaining position information, a target dose, a target rotation speed, and a target algorithm corresponding to the target scanning mode; Controlling the rotating gantry to rotate to a first position according to the position information, and controlling the laser beams emitted by the laser positioning device to be irradiated on a second position; In response to a received emission instruction, controlling the ray generating device to emit rays according to the target dose, and controlling the rotating gantry to rotate according to the target rotation speed; Receiving the ray data detected by the detector, and obtaining a target image based on the target algorithm and the ray data.

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