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

Abstract

The embodiment of the invention provides a CT equipment calibration method and device, equipment and a medium. The CT equipment calibration method comprises the steps that first distance information collected by a first distance measuring sensor and second distance information collected by a second distance measuring sensor are obtained; according to the first distance information, the second distance information and the distance information of the first distance measuring sensor and the second distance measuring sensor in the X direction, angle deviation is determined, and the CT rack is rotated according to the angle deviation; acquiring image information acquired by the image acquisition module, and determining X-direction deviation according to the image information; third distance information collected by the first distance measuring sensor and fourth distance information collected by the second distance measuring sensor are obtained, and Z-direction deviation is determined according to the third distance information, the fourth distance information and a preset Z-direction distance; and adjusting the position of the CT rack according to the X-direction deviation and the Z-direction deviation. And the position adjustment accuracy of the CT rack is improved.

Description

Technical Field

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

[0002] Computed tomography (CT) is an important medical diagnostic tool. Traditional fixed CTs are heavy and bulky, requiring installation in a dedicated computer room and being unable to be effectively used in some cases. Mobile CTs are equipped with movable chassis, facilitating rapid deployment in environments such as wards and operating rooms, avoiding the risks brought by transporting critically ill patients, and supporting intraoperative imaging, thus being widely used in fields such as neurosurgery.

[0003] The characteristic of a mobile CT is that the scanning gantry of the CT device is installed on a chassis allowing free movement. Therefore, a technical key point and difficulty of a mobile CT lie in the alignment of the scanning gantry and the scanning bed of the CT device in spatial position before scanning.

[0004] In the prior art, the alignment of the scanning gantry and the scanning bed of a CT device relies on manual visual alignment, and some are equipped with auxiliary alignment laser markings. The above alignment methods require manual participation, take a long time, and have high requirements for operators. Summary of the Invention

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

[0006] In a first aspect, according to the content of the present disclosure, there is provided a calibration method for a mobile CT device, which is applied to a mobile CT device. The mobile CT device includes a first distance measurement sensor and a second distance measurement sensor that are arranged on one side of the CT gantry close to the scanning bed and are symmetric about the Y - direction center line of the CT gantry, an image acquisition module that is arranged on one side of the CT gantry close to the scanning bed and is located on the Y - direction center line of the CT gantry, and a function board that is arranged on one side of the scanning bed close to the CT gantry. The function board includes a visual marking pattern and has a reflective surface, and the reflective surface is arranged on the side of the function board close to the CT gantry. The center line of the visual marking pattern in the Y - direction is perpendicularly intersected with the center line of the scanning bed in the Z - direction, and the visual marking pattern is a black - and - white alternating stripe - shaped pattern symmetric about the center line. The first distance measurement sensor acquires first distance information between the CT gantry and the function board, the second distance measurement sensor acquires second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marking pattern and generates image information, including: Obtain the first distance information acquired by the first distance measurement sensor and the second distance information acquired by the second distance measurement sensor; Determine an angular deviation based on the first distance information, the second distance information, and the distance information of the first distance sensor and the second distance sensor in the X direction, and rotate the CT gantry according to the angular deviation; Obtain the image information collected by the image acquisition module, and determine the X-direction deviation according to the image information; Obtain the third distance information collected by the first distance sensor and the fourth distance information collected by the second distance sensor, and determine the Z-direction deviation according to the third distance information, the fourth distance information, and the preset Z-direction distance; Adjust the position of the CT gantry according to the X-direction deviation and the Z-direction deviation.

[0007] In some embodiments of the present disclosure, the determining the angular deviation according to the first distance information, the second distance information, and the distance information of the first distance sensor and the second distance sensor includes: Determine the absolute value of the difference between the first distance information and the second distance information according to the first distance information and the second distance information; Determine the magnitude of the angular deviation according to the absolute value of the difference between the first distance information and the second distance information and the distance information of the first distance sensor and the second distance sensor; Determine the direction of the angular deviation according to the magnitudes of the first distance information and the second distance information.

[0008] In some embodiments of the present disclosure, the determining the X-direction deviation according to the image information includes: Process the image information and mark a straight line along the Y direction on the image information; Determine the center line of the visual marking pattern according to the straight line marked along the Y direction on the image information; Determine the magnitude and direction of the X-direction deviation according to the positional relationship between the center line of the image information and the center line of the visual marking pattern.

[0009] In some embodiments of the present disclosure, the processing the image information and marking a straight line along the Y direction on the image information includes: Convert the image information into grayscale image information; Use an edge detection algorithm and a Hough transform algorithm to filter out the straight lines along the Y direction in the grayscale image information, and mark the straight lines along the Y direction on the grayscale image information.

[0010] In some embodiments of the present disclosure, the determining the center line of the visual marking pattern according to the straight line marked along the Y direction on the image information includes: Obtain the distance information between any two adjacent lines along the Y direction on the image information; According to the distance information between any two adjacent lines along the Y direction on the image information, select the center line between the two adjacent lines with the shortest distance information as the center line of the visual marking pattern.

[0011] In some embodiments of the present disclosure, the determining the Z-direction deviation according to the third distance information, the fourth distance information and the preset Z-direction distance includes: According to the third distance information and the fourth distance information, determine the average value information of the third distance information and the fourth distance information; According to the average value information and the preset Z-direction distance information, determine the magnitude and direction of the Z-direction deviation.

[0012] In some embodiments of the present disclosure, the adjusting the position of the CT gantry according to the X-direction deviation and the Z-direction deviation includes: Move the CT gantry along the X-axis direction according to the X-direction deviation; Move the CT gantry along the Z-axis direction according to the Z-direction deviation.

[0013] In a second aspect, according to the content of the present disclosure, there is provided a calibration device for a mobile CT device, which is applied to a mobile CT device. The mobile CT device includes a first distance measuring sensor and a second distance measuring sensor that are arranged on one side of the CT gantry close to the examination table and are symmetric about the Y-direction center line of the CT gantry, an image acquisition module that is arranged on one side of the CT gantry close to the examination table and is located on the Y-direction center line of the CT gantry, and a function board that is arranged on one side of the examination table close to the CT gantry. The function board includes a visual marking pattern and has a reflective surface. The reflective surface is arranged on one side of the function board close to the CT gantry. The center line of the visual marking pattern in the Y direction is perpendicularly intersected with the center line of the examination table in the Z direction. The visual marking pattern is a black-and-white alternating stripe pattern that is symmetric about the center line. The first distance measuring sensor acquires the first distance information between the CT gantry and the function board, the second distance measuring sensor acquires the second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marking pattern and generates image information, including: An information acquisition module for acquiring the first distance information acquired by the first distance measuring sensor and the second distance information acquired by the second distance measuring sensor; An angle deviation determination module for determining an angle deviation according to the first distance information, the second distance information, and the distance information between the first distance measuring sensor and the second distance measuring sensor in the X direction, and rotating the CT gantry according to the angle deviation; The X - direction deviation determination module is configured to obtain the image information collected by the image acquisition module, and determine the X - direction deviation according to the image information; The Z - direction deviation determination module is configured to obtain the third distance information collected by the first distance measurement sensor and the fourth distance information collected by the second distance measurement sensor, and determine the Z - direction deviation according to the third distance information, the fourth distance information, and the preset Z - direction distance; The adjustment module is configured to adjust the position of the CT gantry according to the X - direction deviation and the Z - direction deviation.

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

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

[0016] The calibration method, device, equipment, and medium of the mobile CT device provided by the embodiments of the present disclosure first obtain the first distance information collected by the first distance measurement sensor and the second distance information collected by the second distance measurement sensor; then determine the angle deviation according to the first distance information, the second distance information, and the distance information in the X - direction between the first distance measurement sensor and the second distance measurement sensor, and rotate the CT gantry according to the angle deviation; further obtain the image information collected by the image acquisition module, and determine the X - direction deviation according to the image information; and obtain the third distance information collected by the first distance measurement sensor and the fourth distance information collected by the second distance measurement sensor again, and determine the Z - direction deviation according to the third distance information, the fourth distance information, and the preset Z - direction distance; finally, adjust the position of the CT gantry according to the X - direction deviation and the Z - direction deviation. By setting the first distance measurement sensor, the second distance measurement sensor, the image acquisition module, and the function board on the mobile CT device, based on the distance information collected by the first distance measurement sensor and the second distance measurement sensor, and the image information collected by the image acquisition module, the deviation information of the CT gantry is determined, and finally the CT gantry is adjusted based on the deviation information, which improves the accuracy of the position adjustment of the CT gantry.

[0017] The above description is only an overview of the technical solution of the embodiment of the present application. In order to be able to understand the technical means of the embodiment of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and understandable, the following specifically illustrates the specific implementation manners of the present application. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the following described drawings only relate to some embodiments of the present disclosure and do not limit the present disclosure, where: Figure 1 is a schematic flowchart of a calibration method for a mobile CT device provided by an embodiment of the present disclosure; Figures 2A - 2I is a schematic diagram of a partial functional structure of a mobile CT device provided by an embodiment of the present disclosure; Figure 3 is a schematic diagram of the structure of a calibration device for a mobile CT device provided by an embodiment of the present disclosure; Figure 4 is a schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure.

[0019] In the accompanying drawings, labels with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. Detailed Description of the Embodiments

[0020] In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of the present disclosure without creative efforts also belong to the scope of protection of the present disclosure.

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

[0022] References to "embodiments" in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0023] The term "and / or" in this specification is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: the existence of A, the coexistence of A and B, and the existence of B. Additionally, the character " / " in this specification generally represents an "or" relationship between the associated objects before and after.

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

[0025] In the description of the present application, unless otherwise specified, the meaning of "a plurality" refers to two or more (including two). Similarly, "a plurality of groups" refers to two or more groups (including two groups).

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

[0027] Based on the problems existing in the prior art, the embodiments of the present disclosure provide a calibration method for a mobile CT device. The calibration method for the mobile CT device is applied to the mobile CT device. Figure 1 is a schematic flowchart of a calibration method for a mobile CT device provided by the embodiments of the present disclosure. As Figure 1 shown, the specific process of the calibration method for the mobile CT device includes: S110. Obtain the first distance information collected by the first distance sensor and the second distance information collected by the second distance sensor.

[0028] Figure 2A Exemplarily shows a schematic structural diagram of a mobile CT device. As Figure 2AAs shown in the figure, the mobile CT device includes a first distance measurement sensor 30 and a second distance measurement sensor 40, which are arranged on one side of the CT gantry 10 close to the examination table 20 and symmetric about the Y-direction center line of the CT gantry 10, an image acquisition module 50 which is arranged on one side of the CT gantry 10 close to the examination table 20 and located on the Y-direction center line of the CT gantry, and a function board 60 which is arranged on one side of the examination table 20 close to the CT gantry 10. The function board includes a visual marking pattern and has a reflective surface, and the reflective surface is arranged on the side of the function board close to the CT gantry. The center line of the visual marking pattern in the Y direction is perpendicular to the center line of the examination table in the Z direction, and the visual marking pattern is a black-and-white alternating stripe pattern symmetric about the center line. The first distance measurement sensor acquires the first distance information between the CT gantry and the function board, the second distance measurement sensor acquires the second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marking pattern and generates image information.

[0029] Combined Figure 2A , the first distance measurement sensor and the second distance measurement sensor are infrared or laser distance measurement sensors. Since a function board is arranged at the front end of the examination table and the function board includes a reflective surface, after the infrared or laser generated by the first distance measurement sensor and the second distance measurement sensor reaches the function board, it will be reflected on the reflective surface of the function board and received by the first distance measurement sensor and the second distance measurement sensor. The first distance measurement sensor determines the first distance information between the first distance measurement sensor and the front end of the examination table according to the time when the infrared or laser is emitted, the time when the infrared or laser is received, and the propagation speed of the infrared or laser. The second distance measurement sensor determines the second distance information between the second distance measurement sensor and the front end of the examination table according to the time when the infrared or laser is emitted, the time when the infrared or laser is received, and the propagation speed of the infrared or laser.

[0030] Exemplarily, if the time when the first distance measurement sensor emits infrared or laser is t11, the time when it receives infrared or laser is t12, and the propagation speed of infrared is v1, then the first distance information between the first distance measurement sensor and the front end of the examination table satisfies: L1 = (t12 - t11) v1 / 2. If the time when the second distance measurement sensor emits infrared or laser is t21, the time when it receives infrared or laser is t22, and the propagation speed of infrared is v1, then the second distance information between the second distance measurement sensor and the front end of the examination table satisfies: L2 = (t22 - t21) v1 / 2.

[0031] It should be noted that Figure 2AExemplarily show the installation positions of the first distance measuring sensor, the second distance measuring sensor and the image acquisition module on the CT device. In the embodiments of the present disclosure, the positions of the first distance measuring sensor, the second distance measuring sensor and the image acquisition module are not specifically limited. As long as it is ensured that the first distance measuring sensor and the second distance measuring sensor are arranged on the side of the CT gantry close to the examination table and are symmetric along the Z-axis center line of the CT gantry, and the function board can receive the infrared or laser emitted by the first distance measuring sensor and the second distance measuring sensor, and the image acquisition module is arranged on the side of the CT gantry close to the examination table and is located on the Y-axis center line of the CT gantry, and can collect the visual marking pattern.

[0032] By setting the first distance measuring sensor, the second distance measuring sensor and the reflector, the accuracy of the first distance information and the second distance information collected can be ensured, and further the accuracy of the angle deviation determined based on the first distance information and the second distance information subsequently can be ensured.

[0033] S120. Determine the angle deviation according to the first distance information, the second distance information and the distance information of the first distance measuring sensor and the second distance measuring sensor in the X direction, and rotate the CT gantry according to the angle deviation.

[0034] Among them, the angle deviation includes the angle deviation direction and the angle deviation magnitude.

[0035] After the first distance measuring sensor and the second distance measuring sensor are installed on the CT gantry, the distance information between the first distance measuring sensor and the second distance measuring sensor can be determined based on the coordinate information of the first distance measuring sensor and the coordinate information of the second distance measuring sensor. For example, if the coordinate information of the first distance measuring sensor is (x1, y1, z1) and the coordinate information of the second distance measuring sensor is (x2, y2, z2), then the distance information D between the first distance measuring sensor and the second distance measuring sensor satisfies: .

[0036] In step S110, the first distance information L1 and the second distance information L2 are obtained. At this time, according to the first distance information L1, the second distance information L2 and the distance information D of the first distance measuring sensor and the second distance measuring sensor in the X direction, the angle deviation is determined.

[0037] In a specific implementation manner, determining the angle deviation according to the first distance information, the second distance information and the distance information of the first distance measuring sensor and the second distance measuring sensor includes: determining the absolute value information of the difference between the first distance information and the second distance information according to the first distance information and the second distance information; determining the magnitude of the angle deviation according to the absolute value information of the difference between the first distance information and the second distance information and the distance information of the first distance measuring sensor and the second distance measuring sensor in the X direction; determining the angle deviation direction according to the magnitudes of the first distance information and the second distance information.

[0038] Specifically, in combination with Figure 2B , if the first distance measuring sensor measures the first distance information from the first distance measuring sensor to the function board as L1, and the second distance measuring sensor measures the first distance information from the second distance measuring sensor to the function board as L2, then the absolute value information of the difference between the first distance information and the second distance information satisfies . At this time, the magnitude of the angular deviation satisfies: . If the first distance information is greater than the second distance information, then the CT gantry has a relatively large offset relative to the examination table on the side of the first distance measuring sensor. If the first distance information is less than the second distance information, then the CT gantry has a relatively large offset relative to the examination table on the side of the second distance measuring sensor.

[0039] After determining the magnitude and direction of the angular deviation, rotate the CT gantry so that the central line of the CT gantry along the Z direction is parallel to the central line of the examination table along the Z direction.

[0040] In a specific implementation manner, if the first distance information is greater than the second distance information, then the CT gantry has a relatively large offset relative to the examination table on the side of the first distance measuring sensor. At this time, rotate the side of the CT gantry where the first distance measuring sensor is installed towards the side close to the examination table, and rotate the side of the CT gantry where the second distance measuring sensor is installed away from the examination table; if the first distance information is less than the second distance information, then the CT gantry has a relatively large offset relative to the examination table on the side of the second distance measuring sensor. At this time, rotate the side of the CT gantry where the second distance measuring sensor is installed towards the side close to the examination table, and rotate the side of the CT gantry where the first distance measuring sensor is installed away from the examination table.

[0041] S130. Obtain the image information collected by the image acquisition module, and determine the X-direction deviation according to the image information.

[0042] Among them, the X-direction deviation includes the X-direction deviation direction and the X-direction deviation magnitude.

[0043] Figure 2C For an exemplary visual marking pattern provided by the present disclosure, as Figure 2C shown, the visual marking pattern is a black-and-white alternating stripe pattern symmetric about the center line L1. The stripe width at the position corresponding to the center line L1 is the narrowest, and the stripes on both sides gradually become wider. That is, Figure 2C in, it satisfies X1 < X2 < X3 <..., the stripes are symmetric left and right, and the center line L1 of the visual marking pattern is perpendicularly intersected with the center line of the examination table along the Z direction.

[0044] In combination with Figure 2A and Figure 2D, the image acquisition module 50 on the side of the CT gantry 10 close to the examination table 20. After the CT gantry angle deviation is adjusted in step S120, the image acquisition module 50 acquires the visual marking pattern set on the function board and generates image information, and determines the X-direction deviation according to the image information acquired by the image acquisition module 50.

[0045] In a specific implementation manner, determining the X-direction deviation according to the image information includes: processing the image information and marking a straight line along the Y-direction on the image information; determining the center line of the visual marking pattern according to the straight line along the Y-direction marked on the image information; and determining the magnitude and direction of the X-direction deviation according to the positional relationship between the center line of the image information and the center line of the visual marking pattern.

[0046] Specifically, processing the image information and marking a straight line along the Y-direction on the image information includes: converting the image information into grayscale image information; using an edge detection algorithm and a Hough transform algorithm to filter out the straight lines along the Y-direction in the grayscale image information, and marking the straight lines along the Y-direction on the grayscale image information.

[0047] Exemplarily, first convert the image information acquired by the image acquisition module into grayscale image information. The converted grayscale image information is as Figure 2E shown. Then, after performing Gaussian noise reduction processing on the grayscale image information, use the Canny edge detection algorithm to extract the edge lines in the edge grayscale image information, as Figure 2F shown. Then, filter out the lines along the Y-direction according to the image gradient direction, as Figure 2G shown. Finally, use the Hough transform algorithm to detect Figure 2G the straight line parts in each of the lines along the Y-direction in Figure 2H and mark the straight lines along the Y-direction on the grayscale image information, as

[0048] After marking the straight lines along the Y-direction on the grayscale image information in the above steps, determining the center line of the visual marking pattern according to the straight lines along the Y-direction marked on the image information includes: obtaining the distance information between any two adjacent straight lines along the Y-direction on the image information; and selecting the center line between the two adjacent straight lines with the shortest distance information as the center line of the visual marking pattern according to the distance information between any two adjacent straight lines along the Y-direction on the image information.

[0049] Specifically, as Figure 2H shown, after determining the straight lines along the Y-direction on the image information, select the center line between the two straight lines with the shortest distance information between any two adjacent straight lines along the Y-direction as the center line of the visual marking pattern according to the distance information between any two adjacent straight lines along the Y-direction on the image information.

[0050] After determining the center line of the visual marker pattern, the X-direction deviation magnitude and X-direction deviation direction can be determined according to the positional relationship between the center line along the Y-direction in the image information and the center line along the Y-direction in the visual marker pattern.

[0051] Exemplarily, if the center line along the Y-direction in the image information is located on the left side of the center line along the Y-direction in the visual marker pattern, then the X-direction deviation magnitude is determined as the X-axis coordinate of the center line along the Y-direction in the visual marker pattern minus the X-axis coordinate of the center line along the Y-direction in the image information, and the X-direction deviation direction is the negative X-axis direction. If the center line along the Y-direction in the image information is located on the right side of the center line along the Y-direction in the visual marker pattern, then the X-direction deviation magnitude is determined as the X-axis coordinate of the center line along the Y-direction in the image information minus the X-axis coordinate of the center line along the Y-direction in the visual marker pattern, and the X-direction deviation direction is the positive X-axis direction.

[0052] S140. Obtain the third distance information collected by the first distance measuring sensor and the fourth distance information collected by the second distance measuring sensor, and determine the Z-direction deviation according to the third distance information, the fourth distance information, and the preset Z-direction distance.

[0053] Wherein, the Z-direction deviation includes a Z-direction deviation magnitude and a Z-direction deviation direction.

[0054] After the CT gantry is rotated based on the angle deviation in step S120, at this time, the center line of the CT gantry along the Z-direction is parallel to the center line of the scanning bed along the Z-direction. By obtaining the third distance information collected by the first distance measuring sensor and the fourth distance information collected by the second distance measuring sensor again, as Figure 2I shown, and determine the Z-direction deviation according to the third distance information, the fourth distance information, and the preset Z-direction distance.

[0055] Specifically, determining the Z-direction deviation according to the third distance information, the fourth distance information, and the preset Z-direction distance includes: determining the average value information of the third distance information and the fourth distance information according to the third distance information and the fourth distance information; determining the Z-direction deviation magnitude and the Z-direction deviation direction according to the average value information and the preset Z-direction distance information.

[0056] First, calculate the average value information of the third distance information and the fourth distance information. When the average value information of the third distance information and the fourth distance information is greater than the preset Z-direction distance information, the Z-direction deviation magnitude is the difference between the average value information of the third distance information and the fourth distance information and the preset Z-direction distance information, and the Z-direction deviation direction is the negative Z-axis direction. When the average value information of the third distance information and the fourth distance information is less than the preset Z-direction distance information, the Z-direction deviation magnitude is the difference between the preset Z-direction distance information and the average value information of the third distance information and the fourth distance information, and the Z-direction deviation direction is the positive Z-axis direction.

[0057] Similarly, in step S140, based on the third distance information collected by the first distance measuring sensor and the fourth distance information collected by the second distance measuring sensor, the Z - direction deviation is determined with relatively high accuracy.

[0058] S150. Adjust the position of the CT gantry according to the X - direction deviation and the Z - direction deviation.

[0059] In a specific implementation manner, adjusting the position of the CT gantry according to the X - direction deviation and the Z - direction deviation includes: moving the CT gantry along the X - axis direction according to the X - direction deviation; moving the CT gantry along the Z - axis direction according to the Z - direction deviation.

[0060] Specifically and exemplarily, when the X - direction deviation is in the negative X - axis direction, move the CT gantry along the positive X - axis by the magnitude of the X - direction deviation; when the X - direction deviation is in the positive X - axis direction, move the CT gantry along the negative X - axis by the magnitude of the X - direction deviation; when the Z - direction deviation is in the negative Z - axis direction, move the CT gantry along the positive Z - axis by the magnitude of the Z - direction deviation; when the Z - direction deviation is in the positive Z - axis direction, move the CT gantry along the negative Z - axis by the magnitude of the Z - direction deviation.

[0061] The calibration method of the mobile CT device provided by the embodiments of the present disclosure first obtains the first distance information collected by the first distance measuring sensor and the second distance information collected by the second distance measuring sensor; then determines the angular deviation according to the first distance information, the second distance information, and the distance information of the first distance measuring sensor and the second distance measuring sensor in the X - direction, and rotates the CT gantry according to the angular deviation; further obtains the image information collected by the image acquisition module, and determines the X - direction deviation according to the image information; and obtains the third distance information collected by the first distance measuring sensor and the fourth distance information collected by the second distance measuring sensor again, and determines the Z - direction deviation according to the third distance information, the fourth distance information, and the preset Z - direction distance; finally, adjusts the position of the CT gantry according to the X - direction deviation and the Z - direction deviation. By setting the first distance measuring sensor, the second distance measuring sensor, the image acquisition module, and the function board on the mobile CT device, based on the distance information collected by the first distance measuring sensor and the second distance measuring sensor, and the image information collected by the image acquisition module, the deviation information of the CT gantry is determined, and finally the CT gantry is adjusted based on the deviation information, improving the accuracy of the position adjustment of the CT gantry.

[0062] On the basis of the above - mentioned embodiments, Figure 3 is a schematic structural diagram of a calibration device for a mobile CT device provided by the embodiments of the present disclosure, as Figure 3 shown. The calibration device for the mobile CT device includes: An information acquisition module 310, configured to acquire the first distance information collected by the first distance measuring sensor and the second distance information collected by the second distance measuring sensor; An angle deviation determination module 320 is configured to determine an angle deviation according to the first distance information, the second distance information, and the distance information in the X direction of the first distance measurement sensor and the second distance measurement sensor, and rotate the CT gantry according to the angle deviation; An X-direction deviation determination module 330 is configured to obtain image information collected by an image acquisition module and determine an X-direction deviation according to the image information; A Z-direction deviation determination module 340 is configured to obtain third distance information collected by the first distance measurement sensor and fourth distance information collected by the second distance measurement sensor, and determine a Z-direction deviation according to the third distance information, the fourth distance information, and a preset Z-direction distance; An adjustment module 350 is configured to adjust the position of the CT gantry according to the X-direction deviation and the Z-direction deviation.

[0063] The calibration device for a mobile CT device provided by an embodiment of the present disclosure first obtains first distance information collected by a first distance measurement sensor and second distance information collected by a second distance measurement sensor; then determines an angle deviation according to the first distance information, the second distance information, and the distance information in the X direction of the first distance measurement sensor and the second distance measurement sensor, and rotates the CT gantry according to the angle deviation; further obtains image information collected by the image acquisition module and determines an X-direction deviation according to the image information; and again obtains third distance information collected by the first distance measurement sensor and fourth distance information collected by the second distance measurement sensor, and determines a Z-direction deviation according to the third distance information, the fourth distance information, and a preset Z-direction distance; finally, adjusts the position of the CT gantry according to the X-direction deviation and the Z-direction deviation. By setting a first distance measurement sensor, a second distance measurement sensor, an image acquisition module, and a function board on the mobile CT device, based on the distance information collected by the first distance measurement sensor and the second distance measurement sensor, and the image information collected by the image acquisition module, the deviation information of the CT gantry is determined, and finally the CT gantry is adjusted based on the deviation information, improving the accuracy of the position adjustment of the CT gantry.

[0064] In a specific embodiment, the determining an angle deviation according to the first distance information, the second distance information, and the distance information in the X direction of the first distance measurement sensor and the second distance measurement sensor includes: Determining an absolute value information of the difference between the first distance information and the second distance information according to the first distance information and the second distance information; Determining the magnitude of the angle deviation according to the absolute value information of the difference between the first distance information and the second distance information and the distance information in the X direction of the first distance measurement sensor and the second distance measurement sensor; Determining the direction of the angle deviation according to the magnitudes of the first distance information and the second distance information.

[0065] In a specific embodiment, determining the X-direction deviation according to the image information includes: After processing the image information, mark a straight line along the Y-direction on the image information; Determine the center line of the visual marking pattern according to the straight line marked along the Y-direction on the image information; Determine the magnitude and direction of the X-direction deviation according to the positional relationship between the center line of the image information and the center line of the visual marking pattern.

[0066] In a specific embodiment, marking a straight line along the Y-direction on the image information after processing the image information includes: Convert the image information into grayscale image information; Using an edge detection algorithm and a Hough transform algorithm, filter out the straight lines along the Y-direction in the grayscale image information, and mark the straight lines along the Y-direction on the grayscale image information.

[0067] In a specific embodiment, determining the center line of the visual marking pattern according to the straight line marked along the Y-direction on the image information includes: Obtain the distance information between any two adjacent straight lines along the Y-direction on the image information; According to the distance information between any two adjacent straight lines along the Y-direction on the image information, select the center line between the two adjacent straight lines with the shortest distance information as the center line of the visual marking pattern.

[0068] In a specific embodiment, determining the Z-direction deviation according to the third distance information, the fourth distance information, and a preset Z-direction distance includes: Determine the average value information of the third distance information and the fourth distance information according to the third distance information and the fourth distance information; Determine the magnitude and direction of the Z-direction deviation according to the average value information and the preset Z-direction distance information.

[0069] In a specific embodiment, adjusting the position of the CT gantry according to the X-direction deviation and the Z-direction deviation includes: Move the CT gantry along the X-axis direction according to the X-direction deviation; Move the CT gantry along the Z-axis direction according to the Z-direction deviation.

[0070] The embodiment of the present application also provides a computer device. Specifically, please refer to Figure 4 , Figure 4 which is the basic structural block diagram of the computer device in this embodiment.

[0071] The computer device includes a memory 510 and a processor 520 that are communicatively connected to each other via a system bus. It should be noted that only the computer device with components 510-520 is shown in the figure, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Among them, those skilled in the art of the present technology can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0072] The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer device can interact with the user through a keyboard, a mouse, a remote control, a touchpad or a voice control device and other means.

[0073] The memory 510 includes at least one type of readable storage medium, which includes non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disc, etc. The RAM may include static RAM or dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of the computer device, such as the hard disk or memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of the computer device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device. Of course, the memory 510 may also include both the internal storage unit and the external storage device of the computer device. In this embodiment, the memory 510 is generally used to store the operating system and various application software installed on the computer device, such as the program code of the above method. In addition, the memory 510 may also be used to temporarily store various data that have been output or will be output.

[0074] The processor 520 is generally used to execute the overall operations of the computer device. In this embodiment, the memory 510 is used to store program code or instructions, and the program code includes computer operation instructions. The processor 520 is used to execute the program code or instructions stored in the memory 510 or process data, such as running the program code of the above method.

[0075] In this text, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This bus system can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0076] Another embodiment of the present application further provides a computer-readable medium, which can be a computer-readable signal medium or a computer-readable storage medium. A processor in the computer reads the computer-readable program code stored in the computer-readable medium, so that the processor can perform the functional actions specified in each step or the combination of steps in the above method; and generate a device for performing the functional actions specified in each block or the combination of blocks in the block diagram.

[0077] The computer-readable medium includes but is not limited to electronic, magnetic, optical, electromagnetic, infrared memories or semiconductor systems, devices or apparatuses, or any suitable combination of the foregoing. The memory is used to store program code or instructions, and the program code includes computer operation instructions. The processor is used to execute the program code or instructions of the above method stored in the memory.

[0078] For the definitions of the memory and the processor, reference can be made to the description of the foregoing computer device embodiments, and details are not described herein again.

[0079] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0080] In each embodiment of the present application, each functional unit or module can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0081] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0082] Unless the context clearly indicates otherwise, the singular forms of the words used in this specification and the appended claims include the plural, and vice versa. Thus, when referring to the singular, the corresponding plural of the term is generally included. Similarly, the terms "comprising" and "including" will be interpreted as inclusive rather than exclusive. Likewise, the term "including" and "or" should be interpreted as inclusive, unless such an interpretation is explicitly prohibited in this specification. Where the term "exemplary" is used in this specification, especially when it is located after a group of terms, the "exemplary" is merely illustrative and explanatory and should not be considered exclusive or extensive.

[0083] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that the various aspects of this application can be implemented alone or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0084] The above has described several embodiments of the present disclosure in detail. However, obviously, those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the appended claims.

Claims

1. A calibration method for a mobile CT device, which is applied to a mobile CT device. The mobile CT device includes a first distance measuring sensor and a second distance measuring sensor that are arranged on one side of the CT gantry close to the examination table and are symmetric about the Y-axis center line of the CT gantry, an image acquisition module that is arranged on one side of the CT gantry close to the examination table and is located on the Y-axis center line of the CT gantry, and a function board that is arranged on one side of the examination table close to the CT gantry. The function board includes a visual marking pattern and has a reflective surface, and the reflective surface is arranged on the side of the function board close to the CT gantry. The center line of the visual marking pattern in the Y direction is perpendicular to the center line of the examination table in the Z direction, and the visual marking pattern is a black and white alternating stripe pattern that is symmetric about the center line. The first distance measuring sensor acquires first distance information between the CT gantry and the function board, the second distance measuring sensor acquires second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marking pattern and generates image information, characterized in that, Including: Obtaining first distance information collected by the first distance measuring sensor and second distance information collected by the second distance measuring sensor; Determining an angle deviation according to the first distance information, the second distance information, and the distance information in the X direction between the first distance measuring sensor and the second distance measuring sensor, and rotating the CT gantry according to the angle deviation; Obtaining image information collected by an image acquisition module, and determining an X-direction deviation according to the image information; Obtaining third distance information collected by the first distance measuring sensor and fourth distance information collected by the second distance measuring sensor, and determining a Z-direction deviation according to the third distance information, the fourth distance information, and a preset Z-direction distance; Adjusting the position of the CT gantry according to the X-direction deviation and the Z-direction deviation.

2. The method according to claim 1, characterized in that The determining the angle deviation according to the first distance information, the second distance information, and the distance information in the X direction between the first distance measuring sensor and the second distance measuring sensor includes: Determining absolute value information of the difference between the first distance information and the second distance information according to the first distance information and the second distance information; Determining the magnitude of the angle deviation according to the absolute value information of the difference between the first distance information and the second distance information and the distance information in the X direction between the first distance measuring sensor and the second distance measuring sensor; Determining the direction of the angle deviation according to the magnitudes of the first distance information and the second distance information.

3. The method according to claim 1, wherein The determining the X-direction deviation according to the image information includes: Processing the image information and marking a straight line along the Y direction on the image information; Determining the center line of the visual marking pattern according to the straight line marked along the Y direction on the image information; Determining the magnitude and direction of the X-direction deviation according to the positional relationship between the center line of the image information and the center line of the visual marking pattern.

4. The method according to claim 3, characterized in that, The processing the image information and marking a straight line along the Y direction on the image information includes: Converting the image information into grayscale image information; Using an edge detection algorithm and a Hough transform algorithm to filter out the straight lines along the Y direction in the grayscale image information, and marking the straight lines along the Y direction on the grayscale image information.

5. The method according to claim 3, wherein The determining the center line of the visual marking pattern according to the straight line marked along the Y direction on the image information includes: [[ID=I8]]Obtaining distance information between any two adjacent straight lines along the Y direction on the image information; Selecting the center line between the two adjacent straight lines along the Y direction with the shortest distance information as the center line of the visual marking pattern according to the distance information between any two adjacent straight lines along the Y direction on the image information.

6. The method according to claim 1, characterized in that, The determining the Z-direction deviation according to the third distance information, the fourth distance information, and the preset Z-direction distance includes: Determining average value information of the third distance information and the fourth distance information according to the third distance information and the fourth distance information; Determining the magnitude and direction of the Z-direction deviation according to the average value information and the preset Z-direction distance information.

7. The method according to claim 1, characterized in that The adjusting the position of the CT gantry according to the X-direction deviation and the Z-direction deviation includes: Moving the CT gantry along the X-axis direction according to the X-direction deviation; Move the CT gantry in the Z-axis direction according to the Z-axis deviation.

8. A calibration device for a mobile CT device, which is applied to the mobile CT device. The mobile CT device includes a first distance measurement sensor and a second distance measurement sensor that are arranged on one side of the CT gantry close to the examination table and are symmetric about the Y-axis center line of the CT gantry, an image acquisition module that is arranged on one side of the CT gantry close to the examination table and is located on the Y-axis center line of the CT gantry, and a function board that is arranged on one side of the examination table close to the CT gantry. The function board includes a visual marking pattern and has a reflective surface. The reflective surface is arranged on the side of the function board close to the CT gantry. The center line of the visual marking pattern in the Y direction is perpendicular to the center line of the examination table in the Z direction. The visual marking pattern is a black-and-white alternating stripe pattern that is symmetric about the center line. The first distance measurement sensor acquires the first distance information between the CT gantry and the function board, the second distance measurement sensor acquires the second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marking pattern and generates image information, characterized in that, Comprising: An information acquisition module, configured to acquire first distance information collected by the first distance measurement sensor and second distance information collected by the second distance measurement sensor; An angle deviation determination module, configured to determine an angle deviation according to the first distance information, the second distance information, and the distance information in the X-axis direction between the first distance measurement sensor and the second distance measurement sensor, and rotate the CT gantry according to the angle deviation; An X-axis deviation determination module, configured to acquire image information collected by the image acquisition module and determine an X-axis deviation according to the image information; A Z-axis deviation determination module, configured to acquire third distance information collected by the first distance measurement sensor and fourth distance information collected by the second distance measurement sensor, and determine a Z-axis deviation according to the third distance information, the fourth distance information, and a preset Z-axis distance; An adjustment module, configured to adjust the position of the CT gantry according to the X-axis deviation and the Z-axis deviation.

9. A computer device, characterized in that, Comprising: One or more processors; A storage device, configured to store one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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

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