Calibration methods, devices, equipment, and storage media for mobile CT equipment

Abstract

The calibration method, apparatus, device, and medium for CT equipment provided in this disclosure include: acquiring first distance information collected by a first ranging sensor and second distance information collected by a second ranging sensor; determining an angular deviation based on the first distance information, the second distance information, and the distance information of the first and second ranging sensors in the X-axis, and rotating the CT gantry according to the angular deviation; acquiring image information collected by an image acquisition module and determining the X-axis deviation based on the image information; acquiring third distance information collected by the first ranging sensor and fourth distance information collected by the second ranging sensor, and determining the Z-axis deviation based on the third distance information, the fourth distance information, and a preset Z-axis distance; and adjusting the position of the CT gantry based on the X-axis deviation and the Z-axis deviation. This improves the accuracy of CT gantry position adjustment.

Description

Technical Field

[0001] This invention relates to the field of CT scanning technology and related technical fields, specifically to a calibration method, apparatus, device, and storage medium for a mobile CT device. Background Technology

[0002] Computed tomography (CT) is an important medical diagnostic tool. Traditional fixed CT scanners are heavy and bulky, requiring installation in dedicated rooms, and are ineffective in certain situations. Mobile CT scanners, equipped with movable chassis, can be quickly deployed in environments such as wards and operating rooms, avoiding the risks associated with transporting critically ill patients, while also supporting intraoperative imaging, and have been widely used in fields such as neurosurgery.

[0003] The characteristic of mobile CT is that the scanning gantry of the CT equipment is mounted on a chassis that allows free movement. Therefore, a key technical challenge of mobile CT is the spatial alignment of the scanning gantry and the scanning bed before scanning.

[0004] In the existing technology, the alignment of the scanning gantry and scanning bed of CT equipment relies on manual visual alignment, and some have auxiliary alignment laser markings. The above alignment methods require manual intervention, are time-consuming, and have high requirements for operators. Summary of the Invention

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

[0006] Firstly, according to the present disclosure, a calibration method for a mobile CT scanner is provided, applied to a mobile CT scanner. The mobile CT scanner includes a first and a second ranging sensor symmetrically arranged along the Y-axis centerline of the CT gantry near the scanning bed; an image acquisition module arranged on the Y-axis centerline of the CT gantry near the scanning bed; and a function board arranged on the scanning bed near the CT gantry. The function board includes a visual marker pattern and has a reflective surface, the reflective surface being arranged on the function board near the CT gantry. The centerline of the visual marker pattern in the Y-axis intersects perpendicularly with the centerline of the scanning bed in the Z-axis. The visual marker pattern is a symmetrical black-and-white alternating stripe pattern along the centerline. The first ranging sensor acquires first distance information between the CT gantry and the function board, the second ranging sensor acquires second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marker pattern and generates image information, including:

[0007] Acquire the first distance information collected by the first ranging sensor and the second distance information collected by the second ranging sensor;

[0008] Based on the first distance information, the second distance information, and the distance information in the X direction from the first and second ranging sensors, the angle deviation is determined, and the CT gantry is rotated according to the angle deviation.

[0009] The image information acquired by the image acquisition module is obtained, and the X-axis deviation is determined based on the image information.

[0010] Acquire the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance;

[0011] The position of the CT gantry is adjusted based on the X-axis deviation and the Z-axis deviation.

[0012] In some embodiments of this disclosure, determining the angle deviation based on the first distance information, the second distance information, and the distance information from the first ranging sensor and the second ranging sensor includes:

[0013] Based on the first distance information and the second distance information, determine the absolute value of the difference between the first distance information and the second distance information;

[0014] The magnitude of the angle deviation is determined based on the absolute value of the difference between the first distance information and the second distance information, as well as the distance information from the first ranging sensor and the second ranging sensor.

[0015] The direction of the angular deviation is determined based on the magnitudes of the first and second distance information.

[0016] In some embodiments of this disclosure, determining the X-axis deviation based on the image information includes:

[0017] After processing the image information, a straight line along the Y direction is marked on the image information;

[0018] The center line of the visual marker pattern is determined by marking a straight line along the Y direction on the image information;

[0019] Based on the positional relationship between the centerline of the image information and the centerline of the visual marker pattern, the magnitude and direction of the X-axis deviation are determined.

[0020] In some embodiments of this disclosure, marking a straight line along the Y direction on the image information after processing includes:

[0021] Convert the image information into grayscale image information;

[0022] Using edge detection and Hough transform algorithms, straight lines along the Y direction in the grayscale image information are selected and marked on the grayscale image information.

[0023] In some embodiments of this disclosure, determining the center line of the visual marker pattern based on marking a straight line along the Y direction on the image information includes:

[0024] Obtain the distance information between any two adjacent straight lines along the Y direction in the image information;

[0025] Based on the distance information between any two adjacent straight lines along the Y direction in the image information, the center line between the two adjacent straight lines along the Y direction with the shortest distance is selected as the center line of the visual mark pattern.

[0026] In some embodiments of this disclosure, determining the Z-axis deviation based on the third distance information, the fourth distance information, and the preset Z-axis distance includes:

[0027] Based on the third distance information and the fourth distance information, determine the average value of the third distance information and the fourth distance information;

[0028] Based on the average value information and the preset Z-axis distance information, the magnitude and direction of the Z-axis deviation are determined.

[0029] In some embodiments of this disclosure, adjusting the position of the CT gantry based on the X-axis deviation and the Z-axis deviation includes:

[0030] Based on the X-axis deviation, the CT gantry is moved along the X-axis direction;

[0031] The CT gantry is moved along the Z-axis based on the Z-direction deviation.

[0032] Secondly, according to the present disclosure, a calibration device for a mobile CT scanner is provided, applied to a mobile CT scanner. The mobile CT scanner includes a first and a second ranging sensor symmetrically arranged along the Y-axis centerline of the CT gantry near the scanning bed; an image acquisition module located on the Y-axis centerline of the CT gantry near the scanning bed; and a function board arranged on the scanning bed near the CT gantry. The function board includes a visual marker pattern and has a reflective surface, the reflective surface being located on the function board near the CT gantry. The centerline of the visual marker pattern in the Y-axis intersects perpendicularly with the centerline of the scanning bed in the Z-axis. The visual marker pattern is a symmetrical black and white alternating stripe pattern along the centerline. The first ranging sensor acquires first distance information between the CT gantry and the function board, the second ranging sensor acquires second distance information between the CT gantry and the function board, and the image acquisition module acquires the visual marker pattern and generates image information, including:

[0033] The information acquisition module is used to acquire first distance information collected by the first ranging sensor and second distance information collected by the second ranging sensor;

[0034] An angle deviation determination module is used to determine the angle deviation based on the first distance information, the second distance information, and the distance information of the first ranging sensor and the second ranging sensor in the X direction, and to rotate the CT gantry according to the angle deviation.

[0035] The X-axis deviation determination module is used to acquire image information acquired by the image acquisition module and determine the X-axis deviation based on the image information.

[0036] The Z-axis deviation determination module is used to acquire the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance.

[0037] The adjustment module is used to adjust the position of the CT gantry based on the X-axis deviation and the Z-axis deviation.

[0038] Thirdly, according to the present disclosure, a computer device is provided, comprising:

[0039] One or more processors;

[0040] Storage device for storing one or more programs.

[0041] 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 of the first aspects.

[0042] Fourthly, according to the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the methods described in any of the first aspects.

[0043] The calibration method, apparatus, device, and medium for a mobile CT device provided in this disclosure first acquire first distance information collected by a first ranging sensor and second distance information collected by a second ranging sensor. Then, based on the first distance information, the second distance information, and the distance information of the first and second ranging sensors in the X-axis, an angular deviation is determined, and the CT gantry is rotated according to the angular deviation. Next, image information acquired by an image acquisition module is acquired, and the X-axis deviation is determined based on the image information. Then, third distance information collected by the first ranging sensor and fourth distance information collected by the second ranging sensor are acquired again, and the Z-axis deviation is determined based on the third distance information, the fourth distance information, and a preset Z-axis distance. Finally, the position of the CT gantry is adjusted according to the X-axis deviation and the Z-axis deviation. By setting a first ranging sensor, a second ranging sensor, an image acquisition module, and a function board on the mobile CT device, and determining the deviation information of the CT gantry based on the distance information collected by the first and second ranging sensors and the image information acquired by the image acquisition module, and finally adjusting the CT gantry based on the deviation information, the accuracy of the CT gantry position adjustment is improved.

[0044] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure, wherein:

[0046] Figure 1 This is a schematic flowchart of a calibration method for a mobile CT device provided in an embodiment of this disclosure;

[0047] Figures 2A-2I This is a partial functional structure diagram of the mobile CT device provided in the embodiments of this disclosure;

[0048] Figure 3 This is a schematic diagram of the structure of a calibration device for a mobile CT scanner provided in an embodiment of this disclosure;

[0049] Figure 4This is a schematic diagram of the structure of a computer device provided in an embodiment of this disclosure.

[0050] In the accompanying diagram, markers with the same last two digits correspond to the same elements. It should be noted that the elements in the diagram are schematic and not drawn to scale. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are also within the scope of protection of this disclosure.

[0052] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this subject matter pertains. It will be further understood that terms such as those defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the specification and in the relevant art, and shall not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, the statement of “connecting” or “coupling” two or more parts together shall mean that these parts are directly joined together or joined through one or more intermediate components.

[0053] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist simultaneously, or B exists. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0055] Furthermore, in all embodiments of this disclosure, terms such as “first” and “second” are used only to distinguish one component (or part of a component) from another component (or another part of a component).

[0056] In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more (including two groups).

[0057] To enable those skilled in the art to better understand 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.

[0058] In view of the problems existing in the prior art, this disclosure provides a calibration method for a mobile CT device, which is applied to a mobile CT device. Figure 1 This is a schematic flowchart of a calibration method for a mobile CT device provided in an embodiment of this disclosure, as shown below. Figure 1 As shown, the specific process of calibrating a mobile CT device includes:

[0059] S110: Obtain the first distance information collected by the first ranging sensor and the second distance information collected by the second ranging sensor.

[0060] Figure 2A An exemplary schematic diagram of a mobile CT device is shown, such as... Figure 2A As shown, the mobile CT device includes a first ranging sensor 30 and a second ranging sensor 40, which are symmetrically arranged along the Y-axis centerline of the CT gantry 10 near the scanning bed 20; an image acquisition module 50, which is also arranged along the Y-axis centerline of the CT gantry 10 near the scanning bed 20; and a function board 60, which is arranged along the Y-axis of the scanning bed 20 near the CT gantry 10. The function board includes a visual marker pattern and has a reflective surface, which is located on the side of the function board near the CT gantry. The centerline of the visual marker pattern in the Y-axis intersects perpendicularly with the centerline of the scanning bed in the Z-axis. The visual marker pattern is a symmetrical black and white striped pattern along the centerline. The first ranging sensor acquires the first distance information between the CT gantry and the function board, and the second ranging sensor acquires the second distance information between the CT gantry and the function board. The image acquisition module acquires the visual marker pattern and generates image information.

[0061] Combination Figure 2AThe first and second ranging sensors are infrared or laser ranging sensors. Since a functional board is provided at the front end of the scanning bed, and the functional board includes a reflective surface, the infrared or laser generated by the first and second ranging sensors will be reflected by the reflective surface of the functional board after reaching the functional board, and will be received by the first and second ranging sensors. The first ranging sensor determines the first distance information between the first ranging sensor and the front end of the scanning bed based on the time of emitting the infrared or laser, the time of receiving the infrared or laser, and the propagation speed of the infrared or laser. The second ranging sensor determines the second distance information between the second ranging sensor and the front end of the scanning bed based on the time of emitting the infrared or laser, the time of receiving the infrared or laser, and the propagation speed of the infrared or laser.

[0062] For example, if the time for the first ranging sensor to emit infrared or laser light is t11, the time for receiving infrared or laser light is t12, and the propagation speed of infrared light is v1, then the first distance information between the first ranging sensor and the front end of the scanning bed satisfies: L1 = (t12 - t11). If the time for the second ranging sensor to emit infrared or laser light is t21, the time for receiving infrared or laser light is t22, and the propagation speed of infrared light is v1, then the second distance information between the second ranging sensor and the front end of the scanning bed satisfies: L2 = (t22 - t21). v1 / 2.

[0063] It should be noted that, Figure 2A The exemplary embodiment shows the placement of the first ranging sensor, the second ranging sensor, and the image acquisition module on a CT scanner. This disclosure does not specifically limit the placement of the first ranging sensor, the second ranging sensor, and the image acquisition module. It is sufficient that the first ranging sensor and the second ranging sensor are placed on the side of the CT gantry closer to the scanning bed and are symmetrical along the Z-axis centerline of the CT gantry, and that the function board can receive the infrared or laser emitted by the first ranging sensor and the second ranging sensor. The image acquisition module is placed on the side of the CT gantry closer to the scanning bed and is located on the Y-axis centerline of the CT gantry, and is able to acquire visual marker patterns.

[0064] By setting up a first distance sensor, a second distance sensor, and a reflector, the accuracy of the first and second distance information collected can be guaranteed, thereby ensuring the accuracy of the angle deviation determined subsequently based on the first and second distance information.

[0065] S120. Based on the first distance information, the second distance information, and the distance information of the first ranging sensor and the second ranging sensor in the X direction, determine the angle deviation, and rotate the CT gantry according to the angle deviation.

[0066] Among them, angular deviation includes the direction of angular deviation and the magnitude of angular deviation.

[0067] Once the first and second ranging sensors are set up on the CT gantry, the distance information between them can be determined based on their coordinate information. For example, if the coordinate information of the first ranging sensor is (x1, y1, z1) and the coordinate information of the second ranging sensor is (x2, y2, z2), then the distance information D between them satisfies: .

[0068] In step S110, the first distance information L1 and the second distance information L2 are obtained. At this time, the angle deviation is determined based on the first distance information L1, the second distance information L2, and the distance information D of the first ranging sensor and the second ranging sensor in the X direction.

[0069] In a specific implementation, the angle deviation is determined based on the first distance information, the second distance information, and the distance information of the first ranging sensor and the second ranging sensor. This includes: determining the absolute value of the difference between the first distance information and the second distance information based on the first distance information and the second distance information; determining the magnitude of the angle deviation based on the absolute value of the difference between the first distance information and the second distance information and the distance information of the first ranging sensor and the second ranging sensor in the X direction; and determining the direction of the angle deviation based on the magnitude of the first distance information and the second distance information.

[0070] Specifically, in combination Figure 2B If the first ranging sensor measures a distance L1 from the function board, and the second ranging sensor measures a distance L2 from the function board, then the absolute value of the difference between the first and second distance information satisfies the following condition: At this point, the magnitude of the angular deviation satisfies: If the first distance information is greater than the second distance information, then the CT gantry will have a larger offset relative to the scanning bed on the side of the first distance sensor. If the first distance information is less than the second distance information, then the CT gantry will have a larger offset relative to the scanning bed on the side of the second distance sensor.

[0071] After determining the magnitude and direction of the angular deviation, the CT gantry is rotated so that the centerline of the CT gantry along the Z-direction is parallel to the centerline of the scanning bed along the Z-direction.

[0072] In a specific implementation, if the first distance information is greater than the second distance information, 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, 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.

[0073] S130. Obtain the image information collected by the image acquisition module, and determine the X-direction deviation according to the image information.

[0074] Among them, the X-direction deviation includes the X-direction deviation direction and the X-direction deviation magnitude.

[0075] Figure 2C A schematic diagram of a visual marking pattern provided by this disclosure by way of example is shown in Figure 2C As shown, the visual marking pattern is a black and white alternating stripe pattern symmetric about the center line L1. The stripe width at the corresponding position of 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 perpendicular to the center line of the examination table along the Z direction.

[0076] Combined with Figure 2A and Figure 2D , for the image acquisition module 50 on the side of the CT gantry 10 close to the examination table 20, when the angle deviation of the CT gantry 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.

[0077] 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 marked along the Y direction on the image information; determining the X-direction deviation magnitude and the X-direction deviation direction according to the positional relationship between the center line of the image information and the center line of the visual marking pattern.

[0078] 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.

[0079] For example, the image information acquired by the image acquisition module is first converted into grayscale image information, and the converted grayscale image information is as follows: Figure 2E As shown, after Gaussian noise reduction of the grayscale image information, the Canny edge detection algorithm is used to extract the edge lines in the grayscale image information, such as... Figure 2F As shown, lines along the Y-axis are then filtered based on the image gradient direction, such as... Figure 2G As shown, the Hough transform algorithm is finally used for detection. Figure 2G The straight lines in each line along the Y direction are marked on the grayscale image information, such as... Figure 2H As shown.

[0080] After marking the straight lines along the Y direction on the grayscale image information in the above steps, the center line of the visual marker pattern is determined based on the straight lines along the Y direction marked on the image information, including: 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 along the Y direction with the shortest distance information as the center line of the visual marker pattern based on the distance information between any two adjacent straight lines along the Y direction on the image information.

[0081] Specifically, such as Figure 2H As shown, after determining the straight line along the Y direction in the image information, the center line between the two straight lines with the shortest distance between any two adjacent straight lines along the Y direction is selected as the center line of the visual marker pattern.

[0082] After determining the center line of the visual marker pattern, the magnitude and direction of the X-axis deviation can be determined based on 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.

[0083] For example, if the center line along the Y direction in the image information is located to the left of the center line along the Y direction in the visual marker pattern, then the magnitude of the X-direction deviation is determined to be 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. The direction of the X-direction deviation is in the negative direction of the X-axis. If the center line along the Y direction in the image information is located to the right of the center line along the Y direction in the visual marker pattern, then the magnitude of the X-direction deviation is determined to be 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. The direction of the X-direction deviation is in the positive direction of the X-axis.

[0084] S140. Obtain the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance.

[0085] The Z-axis deviation includes the magnitude of the Z-axis deviation and the direction of the Z-axis deviation.

[0086] After step S120, when the CT gantry is rotated based on the angular deviation, the centerline of the CT gantry along the Z-direction is parallel to the centerline of the scanning bed along the Z-direction. Then, by acquiring the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor again, as shown... Figure 2I As shown, the Z-axis deviation is determined based on the third distance information, the fourth distance information, and the preset Z-axis distance.

[0087] Specifically, the Z-axis deviation is determined based on the third distance information, the fourth distance information, and the preset Z-axis distance, including: determining the average value of the third distance information and the fourth distance information based on the third distance information and the fourth distance information; and determining the magnitude and direction of the Z-axis deviation based on the average value and the preset Z-axis distance information.

[0088] First, the average value of the third and fourth distance information is calculated. When the average value of the third and fourth distance information is greater than the preset Z-axis distance information, the Z-axis deviation is the difference between the average value of the third and fourth distance information and the preset Z-axis distance information, and the Z-axis deviation direction is the negative Z-axis direction. When the average value of the third and fourth distance information is less than the preset Z-axis distance information, the Z-axis deviation is the difference between the preset Z-axis distance information and the average value of the third and fourth distance information, and the Z-axis deviation direction is the positive Z-axis direction.

[0089] Similarly, in step S140, based on the third distance information acquired by the first ranging sensor and the fourth distance information acquired by the second ranging sensor, it is determined that the Z-axis deviation accuracy is relatively high.

[0090] S150. Adjust the position of the CT gantry based on the X-axis and Z-axis deviations.

[0091] In the specific implementation, adjusting the position of the CT gantry based on the X-axis deviation and the Z-axis deviation includes: moving the CT gantry along the X-axis direction based on the X-axis deviation; and moving the CT gantry along the Z-axis direction based on the Z-axis deviation.

[0092] In a specific example, when the X-axis deviation is in the negative direction of the X-axis, the CT gantry is moved along the positive direction of the X-axis by the magnitude of the X-axis deviation; when the X-axis deviation is in the positive direction of the X-axis, the CT gantry is moved along the negative direction of the X-axis by the magnitude of the X-axis deviation. When the Z-axis deviation is in the negative direction of the Z-axis, the CT gantry is moved along the positive direction of the Z-axis by the magnitude of the Z-axis deviation; when the Z-axis deviation is in the positive direction of the Z-axis, the CT gantry is moved along the negative direction of the Z-axis by the magnitude of the Z-axis deviation.

[0093] The calibration method for a mobile CT device provided in this embodiment first acquires first distance information collected by a first ranging sensor and second distance information collected by a second ranging sensor. Then, based on the first distance information, the second distance information, and the distance information of the first and second ranging sensors in the X-axis, an angular deviation is determined, and the CT gantry is rotated according to the angular deviation. Next, image information acquired by an image acquisition module is acquired, and the X-axis deviation is determined based on the image information. Then, third distance information collected by the first ranging sensor and fourth distance information collected by the second ranging sensor are acquired again, and the Z-axis deviation is determined based on the third distance information, the fourth distance information, and a preset Z-axis distance. Finally, the position of the CT gantry is adjusted according to the X-axis deviation and the Z-axis deviation. By setting a first ranging sensor, a second ranging sensor, an image acquisition module, and a function board on the mobile CT device, and determining the deviation information of the CT gantry based on the distance information collected by the first and second ranging sensors and the image information acquired by the image acquisition module, and finally adjusting the CT gantry based on the deviation information, the accuracy of the CT gantry position adjustment is improved.

[0094] Based on the above embodiments, Figure 3 This is a schematic diagram of the structure of a calibration device for a mobile CT scanner provided in an embodiment of this disclosure, as shown below. Figure 3 As shown, the calibration device for the mobile CT equipment includes:

[0095] Information acquisition module 310 is used to acquire first distance information collected by the first ranging sensor and second distance information collected by the second ranging sensor;

[0096] Angle deviation determination module 320 is used to determine the angle deviation based on the first distance information, the second distance information, and the distance information of the first ranging sensor and the second ranging sensor in the X direction, and to rotate the CT gantry according to the angle deviation.

[0097] The X-axis deviation determination module 330 is used to acquire image information acquired by the image acquisition module and determine the X-axis deviation based on the image information.

[0098] Z-axis deviation determination module 340 is used to acquire the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance;

[0099] The adjustment module 350 is used to adjust the position of the CT gantry according to the X-axis deviation and the Z-axis deviation.

[0100] The calibration device for a mobile CT scanner provided in this embodiment first acquires first distance information collected by a first ranging sensor and second distance information collected by a second ranging sensor. Then, based on the first distance information, the second distance information, and the distance information of the first and second ranging sensors in the X-axis, an angular deviation is determined, and the CT gantry is rotated according to the angular deviation. Next, image information acquired by an image acquisition module is acquired, and the X-axis deviation is determined based on the image information. Then, third distance information collected by the first ranging sensor and fourth distance information collected by the second ranging sensor are acquired again, and the Z-axis deviation is determined based on the third distance information, the fourth distance information, and a preset Z-axis distance. Finally, the position of the CT gantry is adjusted based on the X-axis deviation and the Z-axis deviation. By setting a first ranging sensor, a second ranging sensor, an image acquisition module, and a function board on the mobile CT scanner, and determining the deviation information of the CT gantry based on the distance information collected by the first and second ranging sensors and the image information acquired by the image acquisition module, and finally adjusting the CT gantry based on the deviation information, the accuracy of the CT gantry position adjustment is improved.

[0101] In a specific implementation, determining the angle deviation based on the first distance information, the second distance information, and the distance information in the X direction from the first and second ranging sensors includes:

[0102] Based on the first distance information and the second distance information, determine the absolute value of the difference between the first distance information and the second distance information;

[0103] The magnitude of the angle deviation is determined based on the absolute value of the difference between the first distance information and the second distance information, as well as the distance information of the first ranging sensor and the second ranging sensor in the X direction.

[0104] The direction of the angular deviation is determined based on the magnitudes of the first and second distance information.

[0105] In a specific implementation, determining the X-axis deviation based on the image information includes:

[0106] After processing the image information, a straight line along the Y direction is marked on the image information;

[0107] The center line of the visual marker pattern is determined by marking a straight line along the Y direction on the image information;

[0108] Based on the positional relationship between the centerline of the image information and the centerline of the visual marker pattern, the magnitude and direction of the X-axis deviation are determined.

[0109] In a specific implementation, the step of processing the image information and then marking a straight line along the Y direction on the image information includes:

[0110] Convert the image information into grayscale image information;

[0111] Using edge detection and Hough transform algorithms, straight lines along the Y direction in the grayscale image information are selected and marked on the grayscale image information.

[0112] In a specific implementation, determining the center line of the visual marker pattern based on a straight line marked along the Y direction on the image information includes:

[0113] Obtain the distance information between any two adjacent straight lines along the Y direction in the image information;

[0114] Based on the distance information between any two adjacent straight lines along the Y direction in the image information, the center line between the two adjacent straight lines along the Y direction with the shortest distance is selected as the center line of the visual mark pattern.

[0115] In a specific implementation, determining the Z-axis deviation based on the third distance information, the fourth distance information, and the preset Z-axis distance includes:

[0116] Based on the third distance information and the fourth distance information, determine the average value of the third distance information and the fourth distance information;

[0117] Based on the average value information and the preset Z-axis distance information, the magnitude and direction of the Z-axis deviation are determined.

[0118] In a specific implementation, adjusting the position of the CT gantry based on the X-axis deviation and the Z-axis deviation includes:

[0119] Based on the X-axis deviation, the CT gantry is moved along the X-axis direction;

[0120] The CT gantry is moved along the Z-axis based on the Z-direction deviation.

[0121] This application also provides a computer device, please refer to the following for details. Figure 4 , Figure 4 This is a basic structural block diagram of the computer device in this embodiment.

[0122] The computer device includes a memory 510 and a processor 520 that are interconnected via a system bus. It should be noted that only a computer device with components 510-520 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the computer device described herein is a device capable of automatically performing 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.

[0123] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0124] The memory 510 includes at least one type of readable storage medium, including non-volatile memory or volatile memory, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), 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 disk, etc. RAM may include static RAM or dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a 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 include both internal storage units and external storage devices of the computer device. In this embodiment, the memory 510 is typically used to store the operating system and various application software installed on the computer device, such as the program code of the method described above. In addition, the memory 510 may also be used to temporarily store various types of data that have been output or will be output.

[0125] The processor 520 is typically used to perform the overall operation of a computer device. In this embodiment, the memory 510 is used to store program code or instructions, including computer operation instructions. The processor 520 is used to execute the program code or instructions stored in the memory 510 or to process data, such as program code that runs the methods described above.

[0126] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus system can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0127] Another embodiment of this application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer-readable program code stored in the computer-readable medium, enabling the processor to execute the functional actions specified in each step or combination of steps in the above method; and to generate means for implementing the functional actions specified in each block or combination of blocks in the block diagram.

[0128] Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any suitable combination thereof, wherein the memory is used to store program code or instructions, the program code including computer operation instructions, and the processor is used to execute the program code or instructions of the above-described methods stored in the memory.

[0129] The definitions of memory and processor can be found in the description of the foregoing computer device embodiments, and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0131] In the various embodiments of this application, the functional units or modules can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0132] If the integrated unit is implemented as 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 the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) or 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 capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0133] Unless otherwise expressly indicated by the context, the singular form of words used herein and in the appended claims includes the plural form, and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the terms “comprising” and “including” shall be interpreted as including rather than exclusively. Likewise, the terms “including” and “or” shall be interpreted as including unless such interpretation is expressly prohibited herein. Where the term “example” is used herein, particularly when it follows a set of terms, the “example” is merely exemplary and illustrative and should not be considered exclusive or extensive.

[0134] Further aspects and scope of adaptation become apparent from the description provided herein. It should be understood that various aspects of this application may be implemented individually or in combination with one or more other aspects. It should also be understood that the descriptions and specific embodiments herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0135] Several embodiments of this disclosure have been described in detail above. However, it is obvious that those skilled in the art can make various modifications and variations to the embodiments of this disclosure without departing from the spirit and scope of this disclosure. The scope of protection of this disclosure is defined by the appended claims.

Claims

1. A calibration method for a mobile CT scanner, applied to a mobile CT scanner, the mobile CT scanner comprising a first ranging sensor and a second ranging sensor disposed symmetrically along the Y-axis centerline of the CT scanner gantry near the scanning bed, an image acquisition module disposed on the Y-axis centerline of the CT scanner gantry near the scanning bed, and a function board disposed on the Y-axis side of the scanning bed near the CT scanner gantry, the function board including a visual marker pattern and having a reflective surface, the reflective surface being disposed on the Y-axis side of the function board near the CT scanner gantry, the centerline of the visual marker pattern perpendicularly intersecting the centerline of the scanning bed in the Z-axis, the visual marker pattern being a symmetrical black and white alternating stripe pattern along the centerline, the first ranging sensor acquiring first distance information between the CT scanner gantry and the function board, the second ranging sensor acquiring second distance information between the CT scanner gantry and the function board, and the image acquisition module acquiring the visual marker pattern and generating image information, characterized in that... include: Acquire the first distance information collected by the first ranging sensor and the second distance information collected by the second ranging sensor; Based on the first distance information, the second distance information, and the distance information in the X direction from the first and second ranging sensors, the angle deviation is determined, and the CT gantry is rotated according to the angle deviation. The image information acquired by the image acquisition module is obtained, and the X-axis deviation is determined based on the image information. Acquire the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance; The position of the CT gantry is adjusted based on the X-axis deviation and the Z-axis deviation.

2. The method according to claim 1, characterized in that, The step of determining the angle deviation based on the first distance information, the second distance information, and the distance information in the X direction from the first and second ranging sensors includes: Based on the first distance information and the second distance information, determine the absolute value of the difference between the first distance information and the second distance information; The magnitude of the angle deviation is determined based on the absolute value of the difference between the first distance information and the second distance information, as well as the distance information of the first ranging sensor and the second ranging sensor in the X direction. The direction of the angular deviation is determined based on the magnitudes of the first and second distance information.

3. The method according to claim 1, characterized in that, The step of determining the X-axis deviation based on the image information includes: After processing the image information, a straight line along the Y direction is marked on the image information; The center line of the visual marker pattern is determined by marking a straight line along the Y direction on the image information; Based on the positional relationship between the centerline of the image information and the centerline of the visual marker pattern, the magnitude and direction of the X-axis deviation are determined.

4. The method according to claim 3, characterized in that, The step of processing the image information and then marking a straight line along the Y direction on the image information includes: Convert the image information into grayscale image information; Using edge detection and Hough transform algorithms, straight lines along the Y direction in the grayscale image information are selected and marked on the grayscale image information.

5. The method according to claim 3, characterized in that, Determining the center line of the visual marker pattern based on a 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 in the image information; Based on the distance information between any two adjacent straight lines along the Y direction in the image information, the center line between the two adjacent straight lines along the Y direction with the shortest distance is selected as the center line of the visual mark pattern.

6. The method according to claim 1, characterized in that, The step of determining the Z-axis deviation based on the third distance information, the fourth distance information, and the preset Z-axis distance includes: Based on the third distance information and the fourth distance information, determine the average value of the third distance information and the fourth distance information; Based on the average value information and the preset Z-axis distance information, the magnitude and direction of the Z-axis deviation are determined.

7. The method according to claim 1, characterized in that, The step of adjusting the position of the CT gantry based on the X-axis deviation and the Z-axis deviation includes: Based on the X-axis deviation, the CT gantry is moved along the X-axis direction; The CT gantry is moved along the Z-axis based on the Z-direction deviation.

8. A calibration device for a mobile CT scanner, applied to a mobile CT scanner, the mobile CT scanner comprising a first and a second ranging sensor disposed symmetrically along the Y-axis centerline of the CT scanner gantry near the scanning bed, an image acquisition module disposed on the Y-axis centerline of the CT scanner gantry near the scanning bed, and a function board disposed on the Y-axis centerline of the scanning bed near the CT scanner gantry, the function board comprising a visual marker pattern and having a reflective surface, the reflective surface being disposed on the Y-axis centerline of the function board near the CT scanner gantry, the visual marker pattern having a centerline perpendicularly intersecting the Z-axis centerline of the scanning bed, the visual marker pattern being a symmetrical black and white alternating stripe pattern along the centerline, the first ranging sensor acquiring first distance information between the CT scanner gantry and the function board, the second ranging sensor acquiring second distance information between the CT scanner gantry and the function board, and the image acquisition module acquiring the visual marker pattern and generating image information, characterized in that… include: The information acquisition module is used to acquire first distance information collected by the first ranging sensor and second distance information collected by the second ranging sensor; An angle deviation determination module is used to determine the angle deviation based on the first distance information, the second distance information, and the distance information of the first ranging sensor and the second ranging sensor in the X direction, and to rotate the CT gantry according to the angle deviation. The X-axis deviation determination module is used to acquire image information acquired by the image acquisition module and determine the X-axis deviation based on the image information. The Z-axis deviation determination module is used to acquire the third distance information collected by the first ranging sensor and the fourth distance information collected by the second ranging sensor, and determine the Z-axis deviation based on the third distance information, the fourth distance information and the preset Z-axis distance. The adjustment module is used to adjust the position of the CT gantry based on the X-axis deviation and the Z-axis deviation.

9. A computer device, characterized in that, include: One or more processors; 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 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, it implements the method as described in any one of claims 1 to 7.

Images