Image acquisition method and device, storage medium and electronic equipment

Abstract

The invention discloses an image acquisition method and device, a storage medium and electronic equipment, the image acquisition method and device are applied to imaging equipment, the imaging equipment comprises a rack, a catheter bed, a bulb tube and a detector, the catheter bed is used for bearing a detection object, and the rack is configured to perform spatial motion around the rotation center of the rack; a region of interest where a detection object is located is positioned to the isocenter of imaging equipment, the first spatial pose of a rack is adjusted, and / or the second spatial pose of a catheter bed is adjusted, so that a detection object image is collected through a bulb tube and a detector in the pose adjustment process, image reconstruction processing is performed based on the detection object image, and the detection object image is obtained. And generating a three-dimensional image of the target object. According to the method and the device, the space poses of the rack and the catheter bed of the imaging equipment are adjusted, so that the imaging equipment can acquire the detection object images under different visual fields, and the acquired detection object images are subjected to image reconstruction, and a target object three-dimensional image with a relatively large visual field range can be obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical imaging equipment, in particular to an image acquisition method and device, a storage medium and an electronic device. BACKGROUND

[0002] Transarterial chemoembolization (TACE) is widely used in the treatment of advanced liver cancer. Digital substraction angiography (DSA) is the most basic guidance method in TACE. Some tumors have complex blood vessels, such as vessel overlap, poor blood supply, and tortuous arteries, making it difficult to guide using traditional DSA. The tumor detection rate, blood supply artery identification, and catheterization accuracy are all affected. Cone-beam computed tomography (CBCT) is a relatively new imaging technology that provides help for determining and accurately catheterizing tumor blood supply arteries in TACE through three-dimensional image reconstruction.

[0003] However, the imaging range of ordinary CBCT is limited, and the imaging field-of-view (FOV) is generally around 200-250mm. From the perspective of clinical use, the horizontal view of the human body is limited, while the vertical view is more generous. The FOV diameter of conventional DSA equipment is generally around 236mm. According to GB / T 10000-2023 Chinese adult human body dimensions, for example, a 26-35 year old male, the standing chest width of P50 is 301mm. It can be seen that the existing interventional X-ray imaging equipment cannot acquire a large enough field of view when acquiring three-dimensional images through CBCT mode, which limits the imaging range in clinical use and cannot completely view the cross section of the human body, resulting in that the existing conventional FOV CBCT cannot meet the clinical application scenarios of complete chest and abdominal viewing. SUMMARY

[0004] The embodiments of the present application provide an image acquisition method, device, storage medium and electronic device, which can increase the imaging field of view of the imaging equipment.

[0005] In a first aspect, the embodiments of the present application provide an image acquisition method applied to an imaging equipment, wherein the imaging equipment includes a gantry, a catheter bed, a ball tube and a detector, the catheter bed is used to carry a detection object, the gantry is configured to perform spatial motion around a gantry rotation center, and the method includes: positioning an area of interest in which the detection object is located to an isocenter of the imaging equipment; adjusting a first spatial pose of the gantry, and / or adjusting a second spatial pose of the couch, to acquire images of the detection object by the tube and the detector during the pose adjustment; performing image reconstruction based on the images of the detection object to generate a three-dimensional image of the target object.

[0006] In some embodiments, the adjusting a first spatial pose of the gantry, and / or adjusting a second spatial pose of the couch comprises: obtaining at least one gantry offset direction for the gantry and at least one gantry offset distance in the gantry offset direction, and controlling the gantry to move along each of the gantry offset direction by the gantry offset distance; and / or, obtaining at least one couch offset direction for the couch and at least one couch offset distance in the couch offset direction, and controlling the couch to move along each of the couch offset direction by the couch offset distance.

[0007] In some embodiments, the obtaining at least one gantry offset direction for the gantry and at least one gantry offset distance in the gantry offset direction, and controlling the gantry to move along each of the gantry offset direction by the gantry offset distance comprises: obtaining a first gantry offset direction for the gantry and a first gantry offset distance in the first gantry offset direction, and a second gantry offset direction and a second gantry offset distance in the second gantry offset direction, the first gantry offset direction being opposite to the second gantry offset direction; controlling the gantry to move along the first gantry offset direction by the first gantry offset distance, and starting a first image acquisition procedure for the detection object; controlling the gantry to move along the second gantry offset direction by the second gantry offset distance, and starting a second image acquisition procedure for the detection object.

[0008] In some embodiments, the obtaining at least one couch offset direction for the couch and at least one couch offset distance in the couch offset direction, and controlling the couch to move along each of the couch offset direction by the couch offset distance comprises: obtaining a first couch offset direction for the couch and a first couch offset distance in the first couch offset direction, and a second couch offset direction and a second couch offset distance in the second couch offset direction, the first couch offset direction being opposite to the second couch offset direction; controlling the couch to move along the first couch offset direction by the first couch offset distance, and starting a third image acquisition procedure for the detection object; The catheter bed is controlled to move along the second catheter bed offset direction by the second catheter bed offset distance, and the fourth image acquisition process for the detection object is initiated.

[0009] In some embodiments, obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack by the rack offset distance along each of the rack offset directions, includes: Obtain the third rack offset direction for the rack and the third rack offset distance and the fourth rack offset distance in the third rack offset direction, and obtain the fourth rack offset direction for the rack and the fifth rack offset distance and the sixth rack offset distance in the fourth rack offset direction, wherein the third rack offset direction is opposite to the fourth rack offset direction; Using the center point as the rack rotation center of the rack, the rack adjustment process and the fifth image acquisition process are started. The fifth image acquisition process ends after the rack has completed the rack adjustment process. In the rack adjustment process, the rack is controlled to rotate from a preset initial tilt position and move the third rack offset distance along the offset direction of the third rack. When the rack is in the first preset tilt position and has completed the rack movement of the third rack offset distance, the movement stops. In addition, the frame is controlled to rotate from the first preset inclined position and move the fifth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the second preset inclined position and has completed the frame movement of the fifth frame offset distance; In addition, the frame is controlled to rotate from the second preset inclined position and move the sixth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the third preset inclined position and has completed the frame movement of the sixth frame offset distance; In addition, the frame is controlled to rotate from the third preset tilt position and move the fourth frame offset distance along the offset direction of the third frame. When the frame is in the fourth preset tilt position and has completed the frame movement of the fourth frame offset distance, the movement stops and the image acquisition ends.

[0010] In some embodiments, obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack offset distance along each of the rack offset directions, and obtaining at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and controlling the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions, includes: Obtain the first lateral movement direction and the first lateral movement distance of the frame for the frame, and the first vertical movement direction and the first vertical movement distance of the guide bed for the guide bed; Control the frame to move the first frame laterally by the first frame's lateral movement distance, and initiate the sixth image acquisition process for the detected object; In the sixth image acquisition process, the catheter bed is controlled to move vertically along the first catheter bed vertical movement direction by a distance, and the frame is controlled to move horizontally along the second frame horizontal movement direction by a distance; wherein, the horizontal movement direction of the second frame is opposite to that of the first frame, and the horizontal movement distance of the second frame is the same as that of the first frame.

[0011] In some embodiments, obtaining at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and controlling the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions, includes: The seventh image acquisition process for the object being detected is initiated by rotating the frame. The detector pose of the detector is monitored when the frame rotates, and a reference movement direction for the catheter bed to approach the detector pose is determined from the lateral movement direction and the vertical movement direction of the catheter bed, and the catheter bed is controlled to move along the reference movement direction.

[0012] Secondly, embodiments of this application also provide an image acquisition device applied to an imaging equipment. The imaging equipment includes a frame, a catheter bed, an X-ray tube, and a detector. The catheter bed is used to carry the object to be detected. The frame is configured to move spatially around a rotation center of the frame. The device includes: The positioning module is used to locate the region of interest where the detected object is located to the isocenter of the imaging device; An adjustment module is used to adjust the first spatial pose of the gantry and / or adjust the second spatial pose of the catheter bed, so as to acquire images of the object to be detected through the X-ray tube and the detector during the pose adjustment process; The processing module is used to perform image reconstruction processing based on the detected object image to generate a three-dimensional image of the target object.

[0013] Thirdly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when run on a computer, causes the computer to perform the image acquisition method provided in any embodiment of this application.

[0014] Fourthly, embodiments of this application also provide an electronic device, including a processor and a memory, wherein the memory has a computer program, and the processor executes the image acquisition method provided in any embodiment of this application by calling the computer program.

[0015] The technical solution provided in this application is applied to an imaging device, which includes a gantry, a guide bed, an X-ray tube, and a detector. The guide bed carries the object to be detected. The gantry is configured to move spatially around its rotation center. By positioning the region of interest (ROI) of the object to be detected to the isocenter of the imaging device, the first spatial pose of the gantry and / or the second spatial pose of the guide bed are adjusted. During the pose adjustment process, images of the object to be detected are acquired through the X-ray tube and the detector. Based on the images of the object to be detected, image reconstruction processing is performed to generate a three-dimensional image of the target object. In this application, by adjusting the spatial pose of the gantry and the guide bed of the imaging device, the imaging device can acquire images of the object to be detected under different fields of view. By performing image reconstruction on the acquired images of the object to be detected, a three-dimensional image of the target object with a large field of view can be obtained. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the CBCT measurement and calculation methods provided in related technologies.

[0018] Figure 2 This is a schematic diagram of the field of view of CBCT images provided in related technologies.

[0019] Figure 3 This is a schematic flowchart of an image acquisition method provided in an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of a first type of large-field-of-view CBCT acquisition method for image acquisition provided in the embodiments of this application.

[0021] Figure 5 This is a schematic diagram of a second type of large-field-of-view CBCT acquisition method for the image acquisition method provided in the embodiments of this application.

[0022] Figure 6 This is a schematic diagram of a third type of large field-of-view CBCT acquisition method provided in the embodiments of this application.

[0023] Figure 7This is a schematic diagram of a fourth type of large-field-of-view CBCT acquisition method provided in the embodiments of this application.

[0024] Figure 8 This is a schematic diagram of the fifth type of large field-of-view CBCT acquisition method provided in the embodiments of this application.

[0025] Figure 9 This is a schematic diagram showing the expanded range of the CBCT field of view where the center of the region of interest and the center of rotation do not coincide, which is an example of the image acquisition method provided in this application.

[0026] Figure 10 This is a schematic diagram showing the expanded range of the CBCT field of view where the center of the region of interest and the center of rotation coincide in the image acquisition method provided in the embodiments of this application.

[0027] Figure 11 This is a schematic diagram of the structure of the image acquisition device provided in the embodiments of this application.

[0028] Figure 12 This is a schematic diagram of a first structure of an electronic device provided in an embodiment of this application.

[0029] Figure 13 This is a schematic diagram of a second structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0031] In this document, the term "embodiment" 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 this phrase 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.

[0032] This application provides an image acquisition method. The execution subject of this image acquisition method can be the image acquisition device provided in this application, or an electronic device integrating the image acquisition device. The image acquisition device can be implemented in hardware or software. The electronic device can be an imaging device, which refers to a device with image acquisition and data processing capabilities. In this application, the imaging device specifically includes core components such as a gantry, catheter bed, X-ray tube, and detector. It can be used for medical diagnosis (such as interventional X-ray machines and CBCT equipment) or industrial inspection (such as industrial CT), achieving imaging through X-ray emission from the X-ray tube and signal reception by the detector.

[0033] For a better understanding of this application, please refer to Figure 1 , Figure 1 A schematic diagram of the CBCT measurement and calculation methods provided in related technologies, such as... Figure 1 The blue circle 1 represents the field of view (FOV) of a standard CBCT scan. The length of the perpendicular line from the X-ray tube focal point to the imaging plane of the flat panel detector is the SID (Source-Image-Distance). At the start of the scan, the X-ray tube and the flat panel detector rotate simultaneously around the isocenter O. After sufficient rotation and acquisition of a sufficient number of frames, a 3D image can be generated through reconstruction. For clinical use, please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of the field of view (FOV) of CBCT images provided in related technologies. The lateral field of view of the human body is relatively limited, while the vertical field of view is relatively wide. The FOV diameter of conventional DSA equipment is generally around 236mm. According to GB / T 10000-2023 "Anthropometric Dimensions of Chinese Adults," taking a 26-35 year old adult male as an example, the standing chest width at P50 position is 301mm. Therefore, existing conventional field-of-view CBCT cannot meet the clinical application scenario of fully viewing the chest and abdomen. It is evident that in related technologies, the field of view that interventional X-ray imaging equipment can acquire when using CBCT mode to acquire three-dimensional images is not large enough, limiting the imaging range in clinical use and preventing a complete view of the human body's cross-section. This application aims to propose a solution for achieving a large field of view CBCT based on existing interventional X-ray imaging equipment.

[0034] Next, we will introduce the image acquisition method provided in the embodiments of this application. The image acquisition method provided in the embodiments of this application is applied to an imaging device, which includes a gantry, a guide bed, an X-ray tube, and a detector. The guide bed is used to carry the object to be detected, and the gantry is configured to move in space around the rotation center of the gantry.

[0035] The frame refers to the mechanical support and moving parts of the imaging equipment, which are used to install the X-ray tube and detector, and are configured to move in space (such as rotating, translating, tilting, etc.) around the "frame rotation center", changing the imaging angle and position of the X-ray tube and detector by adjusting its own posture.

[0036] Among them, the catheter bed refers to a platform used to carry the test object (such as a patient or industrial part). It can move the test object by adjusting its own posture (such as lateral translation or vertical lifting), so as to adjust the relative position of the test object with the gantry and X-ray tube / detector.

[0037] The X-ray tube refers to the radiation emitting component, which generates X-rays (or other imaging rays) by bombarding the target surface with internal electrons, and emits a beam of rays toward the object being detected, serving as the "signal source" for imaging.

[0038] The detector refers to a radiation receiving and signal conversion component, used to receive radiation signals after they pass through the object being detected and convert them into electrical signals (raw image data). It is the "signal receiving end" for acquiring images. The detector involved in this application can be a flat panel detector.

[0039] The object to be detected refers to the target that needs to be imaged and detected. In medical scenarios, this is usually a patient (or part of the human body), while in industrial scenarios it can be a mechanical part, electronic component, etc.

[0040] In one embodiment, see Figure 3 , Figure 3 This is a schematic flowchart of an image acquisition method provided in an embodiment of this application. The specific flow of the method can be as follows: S110. Locate the region of interest where the object to be detected is located at the isocenter of the imaging device.

[0041] The Region of Interest (ROI) refers to the key area of ​​the object to be imaged (such as the lesion site of a patient or the vulnerable structure of a part). It is the core target for imaging and localization, and its localization accuracy directly affects the final imaging quality.

[0042] The isocenter refers to the spatial reference point of the imaging equipment, which is the "central reference" for mechanical movement and imaging. It is usually the reference center of the gantry rotation, and the center line of the X-ray beam emitted by the tube and the central axis of the detector will intersect at this point, which is the area with the highest imaging clarity.

[0043] In this embodiment, by aligning the region of interest (ROI) of the detected object with the isocenter of the imaging device, it is ensured that the region is in the core position where the image is clearest and the geometric distortion is minimal. Subsequent pose adjustments and image acquisition are all carried out based on this reference, avoiding image blurring or data loss caused by region offset.

[0044] S120, Adjust the first spatial pose of the frame and / or adjust the second spatial pose of the guide bed to acquire images of the object to be detected through the X-ray tube and detector during the pose adjustment process.

[0045] Spatial pose refers to the sum of an object's position and orientation in space: "position" refers to its coordinates in a coordinate system (such as the coordinate values ​​in the horizontal x-direction and vertical z-direction); "orientation" refers to its angular state (such as the rotation angle and tilt angle of a machine frame). The first spatial pose specifically refers to the spatial pose of the machine frame (including its position and rotation state). The second spatial pose specifically refers to the spatial pose of the guide bed (including its position and bearing angle).

[0046] In this embodiment, by adjusting the first spatial pose of the gantry (such as rotation angle, lateral / vertical position) and / or the second spatial pose of the catheter bed (such as translation or lifting of the object being tested), the positional relationship between the X-ray tube (radiation emitting end) and the detector (radiation receiving end) relative to the object being tested is changed, and images are continuously acquired during this process. This can cover a wider field of view (such as the previously mentioned x-direction and z-direction expansion) or acquire raw data from multiple angles, providing sufficient information for subsequent 3D reconstruction.

[0047] In the embodiments provided in this application, CBCT mode can be used for image acquisition, or 3D-DR, 3D-DSA and other modes can be used for image acquisition.

[0048] S130. Perform image reconstruction processing based on the detected object image to generate a three-dimensional image of the target object.

[0049] Image reconstruction processing refers to the process of integrating, geometrically correcting, and stereoscopically modeling the raw image data (two-dimensional signals from multiple perspectives and regions) collected by the detector through computer algorithms (such as three-dimensional modeling algorithms and image stitching algorithms), ultimately transforming the scattered two-dimensional data into a complete three-dimensional image.

[0050] In this embodiment, the multi-view, multi-regional raw image data collected in step S120 are integrated, stitched and 3D modeled through algorithms (such as filtering back projection, iterative reconstruction, etc.) to finally generate a 3D image of the target object that can intuitively reflect the internal geometric structure of the detected object, thus realizing the transformation from two-dimensional raw data to three-dimensional solid structure.

[0051] In practice, this application is not limited by the execution order of the described steps. Without causing conflicts, some steps may be performed in other orders or simultaneously.

[0052] As can be seen from the above, the image acquisition method provided in this application is applied to an imaging device. The imaging device includes a gantry, a guide bed, an X-ray tube, and a detector. The guide bed is used to carry the object to be detected. The gantry is configured to move spatially around its rotation center. By positioning the region of interest where the object to be detected is located to the isocenter of the imaging device, the first spatial pose of the gantry is adjusted, and / or the second spatial pose of the guide bed is adjusted, so that images of the object to be detected are acquired through the X-ray tube and the detector during the pose adjustment process. Based on the images of the object to be detected, image reconstruction processing is performed to generate a three-dimensional image of the target object. In this application, by adjusting the spatial pose of the gantry and the guide bed of the imaging device, the imaging device can acquire images of the object to be detected under different fields of view, and by performing image reconstruction on the acquired images of the object to be detected, a three-dimensional image of the target object with a large field of view can be obtained.

[0053] Based on the methods described in the preceding embodiments, the following examples will provide further detailed explanations.

[0054] In one embodiment, in step S120, adjusting the first spatial pose of the rack and / or adjusting the second spatial pose of the catheter bed can be done in the following manner: S1210: Obtain at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and control the rack to move the rack offset distance along each rack offset direction; and / or, obtain at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and control the catheter bed to move the catheter bed offset distance along each catheter bed offset direction.

[0055] Among them, the rack offset direction refers to the direction in which the rack can move in space. It usually corresponds to the coordinate system of the imaging equipment, such as the positive / negative direction of the horizontal x direction and the positive / negative direction of the vertical z direction. It is the "direction parameter" that controls the movement of the rack and determines "where the rack moves".

[0056] Among them, rack offset distance refers to the specific length of the rack movement in a certain offset direction (such as x1=5cm, x2=10cm, etc.), which is the "distance parameter" that controls the rack movement and determines "how much the rack moves".

[0057] Among them, the direction of the guide bed offset guides the direction in which the guide bed can move in space. It usually corresponds to the direction of the frame offset, such as the positive / negative direction of the horizontal x direction and the positive / negative direction of the vertical z direction. It is the "direction parameter" that controls the movement of the guide bed and determines "where the guide bed (and the object being tested) moves".

[0058] Among them, the catheter bed offset distance guides the specific length of the catheter bed to move in a certain offset direction (such as z1=3cm, x3=8cm, etc.), which is the "distance parameter" that controls the movement of the catheter bed and determines "how much the catheter bed moves".

[0059] This embodiment provides a specific movement control method for the gantry and the catheter bed. The core objective is to precisely control the "direction + distance" to change the relative position of the gantry (and the X-ray tube and detector mounted on it) and the catheter bed (and the object being detected), thereby covering more areas (such as the previously mentioned x- and z-direction expansion) or focusing on details in the region of interest during image acquisition, thus increasing the imaging field of view. Specifically, this can be divided into three scenarios: (1) Case where only the frame is adjusted First, the gantry offset direction (e.g., horizontal positive x-direction, x-negative x-direction, or vertical z-direction, etc.) and gantry offset distance (e.g., specific length values ​​such as x1, x2, etc.) are obtained. Then, the gantry is controlled to move the corresponding distance along the set direction. For example, to expand the lateral field of view, the positive x-direction and offset distance x1 are obtained, and the gantry is controlled to move x1 in the positive x-direction. Then, the negative x-direction and offset distance x2 are obtained, and the gantry is controlled to move x2 in the negative x-direction. Through this directional and quantitative movement, the X-ray tube and detector acquire images from different positions, providing data for subsequent stitching to expand the field of view.

[0060] (2) Case where only the catheter bed is adjusted Similar to the rack adjustment logic: first, obtain the guide bed offset direction (e.g., horizontal x-direction, vertical z-direction) and the guide bed offset distance, then control the guide bed to move the corresponding distance along the set direction. For example, if the region of interest of the object being detected is too low in the vertical position, the "positive z-direction" and "offset distance z1" can be obtained, and the guide bed can be controlled to move upward by z1, adjusting the region of interest to a more suitable position for imaging and avoiding image blurring due to positional deviation.

[0061] (3) Situation where the frame and guide bed are adjusted together Simultaneously perform the above two adjustments: for example, while controlling the gantry to move x1 in the positive x direction, control the catheter bed to move z2 in the negative z direction. Through the coordinated movement of the two, it can more flexibly adapt to the morphology or imaging needs of the object being detected (such as multi-angle acquisition of complex lesions).

[0062] In one embodiment, in step S1210, obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack offset distance along each rack offset direction, can be done in the following manner: S12110. Obtain a first rack offset direction and a first rack offset distance in the first rack offset direction for the rack, and a second rack offset direction and a second rack offset distance in the second rack offset direction, wherein the first rack offset direction is opposite to the second rack offset direction.

[0063] The offset distance of the second rack is greater than zero.

[0064] S12111. Control the frame to move the first frame offset distance along the first frame offset direction, and start the first image acquisition process for the detection object.

[0065] S12112, Control the frame to move the second frame offset distance along the second frame offset direction, and start the second image acquisition process for the detection object.

[0066] It should be noted that the offset direction and offset distance can be set according to the actual scene's data acquisition needs, which will not be elaborated here.

[0067] For example, the offset direction of the first rack can be set to the negative x-direction, the offset distance of the first rack can be set to x1, and the offset direction of the second rack can be set to the positive x-direction, where x2 = 2 * x1. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of a first large-field-of-view CBCT acquisition method provided in the embodiments of this application. The patient is placed in the middle of the catheterization bed to begin preparation for scanning. The acquisition process consists of two steps: First, shift the gantry in the x-direction (lateral) towards the catheter bed side (negative x-direction of the gantry), a distance x1. Begin the standard field CBCT scan at this position. Please refer to... Figure 4 The FOV region for the first step is a1.

[0068] The second step involves shifting the gantry in the x-direction (horizontal line) a certain distance x2 towards the other side of the catheterization table (the positive x-direction of the gantry), and then initiating the second conventional field-of-view CBCT scan at this position. Please refer to [link / reference]. Figure 4 The FOV region in the second step is a2.

[0069] The image data acquired in two steps can be reconstructed and stitched together to form a single 3D CBCT image with a large horizontal field of view. The overall volumetric interface is as follows: Figure 4 As shown on the right, there is an overlapping area in the middle to prevent large blind spots from appearing on the upper and lower sides of the middle of the image.

[0070] The data acquired in the two steps can be reconstructed and stitched together to form a three-dimensional CBCT image with a large horizontal field of view. The overall volume interface is shown in Figure 8 on the right, with an overlapping area in the middle to prevent large blind spots on the upper and lower sides of the image center.

[0071] In one embodiment, in step S1210, obtaining at least one catheter bed offset direction and at least one catheter bed offset distance along the offset direction, and controlling the catheter bed to move by the offset distance along each offset direction, can be done in the following manner: S12120: Obtain a first catheter bed offset direction and a first catheter bed offset distance in the first catheter bed offset direction for the catheter bed, and a second catheter bed offset direction and a second catheter bed offset distance in the second catheter bed offset direction, wherein the first catheter bed offset direction is opposite to the second catheter bed offset direction; Among them, the offset distance of the second catheter bed is greater than zero.

[0072] S12121: Control the catheter bed to move along the first catheter bed offset direction by the first catheter bed offset distance, and start the third image acquisition process for the detection object; S12122: Control the catheter bed to move along the second catheter bed offset direction by the second catheter bed offset distance, and start the fourth image acquisition process for the detection object.

[0073] In this embodiment, by moving the catheter bed only in the positive and negative x-direction, the same effect as in the previous embodiment, which involved moving the gantry only in the positive and negative x-direction, can be achieved. That is, the same field of view can be acquired; only the moving components are different. It is understood that the movement of the gantry in the x-direction and the movement of the catheter bed in the x-direction are relative, and both can acquire the same field of view.

[0074] In the image acquisition process described above, which only involves positive and negative movement of the gantry in the x-direction, acquiring a large field of view requires two independent rotational stages. When the rotation range of the gantry's C-arm rotation axis is large, this process can be simplified to shorten the acquisition time and improve scanning efficiency. Refer to the following embodiment: In another embodiment, in step S1210, obtaining at least one gantry offset direction and at least one gantry offset distance in the gantry offset direction, and controlling the gantry to move the gantry offset distance along each of the gantry offset directions, can be done in the following manner: S12130: Obtain the third rack offset direction for the rack and the third rack offset distance and the fourth rack offset distance in the third rack offset direction; and obtain the fourth rack offset direction for the rack and the fifth rack offset distance and the sixth rack offset distance in the fourth rack offset direction, wherein the third rack offset direction is opposite to the fourth rack offset direction. S12131. Using the center point as the rack rotation center of the rack, start the rack adjustment process and the fifth image acquisition process. The fifth image acquisition process ends after the rack has completed the rack adjustment process. S12132. In the frame adjustment process, control the frame to start rotating from the preset initial tilt position and move the third frame offset distance along the offset direction of the third frame. When the frame is in the first preset tilt position and has completed the frame movement of the third frame offset distance, stop moving. In this embodiment, the oblique positions involved include the left anterior oblique (LAO) and the right anterior oblique (RAO).

[0075] For example, LAO150 indicates the position reached when the C-arm rotates 150 degrees to the left and forward around the rotation center of the gantry. X-ray imaging is performed at this position, and the image of the object being inspected can be obtained from the angle of the left and forward.

[0076] For example, RAO180 indicates the position reached when the C-arm rotates 180 degrees to the right and front around the rotation center of the frame. At this point, X-ray imaging can obtain an image of the object being inspected from a right and front oblique angle.

[0077] By adjusting the C-arm to different LAO and RAO angles, the object being examined can be imaged from multiple perspectives, providing doctors with more comprehensive anatomical information and helping to perform more accurate operations during interventional procedures.

[0078] S12133, and control the frame to rotate from the first preset inclined position and move the fifth frame offset distance along the offset direction of the fourth frame, and stop moving when the frame is in the second preset inclined position and has completed the frame movement of the fifth frame offset distance; S12134, and control the frame to rotate from the second preset tilt position and move the sixth frame offset distance along the offset direction of the fourth frame, and stop moving when the frame is in the third preset tilt position and has completed the frame movement of the sixth frame offset distance; S12135, and control the frame to rotate from the third preset tilt position and move the fourth frame offset distance along the offset direction of the third frame. When the frame is in the fourth preset tilt position and has completed the frame movement of the fourth frame offset distance, stop moving and end image acquisition.

[0079] For example, taking the interventional X-ray imaging equipment LAO150 and RAO180 with C-arm rotation capability as an example, the offset direction of the third gantry is set to the positive x-direction, the offset distance of the third gantry is x1, the offset distance of the fourth gantry is x2, the offset direction of the fourth gantry is set to the negative x-direction, the offset distance of the fifth gantry is x1, the offset distance of the sixth gantry is x2, the preset initial oblique position is LAO 150, the first preset oblique position is LAO 90, the second preset oblique position is LAO 0, the third preset oblique position is RAO 90, and the fourth preset oblique position is RAO 180. Please refer to [link / reference]. Figure 5 , Figure 5 This is a schematic diagram of a second large-field-of-view CBCT acquisition method provided in the embodiments of this application. The acquisition process is divided into the following five stages: In the first stage, starting with LAO 150, the center of rotation of the rack is the center point, and the rack is controlled to start rotating counterclockwise and acquiring images.

[0080] In the second stage, as the rotation continues, the control frame also begins to move laterally (in the positive x direction), that is, the rotation center of the frame moves from the center to the positive x direction until LAO 90. At this time, the translation distance of the frame is x1.

[0081] In the third stage, the control rack continues to rotate counterclockwise without stopping, and begins to move laterally in the opposite direction (negative x-axis). That is, the rack rotation center moves from the rightmost end to the negative x-axis until LAO 0. At this time, the rack rotation center has translated a distance of -x1, and the rack rotation center returns to the center.

[0082] In the fourth stage, the control frame continues to rotate counterclockwise without stopping, and continues to move laterally (in the negative x direction), that is, the rotation center of the frame moves from the center to the negative x direction until RAO ​​90. At this time, the translational distance of the rotation center of the frame is x2.

[0083] In the fifth stage, the control gantry continues to rotate counterclockwise and begins to move laterally in the opposite direction (positive x-axis), meaning the gantry rotation center moves from the leftmost end towards the positive x-axis until RAO ​​180. At this point, the gantry rotation center has translated a distance of x2, returning to its isocenter. The gantry then stops rotating, and the data acquisition ends.

[0084] The field of view obtained during the acquisition process is as follows: Figure 5 As can be seen, the field of view that can be acquired when the rotation center is at the isocenter is region a1. As the rotation center moves laterally until it reaches the rightmost point, the field of view that can be acquired is region a2. Continuing to move in the opposite direction until it reaches the leftmost point, the field of view that can be acquired is region a3. Regions a1, a2, and a3 are all areas where an image can be reconstructed. Therefore, the final shape of the field of view is as follows: Figure 5 It is approximately an ellipse with a chord length of x1+x2.

[0085] It should be noted that the parameter values ​​set during the spatial pose adjustment of the rack can be set according to the actual data acquisition needs of the scenario, which will not be elaborated here.

[0086] In one embodiment, in step S1210, obtaining at least one rack offset direction and at least one rack offset distance in the rack offset direction for the rack, and controlling the rack to move the rack offset distance along each rack offset direction, and obtaining at least one catheter bed offset direction and at least one catheter bed offset distance in the catheter bed offset direction for the catheter bed, and controlling the catheter bed to move the catheter bed offset distance along each catheter bed offset direction, can be done in the following manner: S12140. Obtain the first lateral movement direction and the first lateral movement distance of the frame for the frame, and the first vertical movement direction and the first vertical movement distance of the guide bed for the guide bed; It should be noted that the lateral movement direction is the positive or negative x-direction of the frame, and the vertical movement direction of the guide bed is the positive or negative z-direction of the guide bed.

[0087] S12141. Control the frame to move the first frame lateral movement distance along the first frame lateral movement direction, and start the sixth image acquisition process for the detection object; S12142. In the sixth image acquisition process, the catheter bed is controlled to move a vertical distance along the vertical movement direction of the first catheter bed and the frame is controlled to move a horizontal distance along the horizontal movement direction of the second frame; wherein, the horizontal movement direction of the second frame is opposite to the horizontal movement direction of the first frame, and the horizontal movement distance of the second frame is the same as the horizontal movement distance of the first frame.

[0088] For example, if the lateral movement direction of the first frame is set to the positive x-direction and the lateral movement direction of the second frame is set to the negative x-direction, please refer to [link / reference needed]. Figure 6 , Figure 6 This is a schematic diagram of a third large-field-of-view CBCT acquisition method provided in the embodiments of this application. The acquisition process is as follows: As the control gantry moves x1 in the positive x-direction towards the guide bed plate and begins scanning, it moves x1 in the negative x-direction. Simultaneously, the guide bed plate also begins to move vertically in coordination. The vertical movement of the guide bed and the lateral movement of the gantry together form the tangent circle between the X-ray tube focal spot and the center of the flat panel detector. Figure 6 Middle circle 1. Figure 6 The middle circle 2 is the FOV region.

[0089] In one embodiment, in step S1210, obtaining at least one catheter bed offset direction and at least one catheter bed offset distance along the offset direction, and controlling the catheter bed to move by the offset distance along each offset direction, can be done in the following manner: S12150, The seventh image acquisition process for the detected object is started by rotating the frame; S12151. Monitor the detector pose of the detector when the frame rotates, determine a reference movement direction for the catheter bed to approach the detector pose from the lateral movement direction and the vertical movement direction of the catheter bed, and control the catheter bed to move along the reference movement direction.

[0090] The detector pose refers to the sum of the detector's position and orientation in space: "position" is the detector's coordinates in the equipment coordinate system (such as the specific coordinate values ​​in the x and z directions); "orientation" is the detector's angular state (such as the tilt angle relative to the ground, the relative angle with the X-ray tube, etc.). When the rack rotates, the detector pose will change synchronously with the rack's movement.

[0091] Among them, the reference movement direction refers to the optimal movement direction selected from the lateral and vertical movement directions of the catheter bed, which enables the catheter bed to "close to the current pose of the detector" (that is, moving along this direction can minimize the relative deviation between the detection object and the detector), and is the "target direction parameter" of the catheter bed movement.

[0092] In this embodiment, image acquisition is initiated by gantry rotation. When the gantry begins to rotate around the rotation center (e.g., the C-arm rotates from the LAO angle to the RAO angle), the seventh image acquisition process for the object being detected is simultaneously initiated. The X-ray tube begins to emit X-rays, and the detector synchronously receives the X-ray signals passing through the object, continuously acquiring raw image data from multiple angles. Then, the detector's "detector pose" (i.e., the detector's position and orientation in space, such as the detector moving from the patient's left side to the front, or tilting from 0° to 30° due to gantry rotation) is tracked in real time during gantry rotation. Because the X-ray tube and detector move synchronously during gantry rotation (both are mounted on the same gantry), changes in detector pose directly reflect changes in the spatial position of the "X-ray tube focal point - detector center line" (this line is the core geometric reference for imaging). From the two movable directions of the catheter bed ("catheter bed lateral movement direction" and "catheter bed vertical movement direction"), the direction that allows the catheter bed to "close to the detector pose" is selected as the "reference movement direction". Finally, the catheter bed is controlled to move according to the determined "reference movement direction".

[0093] It is understood that in this application, the isocenter point of the imaging device always passes through the line connecting the focal point of the X-ray tube and the center point of the flat panel detector. This application expands the field of view of the imaging device by moving the position of the isocenter point.

[0094] For example, if the probe tilts towards the patient's feet (z direction) when the gantry rotates, the "vertical movement direction" (z direction) of the catheterization bed is the "reference movement direction" (moving along the z direction allows the patient carried by the catheterization bed to be closer to the current posture of the probe); if the probe moves to the left of the patient (x direction), the "lateral movement direction" (x direction) of the catheterization bed is the reference direction.

[0095] It should be noted that the essence of closely approaching the detector's pose is to reduce the relative positional deviation between the object being detected and the detector by moving the tube bed, ensuring that the region of interest of the object is always within the detector's effective receiving range. Furthermore, the isocenter is the imaging reference point, while the "line connecting the X-ray tube focal point and the detector center" is the X-ray propagation reference line (X-rays originate from the focal point, pass through the isocenter, and are received by the detector center, at which point the geometric distortion of the image is minimized).

[0096] For example, please refer to Figure 7 , Figure 7 This is a schematic diagram of the fourth large-field-of-view CBCT acquisition method provided in the embodiments of this application. The acquisition process is as follows: When the rotation center of the control frame remains stationary, and the lifting and lateral translation are entirely performed by the guide bed, the effect of expanding the field of view (FOV) can also be achieved. For example... Figure 7 The control gantry rotation center remains stationary relative to the ground, while the guide bed surface can move vertically (z) and laterally (x). At the start of the scan, moving the guide bed surface closer to the detector expands the imaging range. As the C-arm rotates, the guide bed also rotates vertically and laterally, maintaining its isocenter along the line connecting the ray focus to the center of the detector plane. After rotating a sufficient angle, an image with a larger volume (field of view) can be generated.

[0097] In one embodiment, see Figure 8 , Figure 8This is a schematic diagram of the fifth type of large-field-of-view CBCT image acquisition method provided in this application embodiment. In this embodiment, the detector of the imaging device is a flat panel detector, which is controlled to translate a certain distance in the x-direction, positive / negative direction. To make the incident direction of the X-ray as perpendicular as possible to the flat panel detector, both the X-ray tube and the flat panel detector need to be rotated by a corresponding angle so that the X-ray cone beam can reasonably cover the receiving area. The rotation axis of the C-arm is still the C-axis, rotating along it. At this time, the SID line is one chord of the motion trajectory circle. After the imaging plane is translated, it is rotated by a specific angle (greater than 180°, generally more than 200°) along the isocenter. The maximum volume that can be reconstructed along the axial section is the area shown by circle b. Circle a is the overlapping area, which theoretically has better image effect. Therefore, it is recommended to place the ROI (Region of Interest) in this area.

[0098] The image acquisition methods described above are divided into two types in their embodiments. One type is a scheme where the center of the region of interest does not coincide with the rotation center of the gantry. Figures 4 to 7 One of the image acquisition methods provided is a scheme where the center of the region of interest coincides with the rotation center of the gantry. Figure 8 The image acquisition method provided in the document.

[0099] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating the expanded range of the CBCT field of view where the center of the region of interest and the center of rotation do not coincide, as provided in the image acquisition method of this application embodiment. (See diagram for reference.) Figure 9 As can be seen, the field of view (FOV) of a standard CBCT is as shown in circle 1. To image a larger spatial area using a flat panel detector of the same size, the region of interest (i.e., the human body) can be moved closer to the detector. To keep the FOV within the X-ray beam, the maximum imageable area is a circle tangent to the flat panel detector's imaging plane, centered at an isocenter point (circle 2). Based on the example dimensions in the figure, the maximum possible FOV diameter is 2Rmax = 1000 mm. Clearly, the flat panel detector cannot move in close contact with the patient's (the subject of the examination) body during gantry rotation; a sufficient safety distance must be maintained. Therefore, considering practical design and risk, the FOV diameter of a large-field-of-view CBCT should be less than 1000 mm.

[0100] Please see Figure 10 , Figure 10 This diagram illustrates the expanded area of ​​the CBCT field of view where the center of the region of interest and the center of rotation coincide in the image acquisition method provided in this embodiment. If the flat panel detector is translated a certain distance, the detector also needs to be rotated by a certain angle to keep the incident direction of the X-ray beam as perpendicular as possible to the flat panel detector. After rotating the X-ray source by a certain angle, the resulting X-ray range is as follows... Figure 10As shown by the red solid line, the gantry continues to rotate around the isocenter. The line connecting the center of the X-ray source and the center of the detector rotates around the isocenter O to form an inscribed circle 1. The space within the red circle 2 is the range that can be illuminated at every angle of the gantry rotation, which is the overlapping field of view. The space within the red circle 4 is the maximum range that the X-ray can illuminate at each angle when the gantry rotates, which is the field of view (FOV). The range between the overlapping field of view and the maximum FOV is called the truncated field of view.

[0101] Depend on Figure 10 It can be seen that the farther the flat panel detector is from the center, the larger the area that the radiation can cover. That is, the greater the distance of the line connecting the radiation source and the center of the detector (SID line) from the y-axis, the larger the size of circle 1, the smaller the overlapping field of view (circle 2) of each frame, and the larger the maximum field of view (circle 4).

[0102] The maximum field of view in this design is: when the size of circle 2 is 0, the diameter of circle 1 is:

[0103] In this case, there is no repeated viewpoint in each frame. The size of circle 4 is then:

[0104]

[0105] Therefore, the maximum FOV diameter of this design is 2R4max = 468mm.

[0106] In one embodiment, an image acquisition device is also provided. See also... Figure 11 , Figure 11 This is a schematic diagram of the structure of an image acquisition device 200 provided in an embodiment of this application. The image acquisition device 200 is applied to an imaging device, which includes a frame, a catheter bed, an X-ray tube, and a detector. The catheter bed is used to carry the object to be detected. The frame is configured to move spatially around a rotation center. The image acquisition device 200 includes a positioning module 201, an adjustment module 202, and a processing module 203, as follows: The positioning module 201 is used to locate the region of interest where the detected object is located to the isocenter of the imaging device; The adjustment module 202 is used to adjust the first spatial pose of the rack and / or adjust the second spatial pose of the catheter bed, so as to acquire images of the detection object through the X-ray tube and the detector during the pose adjustment process; The processing module 203 is used to perform image reconstruction processing based on the detected object image to generate a three-dimensional image of the target object.

[0107] In some embodiments, the adjustment module 202 is specifically used for: Obtain at least one rack offset direction and at least one rack offset distance in the rack offset direction for the rack, and control the rack to move the rack by the rack offset distance along each of the rack offset directions; and / or, Obtain at least one catheter bed offset direction and at least one catheter bed offset distance in the catheter bed offset direction, and control the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions.

[0108] In some embodiments, the adjustment module 202 is specifically used for: Obtain a first rack offset direction and a first rack offset distance in the first rack offset direction for the rack, and a second rack offset direction and a second rack offset distance in the second rack offset direction, wherein the first rack offset direction is opposite to the second rack offset direction; Control the rack to move the first rack offset distance along the first rack offset direction, and start the first image acquisition process for the detection object; The frame is controlled to move along the offset direction of the second frame by the offset distance of the second frame, and the second image acquisition process for the detection object is started.

[0109] In some embodiments, the adjustment module 202 is specifically used for: Obtain a first catheter bed offset direction and a first catheter bed offset distance in the first catheter bed offset direction, and a second catheter bed offset direction and a second catheter bed offset distance in the second catheter bed offset direction, wherein the first catheter bed offset direction is opposite to the second catheter bed offset direction; Control the catheter bed to move along the first catheter bed offset direction by the first catheter bed offset distance, and start the third image acquisition process for the detection object; The catheter bed is controlled to move along the second catheter bed offset direction by the second catheter bed offset distance, and the fourth image acquisition process for the detection object is initiated.

[0110] In some embodiments, the adjustment module 202 is specifically used for: Obtain the third rack offset direction for the rack and the third rack offset distance and the fourth rack offset distance in the third rack offset direction, and obtain the fourth rack offset direction for the rack and the fifth rack offset distance and the sixth rack offset distance in the fourth rack offset direction, wherein the third rack offset direction is opposite to the fourth rack offset direction; Using the center point as the rack rotation center of the rack, the rack adjustment process and the fifth image acquisition process are started. The fifth image acquisition process ends after the rack has completed the rack adjustment process. In the rack adjustment process, the rack is controlled to rotate from a preset initial tilt position and move the third rack offset distance along the offset direction of the third rack. When the rack is in the first preset tilt position and has completed the rack movement of the third rack offset distance, the movement stops. In addition, the frame is controlled to rotate from the first preset inclined position and move the fifth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the second preset inclined position and has completed the frame movement of the fifth frame offset distance; In addition, the frame is controlled to rotate from the second preset inclined position and move the sixth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the third preset inclined position and has completed the frame movement of the sixth frame offset distance; In addition, the frame is controlled to rotate from the third preset tilt position and move the fourth frame offset distance along the offset direction of the third frame. When the frame is in the fourth preset tilt position and has completed the frame movement of the fourth frame offset distance, the movement stops and the image acquisition ends.

[0111] In some embodiments, the adjustment module 202 is specifically used for: Obtain the first lateral movement direction and the first lateral movement distance of the frame for the frame, and the first vertical movement direction and the first vertical movement distance of the guide bed for the guide bed; Control the frame to move the first frame laterally by the first frame's lateral movement distance, and initiate the sixth image acquisition process for the detected object; In the sixth image acquisition process, the catheter bed is controlled to move vertically along the first catheter bed vertical movement direction by a distance, and the frame is controlled to move horizontally along the second frame horizontal movement direction by a distance; wherein, the horizontal movement direction of the second frame is opposite to that of the first frame, and the horizontal movement distance of the second frame is the same as that of the first frame.

[0112] In some embodiments, the adjustment module 202 is specifically used for: The seventh image acquisition process for the object being detected is initiated by rotating the frame. The detector pose of the detector is monitored when the frame rotates, and a reference movement direction for the catheter bed to approach the detector pose is determined from the lateral movement direction and the vertical movement direction of the catheter bed, and the catheter bed is controlled to move along the reference movement direction.

[0113] It should be noted that the image acquisition device provided in this application embodiment and the image acquisition method in the above embodiment belong to the same concept. The image acquisition device can implement any of the methods provided in the image acquisition method embodiment. For details of its implementation process, please refer to the image acquisition method embodiment, which will not be repeated here.

[0114] Furthermore, to better implement the image acquisition method in the embodiments of this application, this application also provides an electronic device, which is an imaging device, based on the image acquisition method. Please refer to [link to relevant documentation]. Figure 12 , Figure 12 This is a schematic diagram of a first structure of an electronic device provided in an embodiment of this application. The electronic device 300 includes a processor 301 and a memory 302. The processor 301 and the memory 302 are electrically connected.

[0115] The processor 301 is the control center of the electronic device 300. It connects various parts of the electronic device via various interfaces and lines, and executes various functions and processes data by running or calling computer programs stored in the memory 302 and accessing data stored in the memory 302, thereby providing overall monitoring of the electronic device. The processor 301 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0116] The memory 302 can be used to store computer programs and data. The computer programs stored in the memory 302 contain instructions that can be executed in the processor. The computer programs can be composed of various functional modules. The processor 401 executes various functional applications and data processing by calling the computer programs stored in the memory 302. The memory 302 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 300 (such as audio data, video data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0117] In this embodiment, the processor 301 in the electronic device 300 loads the instructions corresponding to the processes of one or more computer programs into the memory 302 according to the following steps, and the processor 401 runs the computer programs stored in the memory 302 to realize various functions: The region of interest where the object to be detected is located isocenter of the imaging device; Adjust the first spatial pose of the gantry and / or adjust the second spatial pose of the catheter bed to acquire images of the object to be detected through the X-ray tube and the detector during the pose adjustment process; Image reconstruction processing is performed on the detected object image to generate a three-dimensional image of the target object.

[0118] In some implementations, please refer to Figure 13 , Figure 13 This is a second structural schematic diagram of the electronic device provided in an embodiment of this application. The electronic device 300 further includes: a radio frequency circuit 303, a display screen 304, a control circuit 305, an input unit 306, an audio circuit 307, a sensor 308, and a power supply 309. The processor 301 is electrically connected to the radio frequency circuit 303, the display screen 304, the control circuit 305, the input unit 306, the audio circuit 307, the sensor 308, and the power supply 309.

[0119] The radio frequency circuit 303 is used to transmit and receive radio frequency signals to communicate with network devices or other electronic devices via wireless communication.

[0120] The display screen 304 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of electronic devices, which can be composed of images, text, icons, videos, and any combination thereof.

[0121] The control circuit 305 is electrically connected to the display screen 304 and is used to control the display screen 304 to display information.

[0122] The input unit 306 can be used to receive input numeric or character information or user characteristic information (such as fingerprints), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control. The input unit 306 may include a fingerprint recognition module.

[0123] The audio circuit 307 provides an audio interface between the user and the electronic device via a speaker and a microphone. The audio circuit 307 includes a microphone, which is electrically connected to the processor 301. The microphone is used to receive voice information input by the user.

[0124] Sensor 308 is used to collect information about the external environment. Sensor 308 may include one or more sensors such as an ambient light sensor, an accelerometer, and a gyroscope.

[0125] The power supply 309 is used to supply power to the various components of the electronic device 300. In some embodiments, the power supply 309 can be logically connected to the processor 301 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system.

[0126] Although not shown in the figure, electronic device 300 may also include a camera, Bluetooth module, etc., which will not be described in detail here.

[0127] In this embodiment, the processor 301 in the electronic device 300 loads the instructions corresponding to the processes of one or more computer programs into the memory 302 according to the following steps, and the processor 301 runs the computer programs stored in the memory 302 to realize various functions: The region of interest where the object to be detected is located isocenter of the imaging device; Adjust the first spatial pose of the gantry and / or adjust the second spatial pose of the catheter bed to acquire images of the object to be detected through the X-ray tube and the detector during the pose adjustment process; Image reconstruction processing is performed on the detected object image to generate a three-dimensional image of the target object.

[0128] In some embodiments, when processor 301 performs the adjustment of the first spatial pose of the rack and / or the adjustment of the second spatial pose of the catheter bed, it may perform the following: Obtain at least one rack offset direction and at least one rack offset distance in the rack offset direction for the rack, and control the rack to move the rack by the rack offset distance along each of the rack offset directions; and / or, Obtain at least one catheter bed offset direction and at least one catheter bed offset distance in the catheter bed offset direction, and control the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions.

[0129] In some embodiments, when processor 301 executes the process of obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack by the rack offset distance along each of the rack offset directions, it may perform the following: Obtain a first rack offset direction and a first rack offset distance in the first rack offset direction for the rack, and a second rack offset direction and a second rack offset distance in the second rack offset direction, wherein the first rack offset direction is opposite to the second rack offset direction; Control the rack to move the first rack offset distance along the first rack offset direction, and start the first image acquisition process for the detection object; The frame is controlled to move along the offset direction of the second frame by the offset distance of the second frame, and the second image acquisition process for the detection object is started.

[0130] In some embodiments, when processor 301 executes the process of obtaining at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and controlling the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions, it may perform the following: Obtain a first catheter bed offset direction and a first catheter bed offset distance in the first catheter bed offset direction, and a second catheter bed offset direction and a second catheter bed offset distance in the second catheter bed offset direction, wherein the first catheter bed offset direction is opposite to the second catheter bed offset direction; Control the catheter bed to move along the first catheter bed offset direction by the first catheter bed offset distance, and start the third image acquisition process for the detection object; The catheter bed is controlled to move along the second catheter bed offset direction by the second catheter bed offset distance, and the fourth image acquisition process for the detection object is initiated.

[0131] In some embodiments, when processor 301 executes the process of obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack by the rack offset distance along each of the rack offset directions, it may perform the following: Obtain the third rack offset direction for the rack and the third rack offset distance and the fourth rack offset distance in the third rack offset direction, and obtain the fourth rack offset direction for the rack and the fifth rack offset distance and the sixth rack offset distance in the fourth rack offset direction, wherein the third rack offset direction is opposite to the fourth rack offset direction; Using the center point as the rack rotation center of the rack, the rack adjustment process and the fifth image acquisition process are started. The fifth image acquisition process ends after the rack has completed the rack adjustment process. In the rack adjustment process, the rack is controlled to rotate from a preset initial tilt position and move the third rack offset distance along the offset direction of the third rack. When the rack is in the first preset tilt position and has completed the rack movement of the third rack offset distance, the movement stops. In addition, the frame is controlled to rotate from the first preset inclined position and move the fifth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the second preset inclined position and has completed the frame movement of the fifth frame offset distance; In addition, the frame is controlled to rotate from the second preset inclined position and move the sixth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the third preset inclined position and has completed the frame movement of the sixth frame offset distance; In addition, the frame is controlled to rotate from the third preset tilt position and move the fourth frame offset distance along the offset direction of the third frame. When the frame is in the fourth preset tilt position and has completed the frame movement of the fourth frame offset distance, the movement stops and the image acquisition ends.

[0132] In some embodiments, when processor 301 executes the steps of obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, controlling the rack to move the rack offset distance along each of the rack offset directions, obtaining at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and controlling the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions, it may perform the following: Obtain the first lateral movement direction and the first lateral movement distance of the frame for the frame, and the first vertical movement direction and the first vertical movement distance of the guide bed for the guide bed; Control the frame to move the first frame laterally by the first frame's lateral movement distance, and initiate the sixth image acquisition process for the detected object; In the sixth image acquisition process, the catheter bed is controlled to move vertically along the first catheter bed vertical movement direction by a distance, and the frame is controlled to move horizontally along the second frame horizontal movement direction by a distance; wherein, the horizontal movement direction of the second frame is opposite to that of the first frame, and the horizontal movement distance of the second frame is the same as that of the first frame.

[0133] In some embodiments, when processor 301 executes the process of obtaining at least one catheter bed offset direction for the catheter bed and at least one catheter bed offset distance in the catheter bed offset direction, and controlling the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions, it may perform the following: The seventh image acquisition process for the object being detected is initiated by rotating the frame. The detector pose of the detector is monitored when the frame rotates, and a reference movement direction for the catheter bed to approach the detector pose is determined from the lateral movement direction and the vertical movement direction of the catheter bed, and the catheter bed is controlled to move along the reference movement direction.

[0134] This application also provides a computer program product that stores at least one instruction, which is loaded by the processor and executed by the image acquisition method described in any of the above embodiments.

[0135] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run on a computer, the computer executes the image acquisition method described in any of the above embodiments.

[0136] It should be noted that those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, which may include, but is not limited to, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0137] Furthermore, the terms "first," "second," and "third," etc., used in this application are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but some embodiments may also include steps or modules not listed, or some embodiments may include other steps or modules inherent to these processes, methods, products, or devices.

[0138] The image acquisition method, apparatus, storage medium, and electronic device provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application; at the same time, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An image acquisition method, characterized in that, An imaging device, comprising a gantry, a guide bed, an X-ray tube, and a detector, wherein the guide bed carries the object to be detected, and the gantry is configured to move spatially around a rotation center, the method comprising: The region of interest where the object to be detected is located isocenter of the imaging device; Adjust the first spatial pose of the gantry and / or adjust the second spatial pose of the catheter bed to acquire images of the object to be detected through the X-ray tube and the detector during the pose adjustment process; Image reconstruction processing is performed on the detected object image to generate a three-dimensional image of the target object.

2. The method according to claim 1, characterized in that, The adjustment of the first spatial pose of the frame and / or the adjustment of the second spatial pose of the guide bed: Obtain at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and control the rack to move the rack offset distance along each rack offset direction; And / or, Obtain at least one catheter bed offset direction and at least one catheter bed offset distance in the catheter bed offset direction, and control the catheter bed to move the catheter bed offset distance along each of the catheter bed offset directions.

3. The method according to claim 2, characterized in that, The step of obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack by the rack offset distance along each of the rack offset directions, includes: Obtain a first rack offset direction and a first rack offset distance in the first rack offset direction for the rack, and a second rack offset direction and a second rack offset distance in the second rack offset direction, wherein the first rack offset direction is opposite to the second rack offset direction; Control the rack to move the first rack offset distance along the first rack offset direction, and start the first image acquisition process for the detection object; The frame is controlled to move along the offset direction of the second frame by the offset distance of the second frame, and the second image acquisition process for the detection object is started.

4. The method according to claim 2, characterized in that, The step of obtaining at least one catheter bed offset direction and at least one catheter bed offset distance in the offset direction for the catheter bed, and controlling the catheter bed to move by the offset distance along each of the offset directions, includes: Obtain a first catheter bed offset direction and a first catheter bed offset distance in the first catheter bed offset direction, and a second catheter bed offset direction and a second catheter bed offset distance in the second catheter bed offset direction, wherein the first catheter bed offset direction is opposite to the second catheter bed offset direction; Control the catheter bed to move along the first catheter bed offset direction by the first catheter bed offset distance, and start the third image acquisition process for the detection object; The catheter bed is controlled to move along the second catheter bed offset direction by the second catheter bed offset distance, and the fourth image acquisition process for the detection object is initiated.

5. The method according to claim 2, characterized in that, The step of obtaining at least one rack offset direction for the rack and at least one rack offset distance in the rack offset direction, and controlling the rack to move the rack by the rack offset distance along each of the rack offset directions, includes: Obtain the third rack offset direction for the rack and the third rack offset distance and the fourth rack offset distance in the third rack offset direction, and obtain the fourth rack offset direction for the rack and the fifth rack offset distance and the sixth rack offset distance in the fourth rack offset direction, wherein the third rack offset direction is opposite to the fourth rack offset direction; Using the center point as the rack rotation center of the rack, the rack adjustment process and the fifth image acquisition process are started. The fifth image acquisition process ends after the rack has completed the rack adjustment process. In the rack adjustment process, the rack is controlled to rotate from a preset initial tilt position and move the third rack offset distance along the offset direction of the third rack. When the rack is in the first preset tilt position and has completed the rack movement of the third rack offset distance, the movement stops. In addition, the frame is controlled to rotate from the first preset inclined position and move the fifth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the second preset inclined position and has completed the frame movement of the fifth frame offset distance; In addition, the frame is controlled to rotate from the second preset inclined position and move the sixth frame offset distance along the offset direction of the fourth frame, and the movement stops when the frame is in the third preset inclined position and has completed the frame movement of the sixth frame offset distance; In addition, the frame is controlled to rotate from the third preset tilt position and move the fourth frame offset distance along the offset direction of the third frame. When the frame is in the fourth preset tilt position and has completed the frame movement of the fourth frame offset distance, the movement stops and the image acquisition ends.

6. The method according to claim 2, characterized in that, The step of obtaining at least one rack offset direction and at least one rack offset distance in the rack offset direction for the rack, and controlling the rack to move the rack offset distance along each rack offset direction, and obtaining at least one catheter bed offset direction and at least one catheter bed offset distance in the catheter bed offset direction for the catheter bed, and controlling the catheter bed to move the catheter bed offset distance along each catheter bed offset direction, includes: Obtain the first lateral movement direction and the first lateral movement distance of the frame for the frame, and the first vertical movement direction and the first vertical movement distance of the guide bed for the guide bed; Control the frame to move the first frame laterally by the first frame's lateral movement distance, and initiate the sixth image acquisition process for the detected object; In the sixth image acquisition process, the catheter bed is controlled to move vertically along the first catheter bed vertical movement direction by a distance, and the frame is controlled to move horizontally along the second frame horizontal movement direction by a distance; wherein, the horizontal movement direction of the second frame is opposite to that of the first frame, and the horizontal movement distance of the second frame is the same as that of the first frame.

7. The method according to claim 2, characterized in that, The step of obtaining at least one catheter bed offset direction and at least one catheter bed offset distance in the offset direction for the catheter bed, and controlling the catheter bed to move by the offset distance along each of the offset directions, includes: The seventh image acquisition process for the object being detected is initiated by rotating the frame. The detector pose of the detector is monitored when the frame rotates, and a reference movement direction for the catheter bed to approach the detector pose is determined from the lateral movement direction and the vertical movement direction of the catheter bed, and the catheter bed is controlled to move along the reference movement direction.

8. An image acquisition device, characterized in that, An imaging device is used in which the imaging device includes a gantry, a guide bed, an X-ray tube, and a detector. The guide bed is used to carry the object to be detected. The gantry is configured to move spatially around a rotation center of the gantry. The device includes: The positioning module is used to locate the region of interest where the detected object is located to the isocenter of the imaging device; An adjustment module is used to adjust the first spatial pose of the gantry and / or adjust the second spatial pose of the catheter bed, so as to acquire images of the object to be detected through the X-ray tube and the detector during the pose adjustment process; The processing module is used to perform image reconstruction processing based on the detected object image to generate a three-dimensional image of the target object.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run on a computer, it causes the computer to perform the image acquisition method as described in any one of claims 1 to 7.

10. An electronic device comprising a processor and a memory, the memory storing a computer program, characterized in that, The processor executes the image acquisition method as described in any one of claims 1 to 7 by invoking the computer program.

Images