Source image distance adjusting method and device and storage medium

Abstract

The invention relates to a source image distance adjusting method and device and a storage medium, the source image distance adjusting method is applied to a radioactive ray imaging system, the radioactive ray imaging system comprises an image detector, a ray source and a rack, and the method comprises the steps that distance information between the image detector and a target object is acquired; determining a real-time deviation value based on the distance information; and generating a source image distance dynamic adjustment result based on the real-time deviation value, and controlling the rack to drive the image detector and / or the radiation source to move according to the source image distance dynamic adjustment result. According to the invention, the problem of poor radioactive imaging quality is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, and in particular, to a source image distance adjustment method and device and a storage medium. BACKGROUND

[0002] In radiographic imaging, the source image distance (SID) refers to the distance between a radiation source and an imaging surface of an image detector. The source image distance is an important parameter of radiographic imaging, which directly affects the correctness of the imaging scale. Incorrect imaging scale affects the assessment of lesion size and further affects subsequent clinical diagnosis. In related technologies, the angle and distance of the radiation source are usually manually controlled and adjusted according to the positions of different organ parts to obtain better shooting effects. However, the above adjustment of the angle and distance of the radiation source depends on the experience of medical technicians, and usually requires repeated manual adjustment of the shooting position angle and the source image distance, which is tedious and inefficient, resulting in poor quality of radiographic imaging.

[0003] At present, there is no effective solution to the problem of poor quality of radiographic imaging in related technologies. SUMMARY

[0004] Embodiments of the present application provide a source image distance adjustment method, device and storage medium to at least solve the problem of tedious operation in related technologies during radiographic imaging.

[0005] In a first aspect, the embodiments of the present application provide a source image distance adjustment method applied to a radiographic imaging system, wherein the radiographic imaging system includes an image detector, a radiation source and a gantry; and the method includes:

[0006] obtaining distance information between the image detector and a target object;

[0007] determining a real-time deviation value based on the distance information;

[0008] generating a source image distance dynamic adjustment result based on the real-time deviation value, and controlling the gantry to move the image detector and / or the radiation source according to the source image distance dynamic adjustment result.

[0009] In some embodiments, the method further includes:

[0010] obtaining an angular velocity of the gantry;

[0011] generating the source image distance dynamic adjustment result according to the real-time deviation value and the angular velocity.

[0012] In some embodiments, the generating the source image distance dynamic adjustment result according to the real-time deviation value and the angular velocity includes:

[0013] determine a trend of the angular velocity of the gantry according to the detected angular velocity, and obtain an angular velocity parameter value based on the trend of the angular velocity;

[0014] obtain a preset adjustment factor, fuse the real-time deviation value and the angular velocity parameter value based on the adjustment factor, and generate the source-image distance dynamic adjustment result.

[0015] In some embodiments, the controlling the gantry to move the image detector according to the source-image distance dynamic adjustment result comprises:

[0016] obtaining current source-image distance information;

[0017] In a case where the current source-image distance information is less than or equal to a preset first reference parameter, determining that the image detector is an object to be adjusted; and in a case where the current source-image distance information is greater than the first reference parameter, determining that the ray source is the object to be adjusted.

[0018] controlling the gantry to move the object to be adjusted according to the source-image distance dynamic adjustment result.

[0019] In some embodiments, the method further comprises:

[0020] In a case where the current source-image distance information is greater than the first reference parameter, comparing the current source-image distance information with a preset second reference parameter; and the second reference parameter is greater than the first reference parameter.

[0021] In a case where the current source-image distance information is greater than or equal to the second reference parameter, determining that the ray source is the object to be adjusted.

[0022] In some embodiments, the method further comprises:

[0023] In a case where the real-time deviation value indicates that the distance information presents an increasing trend, judging whether the current source-image distance information is greater than preset initial source-image distance information;

[0024] In a case where the current source-image distance information is greater than the initial source-image distance information, determining that the image detector or the ray source is the object to be adjusted based on the current source-image distance information.

[0025] In some embodiments, the obtaining the distance information between the image detector and the target object comprises:

[0026] obtaining sensing data collected by a sensing device, and obtaining the distance information according to the sensing data; or

[0027] acquire a to-be-tested image photographed by the target object and the image detector; perform image recognition based on the to-be-tested image to obtain the distance information.

[0028] In some embodiments, determining the real-time deviation value based on the distance information comprises:

[0029] acquire a preset initial distance parameter;

[0030] determine the real-time deviation value according to a comparison result between the distance information and the initial distance parameter.

[0031] In a second aspect, an embodiment of the present application provides a source-image distance adjustment device, applied to a radiographic imaging system, the radiographic imaging system comprising an image detector, a ray source and a gantry; the device comprising: an acquisition module, a deviation module and an adjustment module;

[0032] The acquisition module is configured to acquire distance information between the image detector and a target object.

[0033] The deviation module is configured to determine a real-time deviation value based on the distance information.

[0034] The adjustment module is configured to generate a source-image distance dynamic adjustment result based on the real-time deviation value, and control the gantry to move the image detector and / or the ray source according to the source-image distance dynamic adjustment result.

[0035] In a third aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, the program being executed by a processor to implement the source-image distance adjustment method of the first aspect.

[0036] Compared with the related art, the source-image distance adjustment method, device and storage medium provided by the embodiments of the present application are applied to a radiographic imaging system, the radiographic imaging system comprising an image detector, a ray source and a gantry, distance information between the image detector and a target object is acquired; a real-time deviation value is determined based on the distance information; a source-image distance dynamic adjustment result is generated based on the real-time deviation value, and the gantry is controlled to move the image detector and / or the ray source according to the source-image distance dynamic adjustment result, a method of dynamically adjusting the source-image distance is implemented, so that the image detector can always maintain a safe distance from the target object in a clinical process, thereby effectively reducing the radiation dose to the target object; at the same time, the method avoids certain phase lag of a conventional control algorithm, and is prone to overshoot and oscillation, which is beneficial to reducing the gantry following error and improving the following precision, thereby solving the problem of poor radiographic imaging quality.

[0037] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0039] Figure 1 This is a hardware structure block diagram of a terminal for a source-image distance adjustment method according to an embodiment of this application;

[0040] Figure 2 This is an application environment diagram of a source-image distance adjustment method according to an embodiment of this application;

[0041] Figure 3 This is a flowchart of a source-image distance adjustment method according to an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a radiation imaging system according to an embodiment of this application;

[0043] Figure 5 This is a flowchart of another source-image distance adjustment method according to an embodiment of this application;

[0044] Figure 6 This is a flowchart of a source-image distance adjustment method according to a preferred embodiment of this application;

[0045] Figure 7 This is a schematic diagram of a source-image distance adjustment method according to a preferred embodiment of this application;

[0046] Figure 8 This is a control schematic diagram of a source-image distance adjustment method according to an embodiment of this application;

[0047] Figure 9 This is a structural block diagram of a source-image distance adjustment device according to an embodiment of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0049] In this application, the reference to "embodiment" means that a specific 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 in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0050] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0051] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. Taking running on a terminal as an example,Figure 1 This is a hardware structure block diagram of a terminal for a source-image distance adjustment method according to an embodiment of this application. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0052] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to a source-image distance adjustment method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0053] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0054] To facilitate understanding of the source-image distance adjustment method provided in the embodiments of this application, its application scenario will be described first. Please refer to... Figure 2This source-image distance adjustment method is applied to a radioactive imaging system capable of emitting radiation at a certain dose to a target and creating an image. The system includes at least: a radiation source, an image detector capable of receiving radiation and generating real-time image data of the target object positioned between the radiation source and the detector, and a gantry capable of moving the image detector and the radiation source. The radiation source includes a tube for emitting radiation, such as X-rays, to the target object.

[0055] Taking a C-arm X-ray imaging system as an example, in practical use, when the C-arm is angled or translated, it is desirable for the imaging system to automatically adjust the source-image distance according to the position of the organ to be examined on the target object. This ensures both a sufficient field of view for the image detector and prevents collisions between the imaging system and the target object. At the same time, when the gantry of the imaging system is translated, it is necessary to maintain a consistent distance between the image detector and the target object to reduce the radiation dose.

[0056] Based on this, this embodiment provides a source-image distance adjustment method. Figure 3 This is a flowchart of a source-image distance adjustment method according to an embodiment of this application, such as... Figure 3 As shown, the process includes the following steps:

[0057] Step S310: Obtain the distance information between the image detector and the target object.

[0058] The target object mentioned above refers to the biological and / or non-biological object to be scanned by the radiographic imaging system; for example, the target object could be the human body or organ part to be examined during a radiographic examination, or a human model during the testing of the radiographic imaging system. Please refer to [link to relevant documentation]. Figure 4 In the radioactive imaging system, the image detectors sequentially detect and image different parts of the target human body by moving the gantry, thus acquiring image data of the target object.

[0059] In this embodiment, to dynamically adjust the source-image distance to maintain a safe distance between the image detector and the target object, the distance between the target object and the image detector can be calculated in real time based on the relative position of the rack and recorded. Alternatively, the distance information can be obtained by acquiring image data containing both the image detector and the target object, using image recognition algorithms to identify and calculate the distance between them.

[0060] Step S320: Based on the distance information, determine the real-time deviation value.

[0061] The real-time deviation value is used to indicate the deviation value when the distance information shows an increasing or decreasing trend. In an optional embodiment, the method for determining the real-time deviation value can be: obtaining a preset initial distance parameter; determining the real-time deviation value based on the comparison result between the distance information and the initial distance parameter. Here, the initial distance parameter refers to the initial distance value between the image detector and the target object at the start of adjustment; the value of the initial distance parameter can be set according to actual conditions, for example, it can be set to 0.5m. Then, the difference or ratio between the distance information and the initial distance parameter is calculated, and the calculation result is used as the real-time deviation value to achieve feedback adjustment in subsequent steps. Alternatively, where the embodiment allows, the method for determining the real-time deviation value can also be: comparing the current distance information with the historical distance information between the image detector and the target object at the previous moment, wherein the difference between the current distance information and the historical distance information is the real-time deviation value. Understandably, compared to this method of determining the deviation value, by comparing the distance information with the initial distance parameter, the distance between the image detector and the target object can always be kept stable at the initial fixed value. This can effectively avoid the problem of the distance between the image detector and the target object gradually shifting, thereby improving the accuracy of source-image distance adjustment.

[0062] Step S330: Based on the real-time deviation value, generate a source-image distance dynamic adjustment result, and control the gantry to move the image detector and / or radiation source according to the source-image distance dynamic adjustment result.

[0063] In this step, the source-image distance dynamic adjustment result can be calculated based on the aforementioned real-time deviation value to realize a proportional-integral-derivative (PID) control adjustment method based on the real-time deviation value. This source-image distance dynamic adjustment result can include the change in moving speed and the direction of movement. For example, a preset adjustment coefficient can be obtained first. This adjustment coefficient can be pre-set by the operator and controls the proportional relationship between the input quantity (real-time deviation value) and the output quantity (dynamic adjustment result). For instance, considering that a larger real-time deviation value results in a faster adjustment speed, and that the real-time deviation value indicates a decrease in current distance information compared to the initial value or the previous moment's value, the image detector needs to move in a direction relatively away from the target object. Therefore, the required movement speed (or the amount of decrease or increase in the current movement speed) and direction of movement of the image detector and / or the X-ray source can be determined based on the product of the adjustment coefficient and the real-time deviation value. Specifically, when the gantry moves the image detector, the movement direction includes an upward movement direction (moving the image detector relatively away from the target object) and a downward movement direction (moving the image detector relatively closer to the target object). And / or, when the gantry moves the X-ray source, the direction of movement includes a descending movement method in which the X-ray source moves relatively away from the target object, and an ascending movement method in which the X-ray source moves relatively closer to the target object.

[0064] Next, the source-image distance can be dynamically adjusted based on the aforementioned source-image distance dynamic adjustment results. Specifically, the frame can be automatically controlled to move the image detector and / or radiation source in the determined direction of movement, using the calculated change in movement speed and direction, with an adaptively reduced or increased movement speed. Alternatively, the operator can manually control the frame movement using an operating joystick mounted on it. For example, through the above steps, based on the real-time deviation value, it can be determined that the image detector needs to move away from the target object, with the change in movement speed being a decrease of movement speed x 1 cm / s. In this case, the main control equipment in the radiation imaging system can automatically control the frame to move the image detector according to this plan, based on this calculation result. It is understood that during the source-image distance adjustment process, the distance information between the image detector and the target object can be continuously monitored. Based on this distance information, a real-time deviation value is determined, and the source-image distance is adjusted using PID control feedback.

[0065] It should be understood that the gantry can move the image detector or the X-ray source respectively in the manner described above, based on the dynamic adjustment result of the source-image distance. Alternatively, where permitted by the embodiments, the image detector and the X-ray source can also be moved simultaneously in directions toward each other or toward each other, based directly on the dynamic adjustment result of the source-image distance; this will not be elaborated further here.

[0066] Through steps S310 to S330, the real-time deviation value is determined by the detected distance between the image detector and the target object in the radioactive imaging system for real-time feedback adjustment. This realizes a method for dynamically adjusting the source-image distance, ensuring that the image detector maintains a safe distance from the target object throughout the clinical process, thereby effectively reducing the radiation dose to the target object. At the same time, it avoids the phase lag inherent in conventional PID control algorithms, which are prone to overshoot and oscillation. This helps reduce gantry tracking errors and improve tracking accuracy, thus solving the problem of poor radioactive imaging quality.

[0067] In some embodiments, the above-described source-image distance adjustment method further includes the following steps: obtaining the angular velocity of the frame; and generating the source-image distance dynamic adjustment result based on the real-time deviation value and the angular velocity.

[0068] In clinical surgery, the gantry of the radiographic imaging system needs to be moved to a specific position to move the image detector and radiation source to designated locations for detection of the target object. Therefore, to further improve the accuracy of source-image distance adjustment, a feedforward control variable can be introduced by combining the gantry's head-to-foot motion speed (angular velocity) around its rotation center. Specifically, this angular velocity can be obtained by detecting the speed parameter of the gantry angle manually controlled by the operator using a joystick on the gantry, such as a speed sensor mounted on the gantry. It should be noted that this angular velocity can be represented as a positive or negative number; that is, when the gantry angular velocity is decreasing, it is set to a negative number; when the gantry angular velocity is increasing, it is set to a positive number. Next, the real-time deviation value is added to the angular velocity to obtain an adjustment input that comprehensively considers the feedback control variable (distance information) and the feedforward control variable (angular velocity), and then the current dynamic adjustment result of the source-image distance can be output based on this adjustment input.

[0069] Through the above embodiments, the frame movement speed is converted into a feedforward control quantity and combined with the above feedback control process to achieve dynamic adjustment of the source-image distance, thereby effectively improving the accuracy of the source-image distance adjustment.

[0070] In some embodiments, the process of generating the source-image distance adjustment result based on the real-time deviation value and the angular velocity further includes the following steps:

[0071] Based on the detected angular velocity, the angular velocity trend of the gantry is determined, and the angular velocity parameter value is obtained based on this trend. The aforementioned angular velocity trend refers to whether the current angular velocity of the gantry increases or decreases compared to the angular velocity of the gantry at the previous moment. That is, if the current angular velocity of the gantry increases compared to the previous moment, the corresponding angular velocity trend is that the angular velocity is getting faster; if the current angular velocity of the gantry decreases compared to the previous moment, the corresponding angular velocity trend is that the angular velocity is getting slower. Furthermore, considering that the faster the angular velocity of the C-arm gantry in a radiographic imaging system, the faster the required adjustment speed also needs to be, this embodiment can combine the aforementioned angular velocity trend to set corresponding positive and negative coefficients, and comprehensively determine the angular velocity parameter value based on the speed values. Specifically, when the detected angular velocity trend indicates that the angular velocity is getting faster and faster, a positive coefficient can be set accordingly and multiplied by the detected angular velocity value to obtain an angular velocity parameter value with a coefficient; when the angular velocity trend indicates that the angular velocity is getting slower and slower, a negative coefficient can be set accordingly to obtain a negative angular velocity parameter value.

[0072] Then, a preset adjustment factor is obtained; based on this adjustment factor, the real-time deviation value and the angular velocity parameter value are fused to generate the source-image distance dynamic adjustment result. This adjustment factor represents the proportional relationship between the real-time deviation value, the imaging velocity parameter value, and the source-image distance dynamic adjustment result. In this embodiment, since the aforementioned angular velocity parameter value with positive and negative coefficients can be used to indicate the angular velocity trend, the dynamic adjustment result can be directly calculated based on the sum of the angular velocity parameter value and the real-time deviation value. Specifically, the calculation process of the source-image distance dynamic adjustment result can be as follows: first, calculate the sum of the real-time deviation value and the angular velocity parameter value; then, multiply the adjustment factor by the sum of the fused result to calculate the source-image distance dynamic adjustment result. Alternatively, the adjustment factor can be multiplied by the real-time deviation value and the angular velocity parameter value separately. It should also be noted that in this process, the adjustment factor multiplied by the real-time deviation value and the angular velocity parameter value can be the same value or two preset adjustment factors of different values; then, the two product results are added and fused to obtain the source-image distance dynamic adjustment result.

[0073] It should be further explained that the fusion method for the real-time deviation value and the imaging angle parameter value can be as follows: Add the real-time deviation value to the imaging velocity parameter value with positive and negative coefficients to obtain the fusion result. Alternatively, a weighted fusion can be performed on the real-time deviation value and the imaging angle parameter value; that is, different weight values ​​are assigned to the real-time deviation value and the imaging angle parameter value according to the actual situation. For example, considering that the real-time deviation value determined based on distance information has a relatively large impact on source-image distance adjustment, a higher weight value can be assigned to the real-time deviation value, and the real-time deviation value and the imaging angle parameter value can be weighted and added based on the assigned weight values ​​to obtain the fusion result.

[0074] As an example, the above adjustment factors can be updated in practical applications. For instance, during the follow-up adjustment process, parameters such as distance information, angular velocity, and movement speed changes over a historical time period can be collected. Real-time analysis of the collected historical values ​​can be performed. If the analysis determines that the average movement speed within that time period is too slow, resulting in an excessively long time for the image detector to reach its position, the adjustment factor can be increased by a certain value, thereby helping to improve the accuracy of source-image distance adjustment.

[0075] Through the above embodiments, the angular velocity parameter value is determined based on the angular velocity trend, and the source-image distance dynamic adjustment result is calculated based on the adjustment factor, real-time deviation value, and angular velocity parameter value. This can improve the accuracy of the calculation, thereby improving the quality of radioactive imaging.

[0076] In some embodiments, a source-image distance adjustment method is provided. Figure 5 This is a flowchart of another source-image distance adjustment method implemented according to this application, such as... Figure 5 As shown, the process includes Figure 3 Steps S310 to S320 shown herein also include the following steps:

[0077] Step S510: Obtain the current source image distance information.

[0078] The process involves acquiring and recording the detected source-image distance at the current moment. This current source-image distance information can be obtained by installing a ranging sensor on the X-ray source of the radiographic imaging system, and then using the ranging sensor to detect the current source-image distance. Those skilled in the art can select an appropriate ranging sensor based on the actual application requirements. For example, ranging sensors can be, but are not limited to, time-of-flight (TOF) sensors, ultrasonic sensors, infrared sensors, and laser sensors. Furthermore, it is readily understood that a 3D camera can also perform the function of the ranging sensor taught herein; therefore, the ranging sensor can also be set as a 3D camera. In the implementation, the number, installation method, and installation location of the ranging sensors are not limited. For example, one ranging sensor or multiple ranging sensors can be used. Alternatively, the current source-image distance information can also be obtained by calculating the geometric relationship between the X-ray tube, the target object, and the image detector using algorithms, which will not be elaborated further here.

[0079] Step S520: If the current source-image distance information is less than or equal to a preset first reference parameter, the image detector is determined to be the object to be adjusted; if the current source-image distance information is greater than the first reference parameter, the X-ray source is determined to be the object to be adjusted.

[0080] In this embodiment, when the image detector rises to a certain position and can no longer rise, the movement of the radiation source can be continued to achieve a larger source-image distance. Therefore, to fully utilize the large source-image distance advantage of the radioactive imaging system, a first reference parameter can be preset to determine whether further movement of the image detector is needed. This first reference parameter is used to determine whether the current source-image distance is too large or too small. This first reference parameter can be set according to actual conditions. For example, the source-image distance at the highest position of the image detector, i.e., the furthest distance from the target object that it can move to, can be used as the first reference parameter; for instance, the first reference parameter can be set to 125 cm.

[0081] Next, the current source-image distance information obtained in the above steps is compared with the first reference parameter. If the current source-image distance information is less than or equal to the first reference parameter, it indicates that the image detector has not yet moved to its furthest point. In this case, the movement of the image detector can continue, and therefore, based on this judgment result, the image detector is set as the object to be adjusted. If the current source-image distance information is greater than the first reference parameter, it indicates that the image detector has already reached its furthest point, and a larger range of source-image distance is achieved by continuing to move the X-ray source. Therefore, based on this judgment result, the X-ray source needs to be set as the object to be adjusted.

[0082] Step S530: Based on the real-time deviation value, generate a source-image distance dynamic adjustment result, and control the frame to move the object to be adjusted according to the source-image distance dynamic adjustment result.

[0083] In this embodiment, the image detector or X-ray source is controlled to move up and down based on the source-image distance dynamic adjustment result calculated based on the real-time deviation value or the real-time deviation value and the angular velocity. When the object to be adjusted, as determined by the above steps, is a X-ray source, the movement direction in the source-image distance dynamic adjustment result includes: an upward movement direction indicating that the X-ray source is moving towards a direction relatively closer to the target object, and a downward movement direction indicating that the X-ray source is moving towards a direction relatively farther from the target object.

[0084] Through steps S510 to S530, by comparing the current source-image distance information with the preset first reference parameter, it is determined whether to control the image detector or move the radiation source. This also realizes a method for dynamically adjusting the position of the radiation source based on the current source-image distance information, which can ensure a wider range of source-image distance adjustment and further improve the quality of radioactive imaging.

[0085] In some embodiments, the above method further includes the following steps:

[0086] If the current source-image distance information is greater than the first reference parameter, the current source-image distance information is compared with a preset second reference parameter; if the second reference parameter is greater than the first reference parameter, the X-ray source is determined to be the object to be adjusted.

[0087] To improve the accuracy of movement control of various components in the radioactive imaging system, this embodiment also sets a second reference parameter and uses the range between the first and second reference parameters as a buffer zone to avoid errors caused by abrupt control changes between the image detector and the radiation source. This second reference parameter can be set to a value greater than the first reference parameter, depending on the actual situation; for example, the first reference parameter can be set to 125 cm, and the second reference parameter to 130 cm.

[0088] Understandably, when judging the current source-image distance information, it can be compared with the first reference parameter first. If the current source-image distance information is greater than the first reference parameter, then it can be compared again. Alternatively, it can be directly compared with the first reference parameter and the second reference parameter respectively. When the current source-image distance information is detected to be greater than or equal to the second reference parameter, it indicates that the value of the current source-image distance information is large, the position of the X-ray source has been moved, and the current source-image distance information has exceeded the preset buffer zone. At this point, based on the dynamic adjustment result of the source-image distance, the X-ray source can be controlled to move adaptively, thus the X-ray source is considered the object to be adjusted.

[0089] Furthermore, if the value of the current source-image distance information is greater than the first reference parameter and less than the second reference parameter, it indicates that the current source-image distance information is within the buffer zone. In order to ensure the accuracy of the source-image distance adjustment, the current source-image distance is kept unchanged, that is, there is no need to move the X-ray source or image detector.

[0090] Through the above embodiments, by setting a second reference parameter that is greater than the first reference parameter, a buffer zone between the first reference parameter and the second reference parameter is provided. This avoids the problem of repeated jumps and adjustment errors caused by immediately controlling the rise and fall movement of the X-ray source when the current source-image distance information is greater than the first reference parameter. This helps to improve the stability and accuracy of the source-image distance adjustment.

[0091] In some embodiments, the above method further includes the following steps:

[0092] When the real-time deviation value indicates that the distance information is increasing, it is determined whether the current source-image distance information is greater than the preset initial source-image distance information. After obtaining the distance information through the above steps, the current distance information can be compared with the initial distance parameter or the distance information at the previous moment to obtain the real-time deviation value. This real-time deviation value can be used to indicate the distance deviation between the current distance information and the initial distance parameter, or the distance information at adjacent moments, and whether the current distance information shows an increasing or decreasing trend. In this embodiment, when it is determined that the trend of distance information change is that the current image detector is getting farther and farther from the target object, i.e., the distance information is increasing, since a smaller source-image distance results in a smaller radiation dose and better image quality for radiation imaging, it is undesirable for the source-image distance adjusted during follow-up adjustment to be greater than the source-image distance manually adjusted by the operator. Based on this, the current source-image distance information can be compared with the preset initial source-image distance information. If the comparison shows that the current source-image distance information is less than or equal to the initial source-image distance information, the current source-image distance is kept unchanged, i.e., the image detector or radiation source is not moved. If the current source-image distance information is greater than the initial source-image distance information, then based on the current source-image distance information, the image detector or the X-ray source is identified as the object to be adjusted, and the object to be adjusted is controlled to move. Furthermore, the initial source-image distance information refers to a parameter value pre-set according to the maximum manually adjustable source-image distance value by the operator.

[0093] It is understandable that when the real-time deviation value indicates that the distance information is getting closer and closer to the target object, that is, the distance information is decreasing, since the source-image distance is gradually shortening at this time, there is no need to consider whether the current source-image distance exceeds the source-image distance manually adjusted by the operator. The movement of the image detector or X-ray source can be directly controlled based on the dynamic adjustment result of the source-image distance.

[0094] Through the above embodiments, when the distance information shows an increasing trend, it is additionally determined whether the current source-image distance information exceeds the initial source-image distance information, so that the source-image distance adjusted in the radiographic imaging system during the follow-up adjustment process will never exceed the source-image distance manually adjusted by the operator, thereby ensuring the image quality of radiographic imaging.

[0095] In some embodiments, the above-mentioned acquisition of distance information between the image detector and the target object further includes the following steps:

[0096] The system acquires sensor data collected by a sensing device and obtains the distance information based on this data. This sensing device can be installed in a suitable location within the radiometric imaging system, such as a rack or image detector, to measure the distance between the image detector and the target object in real time. This sensing device includes, but is not limited to, various hardware sensing devices such as lidar, millimeter-wave radar, or infrared sensors.

[0097] Alternatively, an image to be acquired by an image acquisition device targeting the target object and the image detector is obtained; image recognition is performed based on the image to obtain the aforementioned distance information. The image acquisition device refers to hardware devices such as cameras installed in or connected to the aforementioned radioactive imaging system for acquiring images. Specifically, computer vision-based image recognition is performed on the image to be acquired, for example, using a target recognition algorithm, to obtain the depth information of the target object and / or the image detector in the image, and the aforementioned distance information is obtained based on this depth information.

[0098] It should be further noted that existing radiographic imaging systems cannot accurately identify human models. Therefore, related technologies typically use theoretical human models for collision distance detection, which cannot realistically perceive the patient's posture and is prone to misadjustment. In the embodiments of this application, however, the above-mentioned method achieves visual recognition of human depth information, thereby improving the accuracy of dynamic source-image distance adjustment.

[0099] The following description is based on specific embodiments. Figure 6 This is a flowchart of a source-image distance adjustment method according to a preferred embodiment of this application, such as... Figure 6 As shown, the process includes the following steps:

[0100] Step S601: Start tracking; record the initial distance parameters between the image detector and the target object, as well as the initial source image distance information.

[0101] Step S602: Update the rack angular velocity.

[0102] Step S603: Record the current distance information between the image detector and the target object, and determine whether the distance information shows an increasing trend.

[0103] Step S604: If the judgment result of step S603 is yes, then determine whether the current source-image distance information is less than or equal to the initial source-image distance information.

[0104] Step S605: If the judgment result of step S604 is yes, then keep the current source-image distance unchanged.

[0105] Step S606: If the judgment result of step S604 is negative, then determine whether the current source-image distance information is less than or equal to the first reference parameter; if yes, then dynamically set the image detector's decreasing speed according to the distance information and angular velocity. If no, then further determine whether the current source-image distance information is greater than or equal to the second reference parameter; if yes, then dynamically set the X-ray source's dynamic decreasing speed according to the distance information and angular velocity; otherwise, keep the current source-image distance unchanged.

[0106] Step S607: If the judgment result of step S603 is negative, then directly determine whether the current source-image distance information is less than or equal to the first reference parameter; if yes, then dynamically set the image detector amplification speed according to the distance information and angular velocity. If no, then further determine whether the current source-image distance information is greater than or equal to the second reference parameter; if yes, then dynamically set the X-ray source amplification speed according to the distance information and angular velocity; otherwise, keep the current source-image distance unchanged.

[0107] Step S608: Continue rack movement and determine whether a command to stop rack movement is triggered; otherwise, return to step S602 above to continue the current process; if yes, end the follow-up process.

[0108] More specifically, in the above process, the control algorithm for automatic source-image distance adjustment based on feedback control and feedforward control is as follows: Figure 7 As shown, the algorithm includes the following steps: inputting initial distance parameters and outputting real-time deviation values ​​based on the current distance information between the image detector and the target object; performing PID control based on the real-time deviation values, while simultaneously integrating feedforward control based on the angular velocity of the frame to adjust the lifting speed of the image detector or X-ray source for corresponding lifting and lowering movements. Distance information is continuously acquired during the frame servoing process, and dynamic source-image distance adjustment is performed based on this feedback control quantity until the servoing ends.

[0109] For a better understanding, please refer to Figure 8 Regarding the movement control of the image detector, taking a current SID of 135cm as an example, if the SID decreases to 125cm, the image detector is moved down from 30cm to 20cm from the bed. If the current SID remains at 125cm and the gantry angle increases, the image detector is moved down to 15cm. If the angle continues to increase, the image detector is moved up to 10cm. If the SID increases to 130cm, the image detector is moved up from 10cm to 20cm. If the current SID remains at 135cm and the gantry angle decreases, the image detector is moved up to 30cm. This cycle repeats until the gantry movement ends.

[0110] During surgery, different patients have different voxel information. During dynamic equipment adjustment, it's crucial to avoid contact between the detector and the patient to prevent unexpected risks. Therefore, the above embodiments can sense the patient's position and voxel information, and dynamically adjust the distance between the flat panel detector and the patient, greatly ensuring the safety and convenience of the surgery. For example, in cardiovascular surgeries, this method can automatically adjust the SID (Self-Induced Identification ID) to ensure both a wide image field of view and prevent collisions. In lower limb vascular surgery or abdominal surgery, during gantry movement, this method automatically adjusts the SID according to the patient's location, ensuring the image detector is close to the body and maintaining a consistent distance between the detector and the body as the gantry moves, thus reducing radiation dose.

[0111] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0112] This embodiment also provides a source-image distance adjustment device applied to a radiographic imaging system, which includes an image detector and a gantry. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module," "unit," "subunit," etc., can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0113] Figure 9 This is a structural block diagram of a source-image distance adjustment device according to an embodiment of this application, such as... Figure 9 As shown, the device includes: an acquisition module 92, a deviation module 94, and an adjustment module 96; the acquisition module 92 is used to acquire distance information between the image detector and the target object; the deviation module 94 is used to determine a real-time deviation value based on the distance information; the adjustment module 96 is used to generate a source-image distance dynamic adjustment result based on the real-time deviation value, and control the frame to move the image detector and / or the radiation source according to the source-image distance dynamic adjustment result.

[0114] In some embodiments, the adjustment module 96 is further configured to acquire the angular velocity of the frame; the adjustment module 96 generates the source image distance dynamic adjustment result based on the real-time deviation value and the angular velocity.

[0115] In some embodiments, the adjustment module 96 is further configured to determine the angular velocity trend of the frame based on the detected angular velocity, and obtain the angular velocity parameter value based on the angular velocity trend; the adjustment module 96 obtains a preset adjustment factor; the adjustment module 96, based on the adjustment factor, fuses the real-time deviation value and the angular velocity parameter value, and generates the source image distance dynamic adjustment result.

[0116] In some embodiments, the above-mentioned radioactive imaging system further includes a radiation source; the adjustment module 96 is also used to acquire current source-image distance information; when the current source-image distance information is less than or equal to a preset first reference parameter, the adjustment module 96 determines the image detector as the object to be adjusted; when the current source-image distance information is greater than the first reference parameter, the adjustment module 96 determines the radiation source as the object to be adjusted; the adjustment module 96 controls the frame to move the object to be adjusted according to the dynamic adjustment result of the source-image distance.

[0117] In some embodiments, the adjustment module 96 is further configured to compare the current source-image distance information with a preset second reference parameter when the current source-image distance information is greater than the first reference parameter; the second reference parameter is greater than the first reference parameter; and the adjustment module 96 determines the X-ray source as the object to be adjusted when the current source-image distance information is greater than or equal to the second reference parameter.

[0118] In some embodiments, the adjustment module 96 is further configured to determine whether the current source-image distance information is greater than the preset initial source-image distance information when the real-time deviation value indicates that the distance information is increasing; and when the current source-image distance information is greater than the initial source-image distance information, the adjustment module 96 determines the image detector or the X-ray source as the object to be adjusted based on the current source-image distance information.

[0119] In some embodiments, the acquisition module 92 is further configured to acquire sensing data collected by the sensing device and acquire the distance information based on the sensing data; or, the acquisition module 92 acquires a test image captured by the target object and the image detector; performs image recognition based on the test image to obtain a detector visual model and a target object visual model, and obtains the distance information based on the distance between the detector visual model and the target object visual model.

[0120] In some embodiments, the deviation module 94 is further configured to obtain a preset initial distance parameter; the deviation module 94 determines the real-time deviation value based on the comparison result between the distance information and the initial distance parameter.

[0121] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0122] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0123] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0124] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0125] S1, obtain the distance information between the image detector and the target object.

[0126] S2, based on this distance information, determines the real-time deviation value.

[0127] S3, based on the real-time deviation value, generates a source-image distance dynamic adjustment result, and controls the frame to move the image detector and / or radiation source according to the source-image distance dynamic adjustment result.

[0128] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0129] Furthermore, in conjunction with the source-image distance adjustment methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the source-image distance adjustment methods in the above embodiments.

[0130] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0131] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0132] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A source image distance adjustment method, characterized by, The method is applied to a radiographic imaging system, the radiographic imaging system comprising an image detector, a ray source and a gantry; the method comprising: acquiring distance information between the image detector and a target object; determining a real-time deviation value based on the distance information; generating a source-to-image distance dynamic adjustment result based on the real-time deviation value, and controlling the gantry to move the image detector and / or the ray source according to the source-to-image distance dynamic adjustment result.

2. The source image distance adjustment method according to claim 1, wherein The method further comprises: acquiring an angular velocity of the gantry; generating the source-to-image distance dynamic adjustment result according to the real-time deviation value and the angular velocity.

3. The source-image distance adjustment method according to claim 2, wherein The generating of the source-to-image distance dynamic adjustment result according to the real-time deviation value and the angular velocity comprises: determining an angular velocity trend of the gantry according to the detected angular velocity, and acquiring an angular velocity parameter value based on the angular velocity trend; acquiring a preset adjustment factor; fusing the real-time deviation value and the angular velocity parameter value based on the adjustment factor, and generating the source-to-image distance dynamic adjustment result.

4. The source image distance adjustment method according to claim 1, wherein The controlling of the gantry to move the image detector according to the source-to-image distance dynamic adjustment result comprises: acquiring current source-to-image distance information; determining the image detector as an object to be adjusted in a case where the current source-to-image distance information is less than or equal to a preset first reference parameter, and determining the ray source as the object to be adjusted in a case where the current source-to-image distance information is greater than the first reference parameter; controlling the gantry to move the object to be adjusted according to the source-to-image distance dynamic adjustment result.

5. The source-image distance adjustment method according to claim 4, wherein The method further comprises: in a case where the current source-to-image distance information is greater than the first reference parameter, comparing the current source-to-image distance information with a preset second reference parameter; the second reference parameter is greater than the first reference parameter; determining the ray source as the object to be adjusted in a case where the current source-to-image distance information is greater than or equal to the second reference parameter.

6. The source image distance adjustment method according to claim 4, wherein The method further comprises: in a case where the real-time deviation value indicates that the distance information presents a growth trend, judging whether the current source-to-image distance information is greater than preset initial source-to-image distance information; in a case where the current source-to-image distance information is greater than the initial source-to-image distance information, determining the image detector or the ray source as the object to be adjusted based on the current source-to-image distance information.

7. The source-image distance adjustment method according to claim 1, wherein The acquiring of the distance information between the image detector and the target object comprises: acquiring sensing data collected by a sensing device, and acquiring the distance information according to the sensing data; or acquiring a to-be-detected image photographed by the target object and the image detector; and performing image recognition based on the to-be-detected image to obtain the distance information.

8. The source-image distance adjustment method according to any one of claims 1 to 7, characterized in that, The determining of the real-time deviation value based on the distance information comprises: acquiring a preset initial distance parameter; determining the real-time deviation value according to a comparison result between the distance information and the initial distance parameter.

9. A source image distance adjustment device, characterized by, The method is applied to a radiographic imaging system, the radiographic imaging system comprising an image detector, a ray source and a gantry; the device comprising an acquisition module, a deviation module and an adjustment module; The acquisition module is configured to acquire distance information between the image detector and a target object. The deviation module is configured to determine a real-time deviation value based on the distance information. The adjustment module is configured to generate a source-to-image distance dynamic adjustment result based on the real-time deviation value, and control the gantry to move the image detector and / or the ray source according to the source-to-image distance dynamic adjustment result.

10. A storage medium, characterized by The storage medium stores a computer program, and the computer program is configured to execute the source-to-image distance adjustment method in any one of claims 1 to 8 when running.

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