A control method of an imaging device, device, and storage medium

Abstract

The application provides a control method, device and storage medium of an imaging device. The method is characterized in that the rotation center of the imaging device moves in a specified direction, and in combination with physical constraints of the imaging device and actual reconstruction requirements, the value range of the scanning angle of the imaging device and the motion trajectory of the rotation center are preliminarily predicted, the calculation of the ray coverage angle is carried out, the core constraint is that the pixel points in the region meet the ray coverage requirement, and the synchronous iterative optimization of the scanning angle range and the motion trajectory of the rotation center is carried out according to the scene. On the one hand, the scanning angle range can be minimized on the premise of meeting the ray coverage requirement of the specified reconstruction region, thereby effectively reducing the radiation dose and shortening the scanning time. On the other hand, the effective reconstruction region can be maximized on the basis of the interval length of the fixed scanning angle value range, thereby adapting to the customized scanning range requirement.

Description

Technical Field

[0001] This application relates to the field of equipment control, and more particularly to a control method, device, and storage medium for an imaging device. Background Technology

[0002] In the field of medical imaging diagnosis, imaging equipment such as the C-arm imaging system of angiography machines needs to acquire projection data by rotating the X-ray source around the center of rotation, and then complete the image reconstruction of the target area based on the projection data. The quality of the reconstructed image directly affects the accuracy of clinical diagnosis. To achieve high-quality image reconstruction, the core requirement is that each pixel in the reconstructed target area can obtain X-ray coverage of no less than a preset angle threshold. This is a key prerequisite to ensure that the reconstructed image is free of artifacts and has clear details.

[0003] Currently, the mainstream angiography machines widely used in clinical practice, such as suspended and floor-standing models, typically have a fixed rotation center and a pre-set, fixed scanning angle range, making it impossible to flexibly adjust according to actual reconstruction needs. While some machines allow manual adjustment of the rotation center or scanning angle, this operation relies heavily on the operator's experience, and the adjustment results lack precise quantitative evidence, easily leading to adjustment deviations. These methods often cause numerous problems. On the one hand, fixed rotation centers and scanning angles are difficult to adapt to different reconstruction target areas, easily resulting in insufficient radiation coverage angles in some areas, failing to meet the core requirement of at least 180° radiation coverage angle for reconstruction, and making it difficult to obtain effective reconstructed images. On the other hand, to ensure that the target area meets the radiation coverage requirements, it is often necessary to expand the scanning angle range, which not only increases the radiation dose and raises the radiation exposure risk for patients and operators, but also prolongs the scanning time and reduces the efficiency of imaging detection. Summary of the Invention

[0004] In view of this, in order to overcome the problems existing in the related technologies, this application provides a control method, device and storage medium for an imaging device.

[0005] According to a first aspect of the present application, a control method for an imaging device is provided, wherein the rotation center of the imaging device is movable along at least one direction, and the X-ray source of the imaging device is capable of rotating around the rotation center and emitting X-rays; the method includes: Obtain preset configuration parameters, including parameters that constrain the scanning angle of the imaging device, parameters that constrain the range of motion of the rotation center, and the user-specified reconstruction target area; Based on the configuration parameters, the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center are predicted. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values. Determine the range of ray coverage angles for each pixel within the reconstructed target area, both within the current value range and under the current motion trajectory. With the constraint that the length of the ray coverage angle interval of all pixels in the reconstructed target area is not less than a preset angle threshold, and with the constraint being met, the value interval and the motion trajectory are simultaneously iteratively optimized with the goal of minimizing the length of the value interval. Based on the iteratively optimized value range and motion trajectory, the imaging device is controlled to perform scanning and reconstruction.

[0006] According to a second aspect of the present application, a control method for an imaging device is provided, wherein the rotation center of the imaging device is movable along at least one direction, and the X-ray source of the imaging device is capable of rotating around the rotation center and emitting X-rays; the method includes: Obtain preset configuration parameters, including parameters that constrain the scanning angle of the imaging device, parameters that constrain the range of motion of the rotation center, and the target interval length of the scanning angle value range specified by the user; Based on the configuration parameters, the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center are predicted. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values. Under the current value range and the current motion trajectory, determine the set of pixels whose interval length of the ray coverage angle range is not less than the preset angle threshold, and take the region formed by the set of pixels as the effective reconstruction region. With the constraint that the length of the value interval is consistent with the length of the target interval, and under the condition that the constraint is met, the value interval and the motion trajectory are simultaneously iteratively optimized with the goal of maximizing the effective reconstruction area. Based on the iteratively optimized value range and motion trajectory, the imaging device is controlled to perform scanning and reconstruction.

[0007] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in the first or second aspect.

[0008] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method described in the first or second aspect.

[0009] The technical solutions provided in this application embodiment may include the following beneficial effects: In this embodiment, the scanning angle range and the rotation center trajectory of the imaging device are initially predicted by moving the rotation center of the imaging device along a specified direction, combined with the physical constraints of the imaging device and the actual reconstruction requirements. Then, by calculating the ray coverage angle, with the requirement that pixels within the region meet the ray coverage requirement as the core constraint, synchronous iterative optimization of the scanning angle range and the rotation center trajectory is carried out in different scenarios. On the one hand, the scanning angle range can be minimized while meeting the ray coverage requirement of the specified reconstruction area, effectively reducing radiation dose and shortening scanning time. On the other hand, the effective reconstruction area can be maximized based on the interval length of the fixed scanning angle range, adapting to customized scanning range requirements. This method, through synchronous intelligent and precise optimization of the scanning angle and the rotation center trajectory, eliminates the reliance on human experience, making the scanning process of the imaging device more in line with actual reconstruction needs. It not only ensures the effectiveness of image reconstruction but also improves the scanning flexibility and efficiency of the imaging device. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of an imaging device shown in an exemplary embodiment of this application; Figure 2 This is a schematic flowchart illustrating a control method for an imaging device according to an exemplary embodiment of this application; Figure 3 This is a schematic diagram of the scanning angle of an imaging device shown in an exemplary embodiment of this application; Figure 4 This is a schematic diagram illustrating the motion direction of the rotation center of an imaging device according to an exemplary embodiment of this application; Figure 5 This is a schematic flowchart illustrating another control method for an imaging device according to an exemplary embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device shown in an exemplary embodiment of this application. Detailed Implementation

[0011] In the field of medical imaging diagnosis, imaging equipment such as the C-arm imaging system of angiography machines needs to acquire projection data by rotating the X-ray source around the center of rotation, and then complete the image reconstruction of the target area based on the projection data. The quality of the reconstructed image directly affects the accuracy of clinical diagnosis. To achieve high-quality image reconstruction, the core requirement is that each pixel in the reconstructed target area can obtain X-ray coverage of no less than a preset angle threshold. This is a key prerequisite to ensure that the reconstructed image is free of artifacts and has clear details.

[0012] Currently, the mainstream angiography machines widely used in clinical practice, such as suspended and floor-standing models, typically have a fixed rotation center and a pre-set, fixed scanning angle range, making it impossible to flexibly adjust according to actual reconstruction needs. While some machines allow manual adjustment of the rotation center or scanning angle, this operation relies heavily on the operator's experience, and the adjustment results lack precise quantitative evidence, easily leading to adjustment deviations. These methods often cause numerous problems. On the one hand, fixed rotation centers and scanning angles are difficult to adapt to different reconstruction target areas, easily resulting in insufficient radiation coverage angles in some areas, failing to meet the core requirement of at least 180° radiation coverage angle for reconstruction, and making it difficult to obtain effective reconstructed images. On the other hand, to ensure that the target area meets the radiation coverage requirements, it is often necessary to expand the scanning angle range, which not only increases the radiation dose and raises the radiation exposure risk for patients and operators, but also prolongs the scanning time and reduces the efficiency of imaging detection.

[0013] Based on this, and to address the problems existing in related technologies, this application provides a control method for an imaging device. This method supports the rotation center of the imaging device moving along a specified direction. Combining the physical constraints of the imaging device with actual reconstruction needs, it first preliminarily predicts the range of scanning angles and the trajectory of the rotation center. Then, through the calculation of the ray coverage angle, with the requirement that pixels within the region meet the ray coverage requirement as the core constraint, it performs synchronous iterative optimization of the scanning angle range and the rotation center trajectory in different scenarios. On the one hand, it can minimize the scanning angle range while meeting the ray coverage requirement of the specified reconstruction area, effectively reducing radiation dose and shortening scanning time. On the other hand, it can maximize the effective reconstruction area based on the interval length of a fixed scanning angle range, adapting to customized scanning range requirements. This method, through synchronous intelligent and precise optimization of the scanning angle and the rotation center trajectory, eliminates reliance on manual experience, making the scanning process of the imaging device more closely match actual reconstruction needs. This ensures the effectiveness of image reconstruction and improves the scanning flexibility and efficiency of the imaging device.

[0014] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0015] Figure 1 This is a schematic diagram illustrating the structure of an imaging device according to an exemplary embodiment of this application. Figure 1As shown, the imaging device applicable to this application is an imaging device with a movable rotation center, typically such as a C-arm imaging system of an angiography machine. This imaging device includes at least a radiation source 101, a detector 102, and a frame structure 103 that can realize multi-axis linkage. The radiation source 101 can rotate around the rotation center of the device and emit radiation to the detection area. The detector 102 receives the radiation emitted by the radiation source to obtain projection data, providing a data basis for image reconstruction. At the same time, the rotation center of the imaging device can move in at least one direction, such as translation along one or more of the left-right (left and right hands) and front-back (head and feet) directions of the human body. The movement of the rotation center and the rotation of the radiation source can be coordinated and linked. The rotation position of the radiation source at each scanning angle corresponds to a unique rotation center position.

[0016] In the actual clinical application of this imaging device, there are two main typical application scenarios based on different detection needs and clinical scenarios. The first is where the user pre-specifies the target area to be reconstructed, and the scan must be completed while ensuring that the target area meets the X-ray coverage requirements for image reconstruction. The second is where the user pre-specifies the length of the scanning angle range based on factors such as device physical constraints and clinical detection efficiency, and the effective reconstruction area must be maximized within this fixed scanning angle range. For these two different application scenarios, this application proposes corresponding imaging device control solutions to achieve precise and intelligent optimization of the scanning process, adapting to different clinical detection needs. The control methods for the two scenarios are described in detail below.

[0017] First, for application scenarios where the user specifies the target area to be reconstructed, this embodiment provides a corresponding imaging equipment control method to minimize the scanning angle range while meeting the requirements for the reconstruction ray coverage of the target area, thereby reducing the radiation dose and improving the scanning efficiency.

[0018] Figure 2 This is a schematic flowchart illustrating a control method for an imaging device according to an exemplary embodiment of this application. Figure 2 As shown, the method includes steps S201 to S205.

[0019] Step S201: Obtain preset configuration parameters, including parameters for constraining the scanning angle of the imaging device, parameters for constraining the range of motion of the rotation center, and the user-specified reconstruction target area.

[0020] Obtaining the above configuration parameters is fundamental for subsequent optimization of the scanning angle range and rotation center trajectory. All adjustments to the scanning angle and rotation center position must be constrained by these configuration parameters to ensure that the adjustment results conform to the physical structural limits of the imaging equipment, avoiding parameter settings that exceed the equipment's operational capabilities and ensuring the safety and feasibility of the scanning process. The parameters constraining the scanning angle of the imaging equipment are determined by the equipment's own physical structure and specifically include the types of scanning angles the equipment can achieve, the maximum rotation angle range for each type, and the angle adjustment step size. These scanning angles can include one or more of the following: left tilt angle, right tilt angle, forward tilt angle, and backward tilt angle. Figure 3 The diagrams show the left tilt angle (LAO), right tilt angle (RAO), forward tilt angle (CRA), and backward tilt angle (CAU). The parameters constraining the range of motion of the rotation center are also limited by the physical structure of the equipment. These parameters include the achievable motion directions of the rotation center, the movement boundaries in each direction, and the displacement adjustment accuracy. The motion directions of the rotation center can include one or more along the left-right or front-back direction of the human body, where the left-right direction refers to the direction of the left and right hands. Figure 4 The x-axis represents the direction of the human head to feet, i.e. Figure 4 In the z-direction. For imaging devices with a fixed rotation center height, the vertical reconstruction range can be predetermined due to the constant height. Larger-scale reconstructions can be achieved by lateral translation of the rotation center. However, the path of the lateral movement of the rotation center directly affects the coverage of the acquisition angle. For example, when the X-ray tube and detector are horizontal, the X-ray beam can cover the entire horizontal area; when they are perpendicular, lateral translation of the rotation center is necessary to achieve full coverage of the horizontal area. The user-specified reconstruction target area is the area determined by the user based on diagnostic needs during clinical testing. Because this solution uses a moving rotation center reconstruction method, it is prone to insufficient acquisition angles at the boundary of the reconstruction target area. Therefore, a clear definition of the reconstruction target area is necessary to set a clear target for subsequent motion trajectory and scanning angle optimization, ensuring that the subsequently generated motion trajectory can ensure that all or most pixels within the reconstruction target area meet the core requirement of an X-ray acquisition angle of not less than 180° for reconstruction.

[0021] Step S202: Based on the configuration parameters, predict the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values.

[0022] After obtaining the above configuration parameters, this step will combine the physical constraints of the device with the coverage requirements of the target area to complete the initial prediction of the value range of the scanning angle and the motion trajectory of the rotation center, providing a basic reference for subsequent iterative optimization. Specifically, the initial determination of the value range of the scanning angle will be based on the scanning angle constraints of the imaging device as the boundary, and combined with clinical experience, an initial angle range that can initially cover the user-specified reconstruction target area will be preset. The selection of this range will prioritize covering the core position of the target area to ensure that the reconstruction target area can obtain basic X-ray coverage in the initial state. The initial motion trajectory of the rotation center is determined based on the motion range constraints of the device. The initial position of the rotation center can be calibrated first, and then the corresponding motion trajectory can be preset in combination with the value range of the initial scanning angle. For example, it can be set as a uniform translation curve to realize the basic translational movement of the rotation center as the scanning angle changes.

[0023] In some embodiments, to achieve precise linkage control between the scanning angle and the rotation center position, the range of values ​​for the scanning angle can be characterized by a function of the scanning angle changing over time, and the trajectory of the rotation center can be characterized by a function of the rotation center position changing over time. Furthermore, the changes in the scanning angle and the rotation center position share the same time dimension, ensuring that each scanning angle corresponds to a unique rotation center position, guaranteeing the uniqueness and precision of their linkage. Further, the function of the rotation center position changing over time can also satisfy the characteristic of continuous differentiability. This characteristic ensures that the motion curve of the rotation center is smooth without abrupt changes, thereby ensuring that the speed of the device remains continuous without sudden changes during movement. This avoids mechanical damage caused by sudden stops or movements of the device and also ensures the stability of X-ray acquisition, laying the foundation for accurate acquisition of subsequent projection data and image reconstruction.

[0024] Step S203: Determine the range of ray coverage angles for each pixel within the target area of ​​reconstruction, in the current value range and under the current motion trajectory.

[0025] The core purpose of this step is to verify whether the range of values ​​for the initially predicted scanning angle and the trajectory of the rotation center can meet the requirements for the coverage of the reconstruction rays in the target area. If they meet the requirements, subsequent iterative optimization will be carried out based on this. If they do not meet the requirements, the range of values ​​for the scanning angle and the trajectory of the rotation center need to be re-predicted until the ray coverage of the pixels in the target area meets the reconstruction requirements before entering the iterative optimization stage.

[0026] The core criterion for determining whether the reconstruction requirements are met is that the length of the ray coverage angle interval for all pixels within the reconstruction target area is not less than a preset angle threshold (usually 180°). To verify this criterion, the ray coverage angle interval for each pixel within the reconstruction target area can be calculated first. Specifically, the ray boundary can be calculated by combining the geometric parameters of the imaging device (such as the distance between the ray source and the rotation center, detector size, and ray source emission angle), thereby determining the ray coverage angle interval for each pixel. For example, for each scanning angle within the initially predicted range, based on the scanning angle, the position of the rotation center corresponding to that scanning angle in the initially predicted motion trajectory, the distance between the ray source and the rotation center, and other geometric parameters of the imaging device, the spatial boundary of the ray beam (i.e., the ray boundary) at that scanning angle can be calculated. Then, the position coordinates of each pixel within the reconstruction target area can be compared with the ray boundary to determine whether the pixel is covered by the ray at that scanning angle. Finally, all scanning angles within the range are traversed, and all scanning angles that are covered by the ray in the reconstruction target area are counted. The set of these angles constitutes the ray coverage angle interval for each pixel within the reconstruction target area.

[0027] To illustrate the above calculation process more clearly, a specific example is further described below: it is assumed that the preliminarily determined value interval includes several discrete scanning angles an (n is the angle serial number). In combination with the geometric parameters of the imaging device (such as the distance d from the ray source to the rotation center, the effective size L of the detector, etc.), the spatial coordinates of the ray source at the current angle an (represented by sourceX and sourceY) are solved first, and the angle parameters angleLeft and angleRight corresponding to the left and right boundaries of the ray beam are calculated based on the emission characteristics of the ray source, and then the slopes kLeft and kRight of the left and right boundaries of the ray beam are further derived. Then, for each pixel in the reconstruction target area (identified by two-dimensional coordinates (i,j)), it is determined whether it is within the coverage of the ray beam at the current angle through a judgment condition (such as whether the pixel coordinates satisfy kLeft×(i-sourceX)<j-sourceY<kRight×(i-sourceX)); if the pixel is covered by the ray beam at the current angle, the "coverage counter" corresponding to the pixel is accumulated, and the current scanning angle an is recorded as the effective coverage angle of the pixel. After traversing all scanning angles in the value interval, each pixel in the reconstruction target area will correspond to an effective coverage angle list, which is the ray coverage angle interval of the pixel. Subsequently, whether the pixel meets the requirement of at least 180° ray coverage can be determined based on whether the interval length of the ray coverage angle interval is not less than 180°, which is the core basis. For example, in the finally generated coverage angle statistical image, an area with a brightness value greater than 180 indicates that the pixels in this area are covered by enough angles, which meets the basic requirement of reconstruction on the ray angle range.

[0028] Step S204, with the constraint that the interval length of the ray coverage angle interval of all pixels in the reconstruction target area is not less than a preset angle threshold, when the constraint is satisfied, minimizing the interval length of the value interval is taken as the iteration objective, and the scanning angle range and the motion trajectory are synchronously iteratively optimized.

[0029] After confirming that the preliminarily determined value interval of the scanning angle and the motion trajectory of the rotation center can meet the reconstruction ray coverage requirement of the reconstruction target area, iterative optimization is carried out based on the initial parameters. The core of this step is to continuously optimize the scanning angle range and the motion trajectory on the premise of always ensuring that the ray coverage angle of all pixels in the target area is not lower than the preset angle threshold of 180°, so as to realize the minimization of the scanning angle range, thereby reducing the radiation dose and improving the scanning efficiency.

[0030] The specific iterative optimization process is as follows: Each iteration simultaneously optimizes and adjusts the range of scanning angle values ​​and the trajectory of the rotation center. Optimization of the scanning angle range can be achieved by reducing the overall range length or adjusting the start and end positions of the angle range. Adjustment of the rotation center trajectory can be achieved by optimizing the parameters of the rotation center's trajectory curve, such as adjusting the magnitude of the rotation center offset or the phase of the trajectory curve. After adjustment, the ray coverage angle range of each pixel within the target area is recalculated according to the method in step S203. The adjusted parameters are then verified to ensure they still meet the constraint that "the range length of the ray coverage angle range for all pixels is not less than a preset angle threshold of 180°". If the verification result meets this constraint, the adjustment is feasible and effective, and the adjusted scanning angle range and trajectory can be used as the basis for the next iteration for further optimization. If the verification result does not meet this constraint, the parameter settings are inappropriate. In this case, the parameters can be readjusted, or the adjustment result can be accepted based on a preset probability to avoid the algorithm getting trapped in a local optimum and ensure the global nature of the iterative optimization.

[0031] The iterative optimization process described above will continue until either of the following iteration termination conditions is met: First, the length of the scanning angle value interval cannot be further reduced while satisfying the constraint that "the length of the interval of the ray coverage angle of all pixels in the target area is not less than a preset angle threshold of 180°". At this point, the radiation dose also reaches the optimal state, thus achieving the core optimization goal of this scenario. Second, the number of iterations reaches the preset maximum value. This setting avoids increased computation time caused by excessive algorithm iteration, balancing optimization effect and computational efficiency. During this iteration process, the radiation dose corresponding to each adjusted scanning angle value interval can also be calculated simultaneously, using the radiation dose as an auxiliary judgment indicator to further ensure the optimality of the dose in the optimized scanning angle value interval. After the iteration terminates, the final result of this optimization can be obtained, which is the optimal scanning angle value interval that meets the user's requirement of 180° ray coverage of all pixels in the target area to be reconstructed, as well as the rotation center motion trajectory that precisely matches this value interval.

[0032] Step S205: Based on the iteratively optimized value range and motion trajectory, control the imaging device to perform scanning reconstruction.

[0033] This step transforms the optimal parameters obtained through iterative optimization into control commands that can be executed by the imaging device, driving the device to complete a scanning process that meets the reconstruction requirements and minimizes the interval length of the scanning angle value range, while providing accurate projection data for subsequent image reconstruction.

[0034] The optimized scanning angle range can be presented as a continuous scanning angle range or a combination of multiple continuous scanning angle ranges. For example, the optimal scanning angle set can be [0 to 240°] or [-90° to 60°, 120° to 210°]. The combination of each angle range can ensure that all pixels in the target area specified by the user are covered by rays of ≥180°.

[0035] To transform the above optimization results into executable linkage control commands for the imaging device, they can be output as two core parameters with time as the horizontal axis: the first is the angle parameter, which characterizes the continuous motion angle range and temporal changes of the imaging device, covering the continuous change law of various scanning angles such as left tilt (LAO) and right tilt (RAO) over time; the second is the motion trajectory parameter of the gantry along the rotation center, which characterizes the temporal changes of the displacement of the rotation center along a specified direction such as the horizontal direction of the human body. This displacement can be achieved through the base of the imaging device or a dedicated structural axis that moves horizontally along the human body.

[0036] In the actual equipment control process, the optimized scanning angle range and the center position corresponding to the rotation center trajectory are precisely mapped to the center point coordinates of the multi-axis linkage of the imaging device. This enables precise time-series linkage between the rotation of the X-ray source and the movement of the rotation center, with each scanning angle at each time point matching a unique rotation center position. The imaging device completes the scan according to these linkage parameters, ensuring optimal radiation dose while guaranteeing that all pixels within the effective reconstruction range meet the X-ray coverage requirement of ≥180°. After scanning, subsequent image reconstruction can be performed based on the acquired projection data, completing the entire scanning and reconstruction process.

[0037] Secondly, for application scenarios where the user specifies the range length of the scanning angle value interval, this embodiment provides a corresponding imaging device control method to maximize the effective reconstruction area within the scanning angle value interval with the fixed interval length, adapting to the image reconstruction needs of large scale and custom range.

[0038] Figure 5 This is a schematic flowchart illustrating another control method for an imaging device according to an exemplary embodiment of this application. Figure 5 As shown, the method includes steps S501 to S505.

[0039] Step S501: Obtain preset configuration parameters. The configuration parameters include parameters for constraining the scanning angle of the imaging device, parameters for constraining the range of motion of the rotation center, and the target interval length of the scanning angle value range specified by the user.

[0040] The parameters constraining the scanning angle of the imaging device and the parameters constraining the range of motion of the rotation center are consistent with the relevant descriptions in the application scenario embodiment of the user-specified reconstruction area. These are all determined by the device's own physical structure, respectively limiting the types of scanning angles the device can achieve, the maximum range of rotation angles, the direction of motion of the rotation center, and the movement boundaries. These parameters define the physical boundaries for subsequent parameter setting and optimization, and will not be elaborated further here. The target interval length of the user-specified scanning angle value range is the interval length of the scanning angle value range pre-selected by the user based on clinical testing needs and the physical constraints of the device. This interval length must be set within the maximum angle range limited by the scanning angle constraints of the imaging device. For example, if the maximum rotation angle range of the imaging device in the left-right tilt direction is approximately 320°, the user can specify 300° as the target interval length for this scan based on actual needs. This specified target interval length will serve as a fixed constraint condition for subsequent iterative optimization and will remain unchanged throughout the process.

[0041] Step S502: Based on the configuration parameters, predict the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values.

[0042] After obtaining the configuration parameters, this step uses the user-specified target interval length as a fixed constraint, combined with the device's scanning angle constraints and rotation center motion range constraints, to complete the initial parameter setting, laying the foundation for subsequent iterative optimization. Specifically, the initial determination of the scanning angle value interval must strictly match the user-specified target interval length. Within the scanning angle interval allowed by the imaging device, a continuous or discontinuous angle interval is selected as the initial scanning angle value interval, and its interval length must be consistent with the user-specified target interval length. For example, if the user-specified target interval length is 300°, the initial scanning angle value interval can be set as a continuous interval from -120° to 180° to ensure that the interval length of the initial angle value interval meets the user's specified requirements. The initial determination of the rotation center motion trajectory is consistent with the scenario of the user-specified reconstruction area mentioned above. The initial position of the rotation center can be marked first, and then the corresponding motion trajectory can be preset in combination with the initial scanning angle value interval to ensure that the motion of the rotation center is adapted to the rotation of the X-ray source.

[0043] Similarly, in some embodiments, to achieve precise linkage control between the scanning angle and the rotation center position of the imaging device, the range of values ​​for the scanning angle can be characterized by a function of the scanning angle changing over time, and the motion trajectory can be characterized by a function of the rotation center position changing over time. Both share the same time dimension, ensuring that each scanning angle corresponds to a unique rotation center position, guaranteeing the uniqueness and accuracy of their linkage. Furthermore, the rotation center position can also satisfy the continuously differentiable property of a function changing over time to ensure a smooth motion curve of the rotation center with no abrupt changes in speed, avoiding mechanical wear and tear on the equipment and ensuring the stability of X-ray acquisition.

[0044] Step S503: Under the current value range and the current motion trajectory, determine the set of pixels whose interval length of the ray coverage angle range is not less than the preset angle threshold, and take the region formed by the set of pixels as the effective reconstruction region.

[0045] The core optimization goal of this scenario is to maximize the effective reconstruction area under the premise of a fixed interval length of the scan angle value range specified by the user. Therefore, it is necessary to first accurately calibrate the current effective reconstruction area based on the initially determined scan angle value range and the rotation center motion trajectory, and use this as the benchmark for subsequent iterative optimization. By continuously adjusting the parameters, the effective reconstruction area is gradually expanded until the maximization goal is achieved.

[0046] The prerequisite for defining the current effective reconstruction area is to first determine the ray coverage angle range of each pixel within the detection area, and then select a set of pixels whose ray coverage angle range length is not less than a preset angle threshold (usually 180° in reconstruction requirements). The continuous area formed by these pixel sets is the current effective reconstruction area, and the pixels within this area all meet the basic requirements for ray coverage in reconstruction. The method for determining the ray coverage angle range of pixels is similar to the application scenario embodiment of the user-specified reconstruction area mentioned above. The configuration parameters can also include the key geometric parameter of the distance between the ray source and the rotation center. Specifically, for each scanning angle within the current value range, based on the scanning angle, the position of the rotation center corresponding to the scanning angle in the current motion trajectory, and the distance between the ray source and the rotation center, the ray boundary under the scanning angle is calculated. Then, based on the positional relationship between the ray boundary and the pixel, the pixels covered by the ray under the scanning angle are determined. After traversing all scanning angles within the current value range, all scanning angles covered by the ray for each pixel are counted to obtain the ray coverage angle range corresponding to each pixel. The detailed implementation process of this part can be found in the relevant description of the above embodiments, and will not be repeated here. After obtaining the ray coverage angle interval corresponding to each pixel, pixels with an interval length of not less than a preset angle threshold can be selected to form a pixel set, and then the region formed by the pixel set is used as the effective reconstruction region.

[0047] Step S504: With the constraint that the length of the value interval is consistent with the length of the target interval, and under the condition that the constraint is met, the value interval and motion trajectory are simultaneously iteratively optimized with the goal of maximizing the effective reconstruction area.

[0048] After the initial effective reconstruction area is calibrated, iterative optimization is carried out based on this. The core constraint of this step is to keep the length of the target interval specified by the user unchanged throughout the process. By continuously fine-tuning the range of scanning angle values ​​and the trajectory of the rotation center, the area of ​​the effective reconstruction area is gradually expanded to maximize the effective reconstruction range.

[0049] The specific iterative optimization process involves simultaneously adjusting the range of scanning angles and the trajectory of the rotation center in each iteration. Adjusting the range of scanning angles only changes the start and end positions of the range, not its length, thus strictly adhering to the user-specified target range length constraint. Adjusting the trajectory of the rotation center is achieved by optimizing the parameters of the trajectory curve, such as adjusting the magnitude of the rotation center offset and the phase of the trajectory curve. After adjustment, the effective reconstruction area under the current scanning angle range and trajectory is determined again according to step S503. The area of ​​the effective reconstruction area after adjustment is compared with that before adjustment: if the area of ​​the effective reconstruction area after adjustment is larger than before, it indicates that the adjustment is feasible and effective, and the adjusted parameters are used as the basis for the next iteration for further optimization; if the area of ​​the effective reconstruction area after adjustment does not expand or even shrinks, it indicates that the parameter settings are inappropriate. In this case, the parameters can be readjusted, or the adjustment result can be accepted based on a preset probability, thus avoiding the algorithm from getting trapped in local optima and ensuring that iterative optimization can explore better parameter combinations.

[0050] The above iterative optimization process will continue until either iteration termination condition is met: First, after multiple iterations, the area change of the effective reconstruction region is lower than a preset threshold, meaning the effective coverage no longer expands significantly, at which point the optimization goal of maximizing the effective reconstruction region can be determined. Second, the number of iterations reaches a preset maximum value. This setting avoids increased computation time caused by excessive algorithm iteration, balancing optimization effect and engineering implementation efficiency. In some embodiments, the determination of the effective reconstruction region can also adopt a probabilistic coverage method, requiring that the proportion of pixels with a ray coverage angle of not less than 180° in the reconstruction region is ≥95%, and these pixels constitute a continuous region. This ensures reconstruction quality while adapting to larger-scale reconstruction needs, improving the algorithm's practical application flexibility. After the iteration terminates, the final result of this optimization can be obtained, which is the optimal scanning angle range that maximizes the effective coverage based on the user-specified target interval length, and the rotation center motion trajectory that precisely matches this range. Within the effective reconstruction region corresponding to this optimal parameter, all pixels can obtain at least 180° ray coverage, fully meeting the technical requirements of reconstruction.

[0051] Step S505: Based on the iteratively optimized value range and motion trajectory, control the imaging device to perform scanning reconstruction.

[0052] After iterative optimization, the optimal scanning angle range that adapts to the target interval length specified by the user can be output. The length of this range is consistent with the target interval length specified by the user. It can be presented as a continuous scanning angle range (such as [-150° to 150°]) or a combination of multiple continuous scanning angle ranges (such as [-150° to 0°, 10° to 160°]). This angle distribution is the optimal setting that maximizes the effective reconstruction area. At the same time, the optimal effective reconstruction area range and the corresponding rotation center motion trajectory will also be output simultaneously to ensure that the effective reconstruction range is maximized and that all pixels within the range meet the ray coverage reconstruction requirement of ≥180°.

[0053] To transform the above optimization results into executable linkage control commands for the imaging device, they can be output as two core parameters with time as the horizontal axis: the first is the angle parameter, which characterizes the continuous motion angle range and temporal changes of the imaging device, covering the continuous change law of various scanning angles such as left tilt (LAO) and right tilt (RAO) over time; the second is the motion trajectory parameter of the gantry along the rotation center, which characterizes the temporal changes of the displacement of the rotation center along a specified direction such as the horizontal direction of the human body. This displacement can be achieved through the base of the imaging device or a dedicated structural axis that moves horizontally along the human body.

[0054] In actual equipment control, the optimized scanning angle range and the center position corresponding to the rotation center trajectory are precisely mapped to the center point coordinates of the imaging device's multi-axis linkage. This enables precise time-series linkage between the rotation of the X-ray source and the rotation center, ensuring that the scanning angle at each time point matches a unique rotation center position. The imaging device completes the scan according to these linkage parameters, maximizing the effective reconstruction area while strictly adhering to the user-specified scanning angle range. After scanning, subsequent image reconstruction can be performed based on the acquired projection data, ultimately completing the entire scanning and reconstruction process.

[0055] Based on the above embodiments, this application proposes corresponding control solutions for two typical application scenarios of imaging equipment. Both solutions revolve around the coordinated optimization of the scanning angle range and the rotation center trajectory of the imaging equipment. The core difference lies in the different objectives and constraints of the iterative optimization. In specific implementation, the solution can be flexibly selected and adapted according to the user's actual clinical testing needs to achieve intelligent and precise control of the imaging equipment scanning process. When clinical testing has high requirements for radiation dose control and scanning efficiency, and requires reconstruction of a fixed target area, a control solution can be selected that specifies the target area for reconstruction and aims to minimize the length of the scanning angle range. This minimizes radiation dose, shortens scanning time, and reduces radiation exposure for patients and operators while ensuring the radiation coverage requirements for the target area reconstruction. When clinical testing requires large-scale, custom-range image reconstruction and has a clear requirement for the total range of scanning angles, a control solution can be selected that specifies the length of the scanning angle range and aims to maximize the effective reconstruction area. Under the constraint of the fixed scanning angle range length, the effective reconstruction range is maximized, meeting various personalized reconstruction needs.

[0056] Both control schemes overcome the limitations of traditional imaging equipment with fixed rotation centers and fixed scanning angles, and also avoid the problems of manual adjustment relying on experience and lacking precision. By synchronously iteratively optimizing the range of scanning angle values ​​and the trajectory of the rotation center, the scanning process of the imaging equipment is made more in line with the diverse needs of actual clinical testing. This not only ensures the quality of image reconstruction and ensures that all pixels in the effective area meet the requirement of ≥180° X-ray coverage, but also improves the flexibility and adaptability of the imaging equipment, providing more efficient and accurate technical support for medical imaging diagnosis.

[0057] The control method for the imaging device provided in this application can be implemented by executing several computer program code flows through an electronic device. The electronic device loads the computer program into non-volatile memory, and then uses its processor to read the computer program instructions into memory for execution. The hardware structure of the electronic device includes at least... Figure 6 The processor 501, memory 502, network interface 503, and non-volatile memory 504 shown are included. In addition, the electronic device may be configured with other hardware according to actual functional requirements, which will not be described in detail here.

[0058] In addition, the control method for the imaging device provided in this application can also be implemented by several computer programs contained in a computer program product executed by a processor.

[0059] The control method for the imaging device provided in this application can also be implemented by a processor executing several computer programs stored on a computer-readable storage medium.

Claims

1. A control method for an imaging device, characterized in that, The rotation center of the imaging device is capable of moving in at least one direction, and the X-ray source of the imaging device is capable of rotating around the rotation center and emitting X-rays; the method includes: Obtain preset configuration parameters, including parameters that constrain the scanning angle of the imaging device, parameters that constrain the range of motion of the rotation center, and the user-specified reconstruction target area; Based on the configuration parameters, the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center are predicted. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values. Determine the range of ray coverage angles for each pixel within the reconstructed target area, both within the current value range and under the current motion trajectory. With the constraint that the length of the ray coverage angle interval of all pixels in the reconstructed target area is not less than a preset angle threshold, and with the constraint being met, the value interval and the motion trajectory are simultaneously iteratively optimized with the goal of minimizing the length of the value interval. Based on the iteratively optimized value range and motion trajectory, the imaging device is controlled to perform scanning and reconstruction.

2. The method according to claim 1, characterized in that, The configuration parameters also include the distance between the radiation source and the rotation center; Determining the range of ray coverage angles for each pixel within the reconstructed target area under the current value range and the current motion trajectory includes: For each scanning angle within the current value range, based on the scanning angle, the position of the rotation center corresponding to the scanning angle in the current motion trajectory, and the distance between the ray source and the rotation center, the ray boundary under the scanning angle is calculated, and based on the ray boundary and the position of each pixel in the reconstructed target area, it is determined whether each pixel in the target area is covered by the ray of the scanning angle. Traverse all scanning angles within the current value range, and count all scanning angles covered by rays for each pixel in the reconstructed target area to obtain the ray coverage angle range for each pixel in the reconstructed target area.

3. The method according to claim 1, characterized in that, The scanning angle includes one or more of the following: left tilt angle, right tilt angle, forward tilt angle, and backward tilt angle; The direction of motion of the rotation center includes one or more of the following: along the left-right direction and the front-back direction of the human body.

4. The method according to claim 1, characterized in that, The value range is a continuous scanning angle range or a combination of multiple continuous scanning angle ranges.

5. A control method for an imaging device, characterized in that, The rotation center of the imaging device is capable of moving in at least one direction, and the X-ray source of the imaging device is capable of rotating around the rotation center and emitting X-rays; the method includes: Obtain preset configuration parameters, including parameters that constrain the scanning angle of the imaging device, parameters that constrain the range of motion of the rotation center, and the target interval length of the scanning angle value range specified by the user; Based on the configuration parameters, the range of values ​​for the scanning angle of the imaging device and the motion trajectory of the rotation center are predicted. The motion trajectory is used to characterize the position of the rotation center when the imaging device is at each scanning angle within the range of values. Under the current value range and the current motion trajectory, determine the set of pixels whose interval length of the ray coverage angle range is not less than the preset angle threshold, and take the region formed by the set of pixels as the effective reconstruction region. With the constraint that the length of the value interval is consistent with the length of the target interval, and under the condition that the constraint is met, the value interval and the motion trajectory are simultaneously iteratively optimized with the goal of maximizing the effective reconstruction area. Based on the iteratively optimized value range and motion trajectory, the imaging device is controlled to perform scanning and reconstruction.

6. The method according to claim 5, characterized in that, The configuration parameters also include the distance between the radiation source and the rotation center; Given the current value range and the current motion trajectory, determine the set of pixels whose interval length is not less than a preset angle threshold for the ray-covered angle range, including: For each scanning angle within the current value range, based on the scanning angle, the position of the rotation center corresponding to the scanning angle in the current motion trajectory, and the distance between the ray source and the rotation center, the ray boundary under the scanning angle is calculated, and the pixel points covered by the ray under the scanning angle are determined according to the ray boundary. Traverse all scanning angles within the current value range, count all scanning angles covered by the ray for each pixel to obtain the corresponding ray coverage angle range, and filter out pixels whose interval length of the ray coverage angle range is not less than a preset angle threshold to form the pixel set.

7. The method according to claim 5, characterized in that, The scanning angle includes one or more of the following: left tilt angle, right tilt angle, forward tilt angle, and backward tilt angle; The direction of motion of the rotation center includes one or more of the following: along the left-right direction and the front-back direction of the human body.

8. The method according to claim 5, characterized in that, The value range is a continuous scanning angle range or a combination of multiple continuous scanning angle ranges.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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