CN106137235A - C-arm X-ray machine, control system and medical image system - Google Patents
C-arm X-ray machine, control system and medical image system Download PDFInfo
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Abstract
The present invention provides a kind of C-arm X-ray machine, comprising: C-arm；Produce the X-ray generation module of X-ray；Receive X-ray and produce the X-ray receiver module of X-ray, and X-ray generation module is respectively oppositely installed on C-arm both sides；The X-ray check module of detection X-ray dosage, is arranged at the X-ray generation module side towards X-ray receiver module；Gather the data acquisition module of the X-ray that X-ray receiver module is passed back, be connected with X-ray receiver module；Drive the motion module of C-arm multifreedom motion, be connected to C-arm；Carry out image procossing the image processing module stored, be connected to data acquisition module；The display module of the image that the X-ray of video data acquisition module collection or image processing module are rebuild, is connected to image processing module.The present invention also provides for control system and medical image system.Described C-arm X-ray machine integrating three-dimensional imaging function, takes full advantage of the feature that C-arm X-ray machine is flexible, small and exquisite, facilitates doctor to use.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of C-arm X-ray machine, control system and medical imaging
System.
Background technology
Cone-Beam CT has the features such as X-ray utilization rate is high, it is high to rebuild faultage image resolution, scanning speed is fast, is current
The developing direction of CT research field and focus.According to the difference of profile, it is divided into C-arm X-ray machine, U-shaped arm X-ray machine, G shape arm X-ray
Machine etc..Wherein C-arm X-ray machine is the clinical radiotherapy apparatus got involved and commonly use in operation, is used in operation process a certain position
Real-time fluoroscopic imaging and Digital subtraction angiograph (DSA).In essences such as endovascular support, thrombolytic and intravascular tumor treatments
Detection when getting involved operation to the accurate three-dimensional feature of blood vessel and adjacent tissue thereof that density requirements is high has higher requirement, tradition
Medical apparatus and instruments be difficult to reach, C-arm movement locus flexibly and cone-beam projection imaging mode are that CT image reconstruction provides bar
Part.Doctor can obtain each orientation perspective view and the tomographic reconstruction images at a certain position of human body in minimum time of exposure, subtracts
Lack x-ray bombardment time and metering, provide easily simultaneously for doctor and patient, also motion and the one-tenth to C-arm
As controlling to have higher requirement.Further, along with the raising of the image quality of planar array detector, dividing of the medical image obtained
Resolution is the most increasing, but is limited to the complexity of algorithm, for patient's doctor experience that offer is good, the property to computer
Can require more and more higher, be difficult to reach the arithmetic speed of anticipation by single computer.
In recent years, C-arm ray machine has obtained universal application, how to meet accurately on the basis of realizing basic function
Control and more humane interaction design is the most increasingly paid attention to.On the other hand along with hardware scanning in cone-beam CT system
Speed and the raising of precision, the efficiency bottle neck in actual production is also changed into CT imaging and drafting by the scanning speed of hardware device
In speed.Monitoring at such as radiotherapy, picture quality and image taking speed aspect are required to higher by surgical operation images navigation etc.
Occasion, although all kinds of accurate cone-beam CT reconstruction algorithm oneself paved road for the birth of high-quality CT software, if not but by
Expensive professional graphic video card or graphics workstation, existing accelerated method is often difficult to meet the demand of its display in real time,
And businessman the most also can only reach real-time purpose by the compromise algorithm of quality Yu efficiency, this significantly limit the wide of CT technology
General application.Therefore, on the premise of ensureing quality, the platform that research is made up of common PC realizes hardware-accelerated, quickly finishes
Cone-beam CT reconstruction and other associated picture process and have great importance.
Surgical apparatus owing to using in operating room gets more and more, and operating room also becomes crowded to capacity.With fixing blood vessel
Angiography system is compared, the characteristic that the volume of mobile c-arm is light and handy and simple to operate so that it is one that becomes fixing equipment effective
Alternative.For cost of investment expense, mobile c-arm to cost sensitivity and to face the medical institutions of budget cut be one
Preferably select.
And along with medical operating system intelligent, integrated lifting, increasing intelligent operation robot system
Occur, Leonardo da Vinci's surgical engine of product StealthStation and the Intuitive Surgical company of such as external Medtronic
Device people.C-arm X-ray machine can be integrated in robot system, provides image collecting function as a submodule, and for curing
Raw diagnosis, intervention operation, radiotherapy operation etc. provide and instruct.Therefore C-arm in future is except meeting general image acquisition task
In addition, it is necessary to integrated communication module is in order to communicate with other modules such as graphical analysis, intervention device, and can realize
Remote control operation.But product similar in the market occurs.
Pyramidal CT image three-dimensional rebuilding method is introduced:
Algorithm for reconstructing mainly has analytic method and iterative method.Compared with iterative algorithm, analytical algorithm has that reconstruction speed is fast, accounts for
By advantages such as memory source are few, so, in actual applications, analytic method is applied to compare many.Analytic method have again approximate data and
Exact algorithm two kinds.But the scan mode required by exact reconstruction algorithm is more complicated and amount of calculation is very big, present stage
The most do not obtain substantive application.Approximate data is fairly simple, it is easy to accomplish, especially when cone angle is smaller, rebuild effect
Preferably, and single cone-beam CT only has approximate reconstruction algorithm, so approximate reconstruction algorithm has a wide range of applications in practice.Its
Middle comparison many for FDK algorithm, as shown in Figure 1.
FDK algorithm is introduced:
FDK algorithm is broadly divided into after data are carried out discretization by three below step and can be expressed as:
(1) data for projection is revised:
(2) revised data for projection is filtered line by line
In formula, h (m) is wave filter；
Weighted back projection
In formula, (m n) is rower and the list of image, Pθ(m, n) represents the data for projection under rotation angle θ,
Represent the data for projection after Filtering Processing, h (m) show m row projecting image data is carried out convolution operation filter function f (x,
Y, z) represents tissue points (x, y, z) reconstructed image data at place.(p q) represents that reconstructed voxel point is in filtered back projection's plane
The position of back projection's point.The algorithm complex that can be obtained FDK by above-mentioned formula is n × o (N3), and wherein n is for rebuilding picture
Number, N is the resolution of image.Clap figure with 1 ° for interval, clap 360, as a example by image resolution ratio is 1024*1024, complete
Rebuild and need nearly 400,000,000 computings.If not improving, will take a substantial amount of time.
Parallel computation is introduced:
Parallel computation (Parallel Computing) is exactly some little tasks that the task that big is divided into, different
Processor process.Like sharing out the work and help one another, total task number is constant, processes task number and becomes big, and the amount of every part of task is the most corresponding
Reduce.These tasks are given different processors and are processed simultaneously, due to the execution time of each subtask overlap, the completeest
Full weight is folded (division and computing environment that overlapping degree depends on problem), and the time required for process problem will be contracted by, preferable
In the case of can be reduced to the quantity that 1/n, n are the processing unit simultaneously performed, thus reach the effect accelerated.
Computer cluster technology is introduced:
Cluster is one group of computer separate, that interconnected by express network, they constitutes a group, and with list
The pattern of one system is managed.When one client interacts with cluster, cluster seems an independent server.Its purpose
It is to solve the deficiency of unit operational capability, the deficiency of IO ability, improving reliability of service, the expansible energy of acquisition scale
Power, reduces the overall operation of system, upgrading, maintenance cost.
Being manufactured structure by processor to be limited, the space of single processor performance exploitation has tended to saturated, due to cluster
System has the features such as cost is low, performance good and expansible space is big, and therefore, a lot of people have redirect to sight to build cluster system
System comes up.Computer (node) forms a system by certain high performance network or LAN Monitoring System, and such system is claimed
For group system.In the cluster, each node can complete independent computing function, as SMP server, work station or PC
Machine may serve to use as a node.Graphic process unit (Graphic Processing Unit, GPU) is used at present
Very universal, during utilization, it is incorporated in parallel machine architecture as parallel computation unit, many supercomputers
All have employed this mixed architecture.Build and the CPU cluster of GPU cluster are more or less the same, and on hardware resource, GPU compares CPU cluster
Locus is little, less energy consumption.One unified cluster contains some station servers, in group system, if server is sent out
Having given birth to fault, either hardware or software resource cause, and when user sends request, we can use in cluster other
Resource on server continues to provide a user with service.In group system, mainly by the process speed of GPU and communication subsystem
Degree carrys out the performance of decision systems, and wherein the performance of communication subsystem depends on the transmission speed of networked physics layer, I/O disposal ability
And the expense etc. of host-host protocol.
Existing technical scheme:
For whole packaged type three-dimensional C-arm X-ray machine market, the most ripe product is the most little.
The movable flat interventional imaging system of Ziehm Vision RFD is to aim at compound operation room function to need and special
The mobile c-arm system not designed.Compare fixed imaging device, the saving of the motility of mobile c-arm, space and cost, the most not
The disconnected concern winning increasing clinical users.It has four axles electronic, intuitively operating lever operation, intelligent anticollision protection,
Lowest dose level realizes the characteristic such as high image quality.
Artis Zeego provides the product of novelty as the 3rd generation flat panel detector angioradiographic system of SIEMENS
Design, leading clinical function.There is " double-core " Image chain, image acquisition is separated with post processing, improves efficiency.Also carry
Supply the interface of hommization, by the compound mode of touch, button and remote-control lever, machine can have been operated.And possess
Advanced image processing function, has Intelligent noise reduction, intelligence blood vessel strengthens and intelligence Contour extraction and Real-time and Dynamic model
The functions such as bustle pipe reason.And add X-ray dosage management function, it is provided that safer protection.
Philip movable type C-arm X-ray machine BV Endura can provide dynamic image clearly in operation process.Entirely
The functional configuration in face contributes to optimized work flow, promotes work efficiency.C-type frame for movement provides bigger coverage, tool
Standby BodySmart technology is effectively improved picture quality, and can be with auto contrast/brightness regulation.
But, above-mentioned three sections of packaged type C-arm the most do not provide three-dimensional imaging function；And its image support generated
Although dicom standard can for transmission to picture archive and communication system (PASC), but they do not support LAN or wide area
The net remote control to machine, does not provides corresponding interface module yet, does not possess autgmentability, it is impossible to by other host service functions.
The Chinese patent of Application No. 201210010806.X proposes a kind of GPU based on CUDA framework and accelerates Cone-Beam CT
The method of image reconstruction, the support CUDA framework GPU that concrete methods of realizing provides for utilizing NIVIDA company, it is achieved adding of algorithm
Speed.Employ conventional FDK algorithm in this patent, FDK algorithm is carried out parallel computation analysis, construct CPU and GPU cooperation
CPU-GPU Heterogeneous Computing pattern, rely on GPU multi-core characteristic, obvious effect can be reached.But explanatory diagram does not seems
How to obtain, both failed to provide a whole set of and related to the control of C arm X-ray machine, image acquisition and the strategy of image reconstruction or method.And
And simply using single GPU, although result has had bigger lifting, but when calculating high-definition picture, owing to amount of calculation is with dividing
Resolution is that the multiple of 3 powers increases, and processes the time the longest.And the GPU core number taken to improve arithmetic speed
Mesh is too much, the machine computer can be caused to show and the even time delay of fruit jelly phenomenon occur.
Liu Wei (Liu Wei. the storage rebuild for cone-beam CT three-dimensional image and transmission system design [D]. University Of Chongqing,
2009) propose a kind of new method rebuild for cone-beam CT three-dimensional image, use fpga chip to realize CT image reconstruction, permissible
Utilize the abundant storage resource of FPGA so that the reading localization of data for projection, improve reading speed, solve bandwidth of memory
Restricted problem, uses the thought of multiple pipeline to realize parallel computation simultaneously.Use FPGA can realize the reconstruction of picture, and
The parallel processing technique of FPGA has been widely used image and the field of video processing of various two dimension, such as FPGA by
It is applied in object automatic identification technology.But, there is also clearly disadvantageous, be especially bad at the process in floating number,
Also some irregular algorithms it are difficult in adapt to.For having given play to its optimal performance, hardware configuration needs to carry out according to different algorithms
Optimize, and be unfavorable for later product up-gradation.
Summary of the invention
In view of this, in order to overcome defect and the problem of prior art, the present invention provides a kind of C-arm X-ray machine, controls system
System and medical image system.
A kind of C-arm X-ray machine, comprising:
C-arm；
Produce the X-ray generation module of X-ray；
Receive X-ray and produce the X-ray receiver module of X-ray, described X-ray receiver module and described X-ray generation module respectively
Relatively it is installed on the both sides of described C-arm；
Detect the X-ray check module of X-ray dosage that described X-ray generation module produces, be arranged at described X-ray generation module court
Side to described X-ray receiver module；
Gathering the data acquisition module of the X-ray that described X-ray receiver module is passed back, it is connected with described X-ray receiver module
Connect；
Driving described C-arm to realize the motion module of multiple degree of freedom motion, it is connected to described C-arm；
Carrying out image procossing the image processing module stored, it is connected to described data acquisition module；And
Show X-ray that described data collecting module collected arrives or the display mould of the image that described image processing module is rebuild
Block, it is connected to described image processing module.
In the present invention one better embodiment, described X-ray generation module includes producing the X-ray bulb of X-ray, according to arranging ginseng
Numerical value controls the dual pressure controller of the X-ray dosage that described X-ray bulb produces and for covering stop X-ray to observe specific dimensions
The light concentrator in the visual field.
In the present invention one better embodiment, described X-ray receiver module includes for receiving X-ray and producing specific dimensions
The X-ray flat panel detector of X-ray, described X-ray flat panel detector and described X-ray bulb are respectively oppositely installed on described C
The both sides of arm, and the line of both centrages is through the center of circle of the circular arc of described C-arm.
In the present invention one better embodiment, described X-ray check module includes for detecting the X that described X-ray bulb produces
The DAP measuring instrument of light dosage, described DAP measuring instrument is installed on the described light concentrator side towards described X-ray flat panel detector.
In the present invention one better embodiment, described data acquisition module includes that image pick-up card and data acquisition calculate
Machine, described image pick-up card is for gathering the image that described X-ray flat panel detector is passed back, and described data acquisition computer is used for
Described image is processed and stores.
In the present invention one better embodiment, described image processing module includes that at least two are passed through LAN each other
Connecting the data handling machine of composition cluster, described data handling machine completes image processing algorithm and stores picture,
And result is returned to the data acquisition computer of described data acquisition module.
In the present invention one better embodiment, described motion module includes that five can realize programme controlled servo electricity respectively
Machine, described five servomotors are respectively arranged on five axles of described C-arm.
In the present invention one better embodiment, described image display includes for showing the picture collected or weight
The display of the picture after building.
A kind of control system, is used for controlling described C-arm X-ray machine, and described control system includes interface module, controller mould
Block, data model module, communication module and device interface module；Described interface module is used for carrying out man-machine interaction；Described control
Device module connects described interface module, described data model module, described communication module and described device interface module；Described number
The image obtained according to model module storage and the information relevant to described image；Described communication module and described C-arm X-ray machine
Data acquisition module and image processing module be connected；Described device interface module is for connecting with described C-arm.
Relative to prior art, the C-arm X-ray machine that the present invention provides has the advantage that one, C-arm X-ray machine are integrated
Three-dimensional imaging function, takes full advantage of the feature that C-arm X-ray machine is flexible, small and exquisite, facilitates doctor to use；Two, possesses communication mould
Block, can realize remotely controlling, and can use with the collocation of other platforms, it is possible to use this communication module to realize in cluster at data
Communication between reason computer；Three, can quickly realize 3 D pyramidal CT process of reconstruction, effectively reduce data and process and image weight
The time built.
Accompanying drawing explanation
The schematic diagram of the C-arm X-ray machine that Fig. 1 provides for first embodiment of the invention；
The schematic diagram of the control system of the C-arm X-ray machine that Fig. 2 provides for second embodiment of the invention；
Fig. 3 be control system shown in Fig. 2 be embodied as schematic diagram；
Fig. 4 is FDK algorithm flow chart；
Fig. 5 is by rotating the FDK parallel computational model that indexing divides；
Fig. 6 is that back projection calculates concrete steps schematic diagram；
Fig. 7 is component computer composition diagram；
Fig. 8 is that multi-CPU accelerates schematic diagram；
Fig. 9 is that DK algorithm list GPU speeds up to frame diagram；
Figure 10 is that many GPU cluster accelerate schematic diagram
Figure 11 is Communication Module Design figure in control system shown in Fig. 2；
Figure 12 is message format figure.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the better embodiment of the present invention.These are only the preferred embodiments of the present invention, not thereby limit the special of the present invention
Profit scope, every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Unless otherwise defined, all of technology used herein and scientific terminology and the technical field belonging to the present invention
The implication that technical staff is generally understood that is identical.The term used the most in the description of the invention is intended merely to describe tool
The purpose of the embodiment of body, it is not intended that in limiting the present invention.Term as used herein " and/or " include one or more
Arbitrary and all of combination of relevant Listed Items.
Referring to Fig. 2, first embodiment of the invention provides a kind of C-arm X-ray machine, and it includes that C-arm 10, X-ray produce mould
Block 20, X-ray receiver module 30, X-ray check module 40, data acquisition module 50, motion module 60, image processing module and display
Module 80；Described X-ray generation module 20 produces X-ray；Described X-ray receiver module 30 receives X-ray and produces X-ray, and described X-ray connects
Receipts module 30 and described X-ray generation module 20 are respectively oppositely installed on the both sides of described C-arm 10；Described X-ray check module
40 detect the X-ray dosage that described X-ray generation module 20 produces, and described X-ray check module 40 is arranged at described X-ray generation module 20
Side towards described X-ray receiver module 30；Described data acquisition module 50 gathers the X-ray that described X-ray receiver module 30 is passed back
Sheet, described data acquisition module 50 is connected with described X-ray receiver module 30；Described motion module 60 drives described C-arm 10
Realizing the motion of multiple degree of freedom, described motion module 60 is connected to described C-arm 10；Described image processing module is carried out at image
Managing and store, described image processing module is connected to described data acquisition module 50；Described display module 80 shows described data
X-ray that acquisition module 50 collects or the image that described image processing module is rebuild, described display module 80 is connected to described
Image processing module.
It is understood that described C-arm 10 is " C " type arcuate structure, arcuate structure has the center of circle of correspondence.This enforcement
In example, described C-arm 10 has multiple axle.
In the present embodiment, described X-ray generation module 20 includes producing the X-ray bulb 21 of X-ray, controlling according to arranging parameter value
Make the dual pressure controller 23 of the X-ray dosage that described X-ray bulb 21 produces and stop that X-ray is to observe regarding of specific dimensions for covering
Wild light concentrator 25.It is understood that the visual field of specific dimensions is set according to actual needs or adjusts.
In the present embodiment, described X-ray receiver module 30 includes penetrating for the X receiving X-ray the X-ray that produces specific dimensions
Line flat panel detector 31, described X-ray flat panel detector 31 and described X-ray bulb 21 are respectively oppositely installed on described C-arm
The both sides of 10, and the line of both centrages is through the center of circle of the circular arc of described C-arm 10.
In the present embodiment, described X-ray check module 40 includes the X-ray dosage for detecting the generation of described X-ray bulb 21
DAP measuring instrument 41, described DAP measuring instrument 41 is installed on the described light concentrator 25 side towards described X-ray flat panel detector 31.
In the present embodiment, described data acquisition module 50 includes image pick-up card (not shown) and data acquisition computer
53, described image pick-up card is for gathering the image that described X-ray flat panel detector 31 is passed back, described data acquisition computer 53
For described image is processed and stores.It is understood that described image pick-up card can be integrated in described data acquisition
Collection computer 53.
In the present embodiment, described image processing module (not shown) includes that at least two are connected by LAN each other
The data handling machine of composition cluster, described data handling machine completes image processing algorithm and stores picture, and will
Result returns to the data acquisition computer 53 of described data acquisition module 50.
In the present embodiment, described motion module 60 includes that five can realize programme controlled servomotor 61 respectively, described
Five servomotors 61 are respectively arranged on five axles of described C-arm 10.
In the present embodiment, described image display 80 includes the picture after showing the picture collected or rebuilding
Display 81.
Referring to Fig. 3, second embodiment of the invention provides the control system of a kind of C-arm X-ray machine, and it connects described c-type
Arm 10, described control system include interface module 210, controller module 220, data model module 230, communication module 240 and
Device interface module 250；Described interface module 210 is used for carrying out man-machine interaction；Described controller module 220 connects described interface
Module 210, described data model module 230, described communication module 240 and described device interface module 250；Described data model
Module 230 stores the image and the information relevant to described image obtained；Described communication module 240 and described data acquisition module
Block 50 and described image processing module are connected；Described device interface module 250 is for connecting with described C-arm 10.
Specifically, referring to Fig. 3, in the present invention, the control system of described C-arm 10 uses software module 200 to control
Making, the framework mode of MVC is followed in the design of software module 200, and software module 200 mainly includes interface module 210, controller mould
Block 220, data model module 230, communication module 240 and device interface module 250.
Specifically, interface module 210 include dosage regulation, image show, motor control, case management and image amplification
Reduce.In the present embodiment, the motion of described C-arm 10, film making can be controlled by interface module 210 and adjust from data base
By functions such as data.Controller module 220, as the Connection Module of other several modules, plays the merit of separation interface and data
Can, it is simple to later software upgrading.Data model module 230 stores the image and the information relevant to image obtained, such as electricity
The positional information of pressure value, milliampere value and described C-arm 10 etc., the current state in which information of described C-arm 10 and reception
The control command arrived.Communication module 240 is mainly responsible for the communication with other main frames, both can transmit picture, it is also possible to transmission control
System instruction.Device interface module 250 is mainly responsible for the cooperation of described C-arm 10 building block, the C-arm 10 that will use hard
Part development module carries out unified cooperation, is utilized respectively the SDK kit that each hardware provides, makes each hardware cooperating, complete
The task of image acquisition (data acquisition), finally does unified encapsulation, provides interface function for interface.
Further, the invention allows for a kind of image processing method accelerated based on cluster, utilize computer cluster
Technology, on the basis of analyzing FDK algorithm, it is proposed that the image processing method using multi-CPU and GPU cluster to accelerate, and can subtract
Few image processing time.
Being specifically described of described image processing method is as follows:
The analysis of FDK algorithm concurrency.
Specifically, by research FDK algorithm, its algorithm flow chart can be obtained, as shown in Figure 4.
The correction factor revised in data for projection only with the distance of radiographic source (X-ray bulb 21) and initial point and project voxel
Point is mapped to the position of detector (X-ray flat panel detector 31) plane and is correlated with, each projection under the most each scanning indexing
The correction of voxel is all separate；Under each indexing, the filtering of data for projection is also separate；Each indexing
Under back projection's process of each subpoint only the most relevant in the position of detector plane to this, so each point is descended in every one scan indexing
Back projection's process is separate equally.
So, when utilizing FDK algorithm that the conical beam CT image that rotary index is N is rebuild, each rotary index
Calculate the most separate, there is not data dependence, therefore data for projection can be distributed at different processors by indexing, each point
The weighting of each voxel under degree, filtering and back projection calculate and independently carry out, and finally carry out cumulative summation, complete the concurrent reconstruction of FDK
Computing, its idiographic flow is as shown in Figure 5.
Again the back projection of each tissue points under each indexing is calculated and refine, 8 steps can be separated again, such as Fig. 6
Shown in.
It will thus be seen that during back projection, the input being output into rear class of front DBMS, meet typical streamline
Type.FDK algorithm spatially has the strongest concurrency thus, the time has again height serial, is to be especially suitable for profit
A kind of algorithm for reconstructing accelerated parallel with cluster.
In the present invention, computer is divided into 2 parts, part of data acquisition and Data Post part, such as Fig. 7 institute
Show.Part of data acquisition is mainly responsible for the serial communication with slave computer, and receives the view data that flat panel detector returns, figure
As the display at interface and less image processing work such as Image Reversal, the negative film etc. of amount of calculation, to computing power requirement
The highest, the most only just can complete with a computer (i.e. data acquisition computer 53).Data Post part is mainly responsible for big portion
Point image processing work, the denoising of such as picture, enhancing, three-dimensional reconstruction and subtract shadow etc., these image manipulations need to expend
The substantial amounts of time, cluster (i.e. image processing module) need to be designed further and realize accelerating.
The present invention also provides for a kind of medical image system, and it includes the C-arm X-ray machine that first embodiment of the invention provides.
Utilize the medical image system with C-arm X-ray machine of the present invention to make film and have an X-rayed and can be divided into following several step:
(1) magnitude of voltage of dual pressure controller 23, current value, time of exposure and frame per second are set by upper computer software.
(2) select the pattern of shooting, be divided into individual film making, have an X-rayed and subtract shadow isotype.
(3) position and the posture of patient of shooting are selected.
(4) control servomotor 61 motion in C-arm 10 arrive the place specified and adjust suitable angle.
(5) control X-ray bulb 21 produce X-ray, utilize light concentrator 25 to adjust visual field, X-ray after human body by X
Ray flat panel detector 31 receives, and is converted into digital signal, passes to the image pick-up card in data acquisition module 50.
(6) picture is passed to image processing module by the data acquisition computer 53 in data acquisition module 50, is completing
The data acquisition computer 53 or remotely eventually of data acquisition module 50 is returned to after the basic picture processing such as denoising, enhancing
End, is used for showing, for doctor's diagnosis and treatment.
The three-dimensional reconstruction of C-arm 10 can be divided into following several step:
Under this function, first three step is same as described above, and here is omitted.
(4) C-arm 10 moves to the original position specified, and starts central motions such as doing, needs multiple axle in the process
Routing motion.
(5) often rotating specific angle to make film one, the data acquisition transferring data to data acquisition module 50 calculates
Machine 53, is passed to by data acquisition computer 53 in the cluster being made up of data handling machine 71 of image processing module and carries out three
Dimension is rebuild.
(6) C-arm 10 has rotated one week, and after the picture number that shooting is formulated, C-arm 10 returns to original position.
(7), after image processing module has calculated data, the data acquisition computer 53 of data acquisition module 50 is returned to
Or remote terminal, it is used for showing, for doctor's diagnosis and treatment.
In the present embodiment, the design of computer cluster is as follows:
Cluster in the present invention refers to the connection side of Data Post partial computer (i.e. data handling machine 71)
Formula.Preferably, between cluster computer (data handling machine 71), cluster computer (data handling machine 71) and data
All it is connected by ICP/IP protocol between the data acquisition computer 53 of acquisition module 50 and with between remote terminal.
FDK algorithm can be accelerated by GPU based on CUDA framework programming at present, be primarily due to GPU relative to CPU
Speech, it has more multinuclear can be with parallel computation, and inside GPU, 80% transistor is used as computing, and the remaining stream that has is controlled and data
Caching, thus determine GPU and there is more highdensity computing capability；And GPU is also more suitable for extensive height on internal memory width
The concurrent operation of performance；Modern GPU is user-programmable, and user can determine the function of GPU by programming.CUDA is
NVIDIA company be meet a set of compiler that oneself GPU writes and relevant built-in function it as a kind of novel software and hardware
Architecture platform, can directly invoke the calculating resource of GPU, and enhance GPU programmability, its computational is also greatly improved
Energy.
The most in the present invention, if cluster Computer (data handling machine 71) quantity is abundant, can directly make
FDK algorithm is accelerated, in the case of computer (data handling machine 71) negligible amounts, it is possible to use cluster with CPU
In GPU be accelerated.
(1) multi-CPU accelerates design
If cluster Computer (data handling machine 71) quantity is more, it is possible to use the multi-CPU in cluster divides jointly
Load calculates.In specific implementation process, as a example by three-dimensional reconstruction process: the data for projection that X-ray flat panel detector 31 obtains passes
To the data acquisition computer 53 of data acquisition module 50, by data acquisition computer 53 by communication module 240 with load all
The data handling machine 71 in cluster all given by picture by the mode of weighing apparatus.Data handling machine 71 in cluster utilizes CPU
It is weighted successively, filters and back projection's calculating, and specify a data handling machine 71 to carry out accumulating operation, in cluster
Result after other data handling machines 71 will calculate passes to this data handling machine 71, and this data handling machine 71 is again
Having added up, after obtaining 3-D view, returned to data acquisition computer 53, data acquisition computer 53 just can show figure
Sheet, the frame diagram of this kind of mode is as shown in Figure 8.
(2) many GPU accelerate design
In the scheme that single GPU accelerates, it is desirable to reading individual data for projection at CPU end, present CUDA can access all
Internal memory, GPU can by PCI-E access CPU internal memory, treat GPU by each indexing picture calculate complete after, finally result is tired out
Adding, the three-dimensional data obtaining rebuilding preserves.CUDA, during programming and optimizing, needs the serial and also of task in distinguished number
The executable portion of row, due to concurrency good between 3 steps of FDK algorithm, can process every pictures, then respectively
Cumulative, each process is relatively independent, and frame diagram is as shown in Figure 9.
In the cluster of the present invention, node computer (data handling machine 71) can be server, work station, blade
Machine can also be PC.Must possess the graphic process unit (GPU) of the NIVDA of process chip (CPU) and support CUDA framework.
The GPU utilizing cluster computer (data handling machine 71) in the cluster forms GPU cluster, more can give full play to cluster meter
The performance of calculation machine (data handling machine 71), improves FDK algorithm process speed.Thus can realize utilizing less cluster
Scale realizes good acceleration effect.In specific implementation process, CPU is responsible for the scheduling of task and the execution of serial task, GPU
It is responsible for the execution of parallel task.Or as a example by three-dimensional reconstruction process: the data for projection that X-ray flat panel detector 31 obtains is passed to
Data acquisition computer 51, is divided equally picture by the way of communication module 240 is with load balancing by data acquisition computer 51
To the data handling machine 71 in cluster.Data handling machine 71 in cluster reads individual data for projection at CPU end, and
And utilize GPU to carry out computing to make full use of the multi-core feature of GPU, weighting, filtering and three processes of back projection are carried out successively
Parallel acceleration.Finally obtain operation result and the data handling machine 71 that is sent to specify completes accumulating operation at CPU end,
To 3-D view.And by 3-D view return data collecting computer 51, or remote terminal, showing picture, frame diagram is such as
Shown in Figure 10.
In this framework, cluster interconnection network is group system build very the key link, it is achieved that connect each
The interference networks of individual calculating node, are the principal elements affecting cluster performance.In transmitting procedure, transmission should be ensured
Speed, also to guarantee the accuracy of transmission, it should also be taken into account that the extensibility of whole cluster network, and can realize remotely grasping
Control function.
In the present embodiment, the design of communication module 240 is as follows:
Native system uses the distributed communication architecture (DCA) under LAN, uses bidirectional server pattern.Each module is set up a little
Communication channel to point, wherein any one module can actively pass through socket request other particular modules of connection, it is thus achieved that this mould
Image information, control command or the status information of equipment etc. of block request.On the other hand, this module sends self net to other modules
The information such as network address, listening port, facilitate counter this module of linking of other modules, it is achieved that automatic between each submodule of system
Handshake procedure.The most just can be realized the transmission of above-mentioned information by the socket of coupling, design drawing is as shown in figure 11.
In the present embodiment, communication protocol design is as follows:
The communication module 240 of the present invention designs based on TCP/IP, will realize the communication between each submodule, needs
Socket sends and receives outside request, in addition it is also necessary to self-defined application layer communication protocol, mainly includes herein below:
(1) message: message is a least unit of this communication protocol transmission.Article one, message contains reception object compiling
Required all information.The header of every message ad hoc structure starts, and is followed by a report body, and terminates with a telegram end.Header
Only it is made up of some conventional data types, and reports the comprehensive various data types of body, specifically determined by header.Accordingly even when report body
Containing the data of not clear type, recipient also can easily pass through header and learn the length information of report body, data type etc..Therefore this
Agreement also can keep compatible in the case of user-defined data type, and structure chart is as shown in figure 12.
(2) header format:
Connection identifier (CID: the unique number of the most each main frame, sets up a communication channel by socket,
Hereafter data exchange is all carried out by this single channel.
Timestamp: be used for after connection establishment notifying other modular systems time.System start time is filled also by 32 full 0s
Timing by navigation platform, the time after timing is sent to receiver module, as receiver module after connecting by other modules
Time started.
Report body type: be used for identifying the type of this message, such as two-dimension picture data, 3-D view or control life
Order.
Report body length: the length of storage data division.
Reserved bit: any regulation is not done in this position, for later software upgrading.
Communication process is described as follows:
The most each data handling machine 71 all can preserve IP value and the port of oneself other main frame to be connected
Number, and each module has several service end thread and client thread, each data handling machine 71 can activate when starting
Its service end thread.Then data handling machine 71 starts client thread, processes meter for each data to be connected
Calculation machine 71 is respectively created a new thread, sends connection request and handshaking information to data handling machine 71 to be connected.
Each interconnective data handling machine 71 all can produce 2 sockets, realizes the transmission of rightabout data respectively,
Use the transmission means of this asynchronous system, prevent transmission blocking.
After the control command that client thread obtains data to be transmitted or receives remote terminal, all can be by data
Or order carries out arranging and being converted into certain format according to communications protocol, when data volume is big, carries out subpackage and process and subpackage
Send.And after receiving message information, all can first analyze header, and unpack according to the content in packet header and splice.
It is understood that the medical image system that the present invention provides includes described C-arm X-ray machine and described control system
System.
Relative to prior art, the C-arm X-ray machine that the present invention provides has the advantage that one, C-arm X-ray machine are integrated
Three-dimensional imaging function, takes full advantage of the feature that C-arm X-ray machine is flexible, small and exquisite, facilitates doctor to use；Two, possesses communication mould
Block, can realize remotely controlling, and can use with the collocation of other platforms, it is possible to use this communication module to realize in cluster at data
Communication between reason computer；Three, can quickly realize 3 D pyramidal CT process of reconstruction, effectively reduce data and process and image weight
The time built.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that, for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a C-arm X-ray machine, it is characterised in that including:
C-arm；
Produce the X-ray generation module of X-ray；
Receiving X-ray and produce the X-ray receiver module of X-ray, described X-ray receiver module and described X-ray generation module difference are the most relative
Be installed on the both sides of described C-arm；
Detect the X-ray check module of the X-ray dosage that described X-ray generation module produces, be arranged at described X-ray generation module towards institute
State the side of X-ray receiver module；
Gathering the data acquisition module of the X-ray that described X-ray receiver module is passed back, it is connected with described X-ray receiver module；
Driving described C-arm to realize the motion module of multiple degree of freedom motion, it is connected to described C-arm；
Carrying out image procossing the image processing module stored, it is connected to described data acquisition module；And
Show X-ray that described data collecting module collected arrives or the display module of the image that described image processing module is rebuild,
It is connected to described image processing module.
2. C-arm X-ray machine as claimed in claim 1, it is characterised in that described X-ray generation module includes the X-ray producing X-ray
Bulb, according to arrange parameter value control described X-ray bulb produce X-ray dosage dual pressure controller and for cover stop X
Light is to observe the light concentrator in the visual field of specific dimensions.
3. C-arm X-ray machine as claimed in claim 2, it is characterised in that described X-ray receiver module includes for receiving X-ray also
Produce the X-ray flat panel detector of the X-ray of specific dimensions, described X-ray flat panel detector and described X-ray bulb the most relative
Be installed on the both sides of described C-arm, and the line of both centrages is through the center of circle of the circular arc of described C-arm.
4. C-arm X-ray machine as claimed in claim 3, it is characterised in that described X-ray check module includes for detecting described X
The DAP measuring instrument of the X-ray dosage that light bulb produces, described DAP measuring instrument is installed on described light concentrator towards described X-ray flat board
The side of detector.
5. C-arm X-ray machine as claimed in claim 3, it is characterised in that described data acquisition module include image pick-up card and
Data acquisition computer, described image pick-up card is for gathering the image that described X-ray flat panel detector is passed back, described data acquisition
Collection computer is for processing described image and store.
6. C-arm X-ray machine as claimed in claim 5, it is characterised in that described image processing module includes at least two mutually
Between by LAN connect composition cluster data handling machine, described data handling machine completes image processing algorithm
And store picture, and result is returned to the data acquisition computer of described data acquisition module.
7. C-arm X-ray machine as claimed in claim 1, it is characterised in that described motion module includes that five can realize journey respectively
The servomotor that sequence controls, described five servomotors are respectively arranged on five axles of described C-arm.
8. C-arm X-ray machine as claimed in claim 1, it is characterised in that described image display includes for showing collection
The display of the picture after the picture arrived or reconstruction.
9. a control system, for controlling the C-arm X-ray machine as described in claim 1～8, it is characterised in that: described control
System includes interface module, controller module, data model module, communication module and device interface module；Described interface module
For carrying out man-machine interaction；Described controller module connects described interface module, described data model module, described communication module
And described device interface module；Image that described data model module stores obtains and the information relevant to described image；Institute
State communication module to be connected with data acquisition module and the image processing module of described C-arm X-ray machine；Described device interface module
For connecting with described C-arm.
10. a medical image system, it is characterised in that include the C-arm X-ray machine as described in claim 1～8 and such as right
Require the control system described in 9.
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| CN115854907A (en) * | 2022-03-04 | 2023-03-28 | 江汉大学 | Measuring device for shape tolerance of inner surface of end socket |
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