CN113509198A - X-ray oral cavity panoramic scanning device and image reconstruction method - Google Patents
X-ray oral cavity panoramic scanning device and image reconstruction method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 31
- 210000000214 mouth Anatomy 0.000 title claims description 7
- 210000004373 mandible Anatomy 0.000 claims abstract description 13
- 210000001738 temporomandibular joint Anatomy 0.000 claims abstract description 12
- 210000003625 skull Anatomy 0.000 claims abstract description 8
- 210000002455 dental arch Anatomy 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 210000000988 bone and bone Anatomy 0.000 claims description 4
- 238000010586 diagram Methods 0.000 claims description 4
- 210000004086 maxillary sinus Anatomy 0.000 claims description 3
- 238000001308 synthesis method Methods 0.000 claims description 3
- 210000003109 clavicle Anatomy 0.000 claims description 2
- 230000005855 radiation Effects 0.000 abstract description 3
- 210000003128 head Anatomy 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 3
- 210000000515 tooth Anatomy 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 2
- 210000001847 jaw Anatomy 0.000 description 2
- 210000004279 orbit Anatomy 0.000 description 2
- 210000001944 turbinate Anatomy 0.000 description 2
- 208000014151 Stomatognathic disease Diseases 0.000 description 1
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 210000004513 dentition Anatomy 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000036346 tooth eruption Effects 0.000 description 1
- 238000004846 x-ray emission Methods 0.000 description 1
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- A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
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Abstract
The invention belongs to the field of medical images, and particularly relates to an X-ray oral panoramic scanning device which comprises a skull fixing device, an X-ray generator, an X-ray detector and other components. Wherein the system of the X-ray generator and the X-ray detector is rotatable in a horizontal direction and movable in a vertical direction independently of the skull fixation device. The system composed of the X-ray generator and the X-ray detector is in a higher position at the beginning and the end of the exposure, so that the connecting line of the X-ray focus and the upper edge of the X-ray detector is higher than the temporomandibular joint; the middle stage is in a lower position, so that the connecting line of the X-ray focus and the lower edge of the X-ray detector is lower than the mandible, more effective parts can be covered by the detector with smaller size in the vertical direction, the cost of the detector is saved, the radiation to non-important parts is reduced, the dosage received by a patient is reduced, the positioning difficulty is reduced, and the temporomandibular joint and all the mandible can be easily covered at the same time.
Description
Technical Field
The invention belongs to the field of medical images, and particularly relates to an X-ray oral panoramic scanning device and an image acquisition and reconstruction method.
Background
The dental panoramic film, also called as a curved surface tomographic film, is a curved surface tomographic image of a dental arch of a patient, which is obtained by rotating a narrow-strip-shaped X-ray detector along the outer portion of the cheek of the patient. In dental diagnosis, panoramic images play a very important role in the diagnosis of dental diseases.
Most panoramic scanners and ct (computed tomography) scanners are integrated in the market, and share components such as an X-ray emission source and an X-ray detector. CT images can provide more abundant three-dimensional information for doctors, panoramic images can conveniently show the morphology of the whole dentition of a patient, panoramic photography can generally provide higher spatial resolution capability than CT, and in addition, the radiation dose of panoramic scanning to the patient is generally only 10% -20% of that of CT scanning, so that panoramic imaging is still one of the mainstream dental diagnosis auxiliary means.
In the main components of the existing digital oral panoramic scanning device, an X-ray light source and a detector are fixed at two ends of a horizontal rotating device, and meanwhile, the rotating center of the horizontal rotating device can translate back and forth or left and right in the horizontal direction. During scanning, the head of a patient is fixed through the fixing device, the light source and the detector rotate around the head of the patient in the horizontal direction, and X-rays are emitted from the light source, penetrate through the head of the patient, are absorbed and attenuated by teeth, bones and soft tissues of the patient and then irradiate on the detector. The intensity information of the X-rays received by the detector is processed by the computer processing unit through the method described in US006049584A or chinese patent CN105934201A to synthesize a curved tomographic image containing the total image of all teeth and surrounding tissues of the patient.
If the panoramic scanning mode needs to include the whole teeth, the temporomandibular joint and all the upper and lower jaws, certain requirements are made on the positioning of the patient and the vertical size of the detector, and the detector is one of the higher-cost components, and the price of the detector generally increases along with the increase of the size. If the detector is sized to only marginally cover the temporomandibular joint to chin height, then if the patient is slightly misaligned or meets some patients with a long face, it is likely that the image height is not high enough to cover all the available information.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides an X-ray oral panoramic scanning device and an image reconstruction method, which solve the problem that the image height is not enough to cover all effective information easily when a patient is slightly deviated in arrangement or meets certain patients with long faces.
In order to achieve the purpose, the invention provides the following technical scheme: an X-ray oral cavity panoramic scanning device, includes the bottom plate, its characterized in that: the top of bottom plate is provided with the pole setting, the surface of pole setting is provided with fixed shift ring, one side of fixed shift ring is provided with the backup pad, the one end of backup pad is provided with skull fixing device, the surface at pole setting top is provided with the top shift ring, one side on top shift ring surface is provided with the support, the one end of support is provided with horizontal rotation device, horizontal rotation device's one end is provided with fixed mounting bracket, one side of fixed mounting bracket is provided with X ray detector, fixed mounting bracket's opposite side is provided with the spliced pole, the bottom of spliced pole is provided with X ray generator.
In order to cooperate with the use of the device, the use method of the X-ray oral panoramic scanning device is provided, which comprises the following steps:
in the scanning process, X ray generator continuously sends X ray, and X ray detector continuously receives X ray, and this process becomes the exposure, and in the exposure process, horizontal rotating device drives fixed mounting bracket and lasts rotatoryly, and the rotation center of fixed mounting bracket moves along the horizontal direction, and the top shift ring is along pole setting up-and-down motion.
The above-mentioned parts move synchronously, make the movement track accord with the following characteristic:
as with a typical panoramic scanner, the line between the X-ray generator and the X-ray detector sweeps horizontally through a semi-elliptical or parabolic curve of the dental arch and alveolar bone and forms an angle with the curve that is near vertical (e.g., greater than sixty degrees).
The X-ray generator and the X-ray detector move up and down in the scanning process and are at higher positions at the beginning and the end, so that the connecting line of the upper edges of the X-ray generator and the X-ray detector is higher than the temporomandibular joint; the middle stage is in a lower position, so that the lower edge connecting line of the X-ray generator and the X-ray detector is lower than the mandible.
In order to cooperate with the device, the X-ray oral panoramic image synthesis method is provided, which comprises the following steps:
a virtual curved surface to be reconstructed is set, and the virtual curved surface approximately simulates the shape of a dental arch of a patient.
For each pixel point C on the virtual curved surface, a set S of all the projection frames photographed to the point is calculated through a geometric relationship, for convenience of description, a schematic diagram does not generally show two frames in the set S, and letter subscripts 1 and 2 in the following description respectively correspond to two projection frames in a legend.
And for each projection frame in the set S, setting the position of the X-ray source as E, and calculating the position of the detector of the intersection point of a straight line formed by connecting E and C and the plane of the detector of the frame, namely the projection P of the point C on the detector.
And weighting and averaging the values of all the projection points P in the set according to a certain rule to obtain the value of the pixel point C.
How to set the virtual curved surface to be reconstructed is determined according to the statistical results of a large number of samples and the basic information of a patient, a plurality of virtual curved surfaces can be set, even a three-dimensional volume with a certain thickness is set, and the curved surface with a certain thickness is selected according to the requirement after reconstruction.
Regarding how to find the set S and how to calculate the position of the projection of the point C on the detector, a typical method is to calculate a three-dimensional transformation and a three-dimensional projection matrix by the geometric pose of each component in each frame, and then calculate the projection coordinates of the point C on the detector by the three-dimensional transformation matrix using the coordinates of the point C.
Regarding how the weight of each frame is determined by weighted summation of all the C-point projection values, the weight can be calculated by information such as the angle between the X-ray and the flat panel, the angle between the X-ray and the dental arch curve, the gantry moving speed, and the like.
The image reconstruction method is different from a general panoramic image reconstruction method in that:
the effective range of the finally presented image is not rectangular or approximately rectangular, but is in a bent belt shape with two high sides and a low middle part, the height of each row of the image is in positive correlation with the height of a subsystem formed by the X-ray source and the detector when the row is scanned, so that although the effective edge of the image is not rectangular, the effective range can not deform due to the up-and-down movement of the X-ray source and the detector, the left side and the right side of the image are higher, the lower ends of the temporomandibular joint and the two sides of the mandible are included, the situation that the lower edge of the middle part of the mandible, the maxillary sinus, the inferior turbinate and the like are not guaranteed to be included, and the situation that the lower eye socket and the like are not guaranteed to be included.
Compared with the prior art, the invention has the beneficial effects that:
the X-ray generator and the X-ray detector are in higher positions at the beginning and the end of the exposure, so that the upper edge connecting line of the X-ray generator and the X-ray detector is higher than the temporomandibular joint; the middle stage is in a lower position, so that the lower edge connecting line of the X-ray generator and the X-ray detector is lower than the mandible, more effective parts can be covered by the detector with smaller size in the vertical direction, the cost of the detector is saved, the radiation to non-important parts is reduced, the dosage received by a patient is reduced, the positioning difficulty is reduced, and the temporomandibular joint and all the mandible can be covered easily at the same time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a third perspective view of the present invention;
FIG. 4 is a schematic diagram of an image reconstruction method according to the present invention;
FIG. 5 is a schematic view of a generic panorama;
fig. 6 is a perspective view of the present invention.
In the figure: 1, a bottom plate; 4, limiting a bump; 5, erecting a rod; 6 fixing the movable ring; 7 a top moving ring; 10 supporting rods; 11 a support; 14 a circular support plate; 15 fixing the mounting rack; 17 a support plate; 21 a fixing frame; a 25X-ray detector; a 26X-ray generator; 27 connecting column; 28 arc-shaped fixed sponge blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides the following technical solutions: the utility model provides an X ray oral cavity panorama scanning device, comprising a base plate 1, the top of bottom plate 1 is provided with pole setting 5, the surface of pole setting 5 is provided with fixed shift ring 6, one side of fixed shift ring 6 is provided with backup pad 17, the one end of backup pad 17 is provided with skull fixing device, the surface at pole setting 5 top is provided with top shift ring 7, one side on top shift ring 7 surface is provided with support 11, the one end of support 11 is provided with horizontal rotation device, horizontal rotation device's one end is provided with fixed mounting frame 15, one side of fixed mounting frame 15 is provided with X ray detector 25, the opposite side of fixed mounting frame 15 is provided with spliced pole 27, the bottom of spliced pole 27 is provided with X ray generator 26.
In the scanning process, the X-ray generator 26 continuously emits X-rays, the X-ray detector 25 continuously receives the X-rays, the process becomes exposure, in the exposure process, the horizontal rotating device drives the fixed mounting frame 15 to continuously rotate, the rotating center of the fixed mounting frame 15 moves along the horizontal direction, and the top moving ring 7 moves up and down along the vertical rod 5.
The above-mentioned parts move synchronously, make the movement track accord with the following characteristic:
as with a typical panoramic scanner, the line between the X-ray generator 26 and the X-ray detector 25 sweeps in a horizontal direction through a semi-elliptical or parabolic curve of the arch and alveolar bone, and forms a large angle with the curve, e.g., greater than sixty degrees.
Moving up and down in the scanning process, and at the beginning and the end, the X-ray generator 26 is at a higher position, so that the upper edge connecting line of the X-ray generator 25 and the X-ray detector is higher than the temporomandibular joint; the intermediate stage is in a lower position such that the lower edge line of the X-ray generator 26 and the X-ray detector 25 is lower than the mandible.
In order to cooperate with the device, the X-ray oral panoramic image synthesis method is provided, which comprises the following steps:
a virtual curved surface to be reconstructed is set, and the virtual curved surface approximately simulates the shape of a dental arch of a patient.
For each pixel point C on the virtual curved surface, a set S of all the projection frames photographed to the point is calculated through a geometric relationship, for convenience of description, a schematic diagram does not generally show two frames in the set S, and letter subscripts 1 and 2 in the following description respectively correspond to two projection frames in a legend.
And for each projection frame in the set S, setting the position of the X-ray source as E, and calculating the position of the detector of the intersection point of a straight line formed by connecting E and C and the plane of the detector of the frame, namely the projection P of the point C on the detector.
And weighting and averaging the values of all the projection points P in the set according to a certain rule to obtain the value of the pixel point C.
How to set the virtual curved surface to be reconstructed is determined according to the statistical results of a large number of samples and the basic information of a patient, a plurality of virtual curved surfaces can be set, even a three-dimensional volume with a certain thickness is set, and the curved surface with a certain thickness is selected according to the requirement after reconstruction.
Regarding how to find the set S and how to calculate the position of the projection of the point C on the detector, a typical method is to calculate a three-dimensional transformation and a three-dimensional projection matrix by the geometric pose of each component in each frame, and then calculate the projection coordinates of the point C on the detector by the three-dimensional transformation matrix using the coordinates of the point C.
Regarding how the weight of each frame is determined by weighted summation of all the C-point projection values, the weight can be calculated by information such as the angle between the X-ray and the flat panel, the angle between the X-ray and the dental arch curve, the gantry moving speed, and the like.
The image reconstruction method is different from a general panoramic image reconstruction method in that:
the effective range of the finally presented image is not rectangular or approximately rectangular as shown in fig. 5, but is in a curved belt shape with two high sides and a low middle as shown in fig. 6, the height of each row of the image is positively correlated with the height of a subsystem consisting of the X-ray source and the detector when the row is scanned, so that although the effective edge of the image is not rectangular, the effective range cannot be deformed due to the up-and-down movement of the X-ray source and the detector, the left side and the right side of the image are higher and comprise the lower ends of the temporomandibular joint and the two sides of the mandible but cannot ensure that the non-important information such as clavicle can be covered, the middle of the image comprises the lower edge of the middle part of the mandible, the maxillary sinus, the inferior turbinate and the like but cannot ensure that the non-important parts such as the lower orbit are included.
The working principle and the using process of the invention are as follows: after the device is installed, a skull fixing device is also arranged on the upright post and can move in the vertical direction, but is completely independent from the top support, a jaw pull, a temple clamp and other parts are arranged on the skull fixing device and used for positioning and fixing the head of a patient, the stability of the skull is improved, the situation that the head of the patient shakes during scanning to influence the scanning result is prevented, after the fixing is completed, an X-ray generator 26 continuously emits X-rays, and an X-ray detector 25 continuously receives the X-rays so as to perform exposure, and all electric equipment in the device is powered by an external power supply.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An X-ray oral cavity panoramic scanning device, includes bottom plate (1), its characterized in that: the top of bottom plate (1) is provided with pole setting (5), the surface of pole setting (5) is provided with fixed shift ring (6), one side of fixed shift ring (6) is provided with backup pad (17), the one end of backup pad (17) is provided with skull fixing device, the surface at pole setting (5) top is provided with top shift ring (7), one side on top shift ring (7) surface is provided with support (11), the one end of support (11) is provided with horizontal rotation device, horizontal rotation device's one end is provided with fixed mounting bracket (15), one side of fixed mounting bracket (15) is provided with X ray detector (25), the opposite side of fixed mounting bracket (15) is provided with spliced pole (27), the bottom of spliced pole (27) is provided with X ray generator (26).
2. The X-ray oral panoramic scanning device of claim 1, characterized in that: the two sides of the surface of the vertical rod (5) are respectively provided with a limiting lug (4), the fixed moving ring (6) and the inside of the top moving ring (7) are respectively provided with a sliding groove, and the limiting lug (4) is connected with the sliding groove in a sliding manner.
3. The X-ray oral panoramic scanning device of claim 2, characterized in that: one side of support (11) bottom is provided with bracing piece (10), and the one end of bracing piece (10) is connected with top shift ring (7), the appearance of top shift ring (7), bracing piece (10) and support (11) is triangle-shaped.
4. The X-ray oral panoramic scanning device of claim 3, characterized in that: the surface of the fixed mounting frame (15) is provided with a circular support plate (14), the bottom of the support (11) is provided with an arc-shaped groove, and the circular support plate (14) is located inside the arc-shaped groove.
5. An X-ray oral cavity panoramic scanning device according to claim 4, and a use method of the X-ray oral cavity panoramic scanning device is provided, and the method is characterized by comprising the following steps:
in the scanning process, an X-ray generator (26) continuously emits X-rays, an X-ray detector (25) continuously receives the X-rays, the process is exposure, in the exposure process, a motor (12) drives a fixed mounting rack (15) to continuously rotate through a rotating shaft (13), the rotating center of the fixed mounting rack (15) moves along the horizontal direction, and a top moving ring (7) moves up and down along an upright rod (5);
the above-mentioned parts move synchronously, make the movement track accord with the following characteristic:
like a general panoramic scanner, a connecting line between an X-ray generator (26) and an X-ray detector (25) sweeps a semi-elliptic or parabolic curve formed by an arch and an alveolar bone in the horizontal direction, and forms an angle close to the vertical with the curve;
the top moving ring (7) moves up and down in the scanning process and is at a higher position at the beginning and the end stages, so that the upper edge connecting line of the X-ray generator (26) and the X-ray detector (25) is higher than the temporomandibular joint; the intermediate stage is in a lower position such that a line connecting the lower edges of the X-ray generator (26) and the X-ray detector (25) is lower than the mandible.
6. The X-ray oral panoramic scanning device according to claim 5, which provides an X-ray oral panoramic image synthesis method, and is characterized by comprising the following steps:
setting a virtual curved surface to be reconstructed, wherein the virtual curved surface approximately simulates the shape of a dental arch of a patient;
for each pixel point C on the virtual curved surface, calculating a set S of all projection frames shot to the point through a geometric relation, wherein for convenience of description, two frames in the set S are shown in a schematic diagram, and letter subscripts 1 and 2 in the following description respectively correspond to the two projection frames in a legend;
for each projection frame in the set S, setting the position of an X-ray source as E, and calculating the position of the intersection point of a straight line formed by connecting E and C and the plane of the frame detector on the detector, namely the projection P of the point C on the detector;
weighted average is carried out on the values of all the projection points P in the set according to a certain rule to obtain the value of the pixel point C;
how to set the virtual curved surface to be reconstructed can be determined according to the statistical results of a large number of samples and the basic information of a patient, a plurality of virtual curved surfaces can be set, even a three-dimensional volume with a certain thickness can be set, and the curved surface with a certain thickness can be selected according to the requirement after reconstruction;
regarding how to find out the set S and how to calculate the position of the projection of the point C on the detector, a typical method is to calculate a three-dimensional transformation matrix and a three-dimensional projection matrix through the geometric poses of each component in each frame, and then calculate the projection coordinates of the point C on the detector through the three-dimensional transformation matrix by using the coordinates of the point C;
as to how to determine the weight of each frame by weighting and summing all the C point projection values, the weight can be calculated by the angle between the X-ray and the flat plate, the angle between the X-ray and the dental arch curved surface, the moving speed of the rack and other information;
the image reconstruction method is different from a general panoramic image reconstruction method in that:
the effective range of the finally presented image is not rectangular or approximately rectangular, but is in a bent belt shape with two high sides and a low middle part, the height of each row of the image is in positive correlation with the height of a subsystem formed by the X-ray source and the detector when the row is scanned, so that although the effective edge of the image is not rectangular, the effective range can not deform due to the up-and-down movement of the X-ray source and the detector, the left side and the right side of the image are higher, the lower ends of the temporomandibular joint and the two sides of the mandible are included, the situation that the vital information such as the clavicle can be covered is not guaranteed, the middle of the image comprises the lower edge of the middle part of the mandible, the maxillary sinus and the like, but the situation that the vital parts such as the lower orbit are included is not guaranteed.
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