CN219179961U - Calibration unit, calibration target and DSA equipment camera calibration system - Google Patents
Calibration unit, calibration target and DSA equipment camera calibration system Download PDFInfo
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- CN219179961U CN219179961U CN202223583990.5U CN202223583990U CN219179961U CN 219179961 U CN219179961 U CN 219179961U CN 202223583990 U CN202223583990 U CN 202223583990U CN 219179961 U CN219179961 U CN 219179961U
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Abstract
The utility model discloses a calibration unit, a calibration target and a DSA equipment camera calibration system, and relates to the technical field of camera calibration tools. The calibration unit comprises a calibration part and a bottom plate, wherein the calibration part is provided with a geometric center, the calibration part is arranged on the bottom plate, and an X-ray attenuation difference and an optical imaging difference are arranged between the calibration part and the bottom plate. In this scheme, the calibration portion has the geometric center, and the calibration portion has the symmetry to have X-ray attenuation difference and optical imaging difference between calibration portion and the bottom plate, can guarantee that the calibration portion can both be discerned under X-ray imaging and optical imaging, thereby improved the calibration precision.
Description
Technical Field
The utility model relates to the technical field of camera calibration tools, in particular to a calibration unit, a calibration target and a DSA equipment camera calibration system.
Background
The traditional manipulator arm eyes are calibrated, and the coordinate relation between the tail end of the manipulator arm and the camera is calibrated. And calibrating and identifying the mark target at the tail end of the fixed mechanical arm by using an external camera to finish calibration. Conventional camera calibration tools are typically checkerboard, circular array targets, or standard ball array targets of a prescribed size, which are typically standard in size and smaller in size, and are not well suited for use in a long-range, large field of view. Meanwhile, some large calibration tools have large processing difficulty and difficult fixing, and the large calibration tools can influence the calibration result, so that the calibration is difficult and the calibration precision is low.
Disclosure of Invention
The utility model aims to overcome the defect of low calibration accuracy of a calibration target in the prior art, and provides a calibration unit, the calibration target and a DSA equipment camera calibration system.
The utility model solves the technical problems by the following technical scheme:
the calibration unit comprises a calibration part and a bottom plate, wherein the calibration part is provided with a geometric center, the calibration part is arranged on the bottom plate, and an X-ray attenuation difference and an optical imaging difference are arranged between the calibration part and the bottom plate.
In this scheme, the calibration portion has the geometric center, and the calibration portion has the symmetry to have X-ray attenuation difference and optical imaging difference between calibration portion and the bottom plate, can guarantee that the calibration portion can both be discerned under X-ray imaging and optical imaging, thereby improved the calibration precision.
Preferably, at least one of a plurality of hollowed-out parts, protruding parts and recessed parts is symmetrically arranged around the geometric center, and the at least one of the hollowed-out parts, the protruding parts and the recessed parts forms the calibration part.
In this scheme, through setting up at least one in fretwork portion, bellying and the depressed part, not only be favorable to forming the X-ray attenuation difference, and then can guarantee the discernability under X-ray imaging, promoted the precision of demarcating, simple manufacture moreover, with low costs.
Preferably, the calibration part is in a hollowed cross shape.
In this scheme, the simple structure of demarcating portion, it is with low costs, but also can have X-ray attenuation difference and optical imaging difference, demarcating precision is high.
Preferably, the geometric center of the calibration part coincides with both optical imaging and X-ray imaging.
In the scheme, the geometric centers of the calibration parts are overlapped under two conditions, so that the subsequent processing complexity is reduced, the processing efficiency is improved, the calibration error can be reduced, and the calibration precision is improved.
Preferably, the calibration part is a metal sphere.
In this scheme, the simple structure of demarcating portion, it is with low costs, but also can have X-ray attenuation difference and optical imaging difference, demarcating precision is high.
Preferably, a calibration target comprises a support and a plurality of calibration units as described above, a plurality of the calibration units being arranged on the same support surface of the support.
In this scheme, each calibration unit can both be discerned under X ray imaging and optical imaging to the calibration unit has the symmetry, and the calibration precision is high, can form a plurality of calibration points on support piece through a plurality of calibration units, and each calibration point is in same holding surface, is favorable to promoting the calibration precision under the large visual field, and the manufacturing degree of difficulty of calibration target is low, and the cost of manufacture is also lower.
Preferably, the support is foldable.
In this scheme, support piece can reduce the volume of demarcating the target through folding, realizes demarcating the minimum of target accommodation space, is convenient for store and transport.
Preferably, the calibration target further comprises a fixing member, one end of the fixing member is connected to the supporting member, and the calibration target is fixed to the external part through the fixing member.
In this scheme, conveniently be connected the calibration target with external part through the mounting, the fixed more convenient of calibration target to the calibration target is difficult for taking place to remove in the use, and the calibration precision is higher.
Preferably, a plurality of the calibration units are uniformly arranged on the support member.
In the scheme, the calibration unit forms a plurality of uniformly distributed calibration points on the support piece, so that the calibration precision is improved.
A DSA (Digital Subtraction Angiography ) device camera calibration system comprising a calibration target as described above.
In the scheme, the calibration target can be identified under X-ray imaging and optical imaging, so that the calibration precision and the processing efficiency of the DSA equipment camera calibration system can be improved.
The utility model has the positive progress effects that: in this scheme, the calibration portion has the geometric center, and the calibration portion has the symmetry to have X-ray attenuation difference and optical imaging difference between calibration portion and the bottom plate, can guarantee that the calibration portion can both be discerned under X-ray imaging and optical imaging, thereby improved the calibration precision.
Drawings
FIG. 1 is a schematic diagram of the calibration unit in embodiment 1;
FIG. 2 is a schematic diagram showing the structure of the development state of the calibration target in example 2;
FIG. 3 is a schematic diagram showing the structure of the folded state of the calibration target in example 2;
FIG. 4 is a schematic structural view showing the use state of the calibration target in example 2;
FIG. 5 is a schematic diagram of the camera calibration system of the DSA apparatus in embodiment 2;
FIG. 6 is a schematic structural diagram of the calibration target in example 3.
Transmitting end 140
Receiving end 150
Support 200
Fixing member 300
Detailed Description
The utility model is further illustrated by means of examples which follow, without thereby restricting the scope of the utility model thereto.
Example 1
As shown in fig. 1, the present embodiment provides a calibration unit 100, which includes a calibration portion 120 and a base plate 110, the calibration portion 120 has a geometric center 130, the calibration portion 120 is disposed on the base plate 110, and an X-ray attenuation difference and an optical imaging difference are provided between the calibration portion 120 and the base plate 110. The calibration part 120 has a geometric center 130, the calibration part 120 has symmetry, and the calibration part 120 and the base plate 110 have an X-ray attenuation difference and an optical imaging difference, so that the calibration part 120 can be identified under both X-ray imaging and optical imaging, and the calibration precision is improved.
Specifically, in the present embodiment, the calibration portion 120 is in a hollowed-out cross shape. The geometric center 130 is located at the intersection center point of the cross shape. The calibration part 120 is in a hollowed cross shape, has a simple structure and low cost, and can also have X-ray attenuation difference and optical imaging difference, so that the calibration precision is high.
In other embodiments, the calibration portion 120 may be a metal sphere. The calibration part 120 is a metal sphere, has a simple structure and low cost, and can also have X-ray attenuation difference and optical imaging difference, so that the calibration precision is high.
In other embodiments, the calibration portion 120 may have the following structure:
a plurality of hollowed-out portions are symmetrically disposed around the geometric center 130.
A plurality of bosses are symmetrically disposed about geometric center 130.
A plurality of recesses are symmetrically disposed about geometric center 130.
A plurality of hollowed-out portions and raised portions are symmetrically arranged around the geometric center 130.
A plurality of hollowed-out portions and recessed portions are symmetrically arranged around the geometric center 130.
A plurality of combinations of protrusions and depressions are symmetrically disposed about geometric center 130.
A plurality of hollowed-out portions, recessed portions, and raised portions in combination are symmetrically disposed around the geometric center 130.
Only at the geometric center 130 is a hollowed-out or recessed portion provided.
When there is a thickness difference or a material difference between the calibration part 120 and the base plate 110, there can be an X-ray attenuation difference, and the calibration part 120 can be imaged under X-rays. Thus, for example, the calibration part can be hollow, convex or concave, and has the property of imaging on an X-ray image and an optical image. The structure is favorable for forming the X-ray attenuation difference, so that the identifiability under X-ray imaging can be ensured, the calibration precision is improved, and the structure is simple to manufacture and low in cost.
In the present embodiment, the geometric center 130 of the calibration part 120 coincides in both cases of optical imaging and X-ray imaging. The geometric center 130 of the calibration part 120 is overlapped under two conditions, which is beneficial to reducing the complexity of subsequent processing, improving the processing efficiency, reducing the calibration error and improving the calibration precision.
Example 2
As shown in fig. 2 to 4, the present embodiment provides a calibration target including a support 200 and a plurality of calibration units 100 of embodiment 1, the plurality of calibration units 100 being disposed on the same support surface of the support 200. Each calibration unit 100 can be identified under the X-ray imaging and the optical imaging, the calibration units 100 have symmetry and high calibration precision, a plurality of calibration points can be formed on the supporting piece 200 through the plurality of calibration units 100, each calibration point is positioned on the same supporting surface, the calibration precision under a large visual field is facilitated to be improved, the manufacturing difficulty of the calibration targets is low, and the manufacturing cost is also low.
As shown in fig. 2 and 3, in the present embodiment, the support 200 is foldable. Specifically, the support 200 may include a plurality of support units, each of which may be folded, and each of which is provided with the calibration unit 100.
Fig. 2 is a schematic diagram of a calibration target in an unfolded state of a support 200, where the support is provided with 4 support units, a calibration unit 100 is disposed in a middle area of a leftmost support unit, a calibration unit is disposed at two ends of a support unit adjacent to the leftmost support unit, and distribution of calibration units on two subsequent support units is the same as that of the first two support units.
FIG. 3 is a schematic view of a calibration target in a folded state of a support 200, on the one hand, the support 200 can reduce the volume of the calibration target by folding, thereby minimizing the storage space of the calibration target, and facilitating storage and transportation; on the other hand, the size of the support 200 can be flexibly adjusted by folding so as to adapt to the use requirements under different fields of view.
In this embodiment, the calibration target further includes a fixing member 300, one end of the fixing member 300 is connected to the support member 200, and the calibration target is fixed to an external part by the fixing member 300. The calibration target is conveniently attached to an external component by a mount 300. As shown in FIG. 4, the calibration target may be secured to the patient bed by mount 300. The calibration target is more convenient to fix, and the calibration target is not easy to move in position and has higher calibration precision in the use process. Wherein the fixing member 300 may employ a binding rope having elasticity.
As shown in fig. 5, the present embodiment also provides a DSA device camera calibration system, which includes the above calibration target. By adopting the calibration target, the imaging system can be identified under X-ray imaging and optical imaging, and is beneficial to improving the calibration precision and the processing efficiency of a DSA equipment camera calibration system.
Specifically, the DSA device camera calibration system includes an X-ray camera including a transmitting end 140 and a receiving end 150 mounted on a C-arm mounted on a robotic arm that moves the C-arm. When photographing, the X-ray emitted by the transmitting end 140 passes through the detected object to reach the receiving end 150, an image is formed on the screen or the X-ray film, and the system software of the camera calibration system of the DSA equipment can feed back real-time coordinates of the intersection point of the connecting line of the transmitting end and the receiving end and the detected object in real time.
The calibration method comprises the following steps:
s1, shooting any geometric center on a calibration target by using an X-ray camera at a first position, and shooting the same geometric center by using the X-ray camera at a second position, wherein the connecting lines of the transmitting end 140 and the receiving end 150 of the X-ray camera at the first position and the second position are respectively non-parallel.
In step S1, when the X-ray camera shoots the geometric center at the first position, the transmitting end 140 and the receiving end 150 of the C-shaped arm are respectively located at two sides of the geometric center, and the X-ray emitted by the transmitting end 140 passes through the geometric center to obtain an image (or image) of the geometric center. In the system software of the X-ray imaging device 110, two-dimensional coordinates (e.g., X, Y) of the geometric center can be acquired in real time. Likewise, the system software of the X-ray imaging apparatus 110 can acquire different two-dimensional coordinates (for example, X, Z or Y, Z) of the same geometric center by photographing the same geometric center at the second position by using the X-ray camera, and can acquire three-dimensional coordinates of the geometric center based on the two-dimensional coordinates obtained by photographing twice. Of course, in other shooting orientations, two-dimensional coordinates (Y, Z) may be obtained first, then two-dimensional coordinates (X, Z) may be obtained by transferring the shooting position, and three-dimensional coordinates of the marker point may be obtained. The connection line of the transmitting end 140 and the receiving end 150 of the X-ray camera at the first position and the connection line of the receiving end 150 at the second position are not parallel, so that the mark point is prevented from being shot in the same direction, and the third one-dimensional coordinate is difficult to accurately determine. At the time of shooting, according to the real-time perspective image, the TPC point is aligned with the geometric center of the geometric center at the first position and the second position respectively so as to reduce measurement errors.
S2, shooting the calibration target by using the camera to be calibrated.
In step S2, shooting a calibration target by using a camera to be calibrated to obtain a calibration image with a geometric center, and then directly obtaining the pixel coordinates of the geometric center by judging the calibration image.
Preferably, the first position is a position where the line connecting the transmitting end 140 and the receiving end 150 is perpendicular to the plane of the target. In the first position, two-dimensional coordinates (X, Y) of the geometric center can be obtained. The second position is a position where the line connecting the transmitting end 140 and the receiving end 150 is parallel to the plane of the calibration target, and a two-dimensional coordinate (X, Z) including a third dimension (Z) can be obtained. Thus, the third dimensional coordinates of the geometric center can be obtained from the photographed first position and the first position. By adopting the specific position to shoot the geometric center, the three-dimensional coordinates of the geometric center can be simply and rapidly acquired without complex calculation in the process of acquiring the geometric center, the efficiency is improved, and the measurement accuracy is high.
Example 3
As shown in fig. 6, the present embodiment is basically the same as embodiment 2 in that a plurality of calibration units 100 are uniformly arranged on a support 200. Specifically, the interval between adjacent calibration units 100 is 600mm. Of course, in other embodiments, the spacing distance can be flexibly adjusted according to the needs, and the larger the spacing distance between the adjacent calibration units 100 is, the more suitable for a long-distance and large-field scene, and the more accurate the calibration is. The calibration unit 100 forms a plurality of uniformly distributed calibration points on the support 200, thereby facilitating the improvement of calibration accuracy.
While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the utility model is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the utility model, but such changes and modifications fall within the scope of the utility model.
Claims (10)
1. A calibration unit (100) characterized in that it comprises a calibration part (120) and a base plate (110), the calibration part (120) has a geometric center (130), the calibration part (120) is arranged on the base plate (110), and an X-ray attenuation difference and an optical imaging difference are arranged between the calibration part (120) and the base plate (110).
2. The calibration unit (100) according to claim 1, wherein at least one of a plurality of hollowed-out portions, raised portions and recessed portions forming the calibration portion (120) are symmetrically arranged around the geometric center (130).
3. The calibration unit (100) according to claim 2, wherein the calibration portion (120) is hollowed out cross-shaped.
4. The calibration unit (100) according to claim 1, wherein the geometric center (130) of the calibration portion (120) coincides both in optical imaging and in X-ray imaging.
5. The calibration unit (100) according to claim 1, wherein the calibration portion (120) is a metal sphere.
6. A calibration target, characterized in that it comprises a support (200) and a plurality of calibration units (100) according to any one of claims 1-5, a plurality of said calibration units (100) being arranged on the same support surface of said support (200).
7. The calibration target according to claim 6, characterized in that the support (200) is foldable.
8. The calibration target according to claim 7, further comprising a fixing member (300), wherein one end of the fixing member (300) is connected to the support member (200), and wherein the calibration target is fixed to an external part by the fixing member (300).
9. The calibration target according to claim 6, characterized in that a plurality of the calibration units (100) are uniformly arranged on the support (200).
10. A DSA device camera calibration system comprising a calibration target according to any one of claims 6-9.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223583990.5U CN219179961U (en) | 2022-12-30 | 2022-12-30 | Calibration unit, calibration target and DSA equipment camera calibration system |
| EP23911014.1A EP4548303A1 (en) | 2022-12-30 | 2023-12-30 | Camera calibration systems, methods, and storage mediums for x-ray imaging |
| PCT/CN2023/143724 WO2024141102A1 (en) | 2022-12-30 | 2023-12-30 | Camera calibration systems, methods, and storage mediums for x-ray imaging |
| US19/014,160 US20250148643A1 (en) | 2022-12-30 | 2025-01-08 | Camera calibration systems, methods, and storage mediums for x-ray imaging |
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| CN202223583990.5U CN219179961U (en) | 2022-12-30 | 2022-12-30 | Calibration unit, calibration target and DSA equipment camera calibration system |
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| CN219179961U true CN219179961U (en) | 2023-06-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024141102A1 (en) * | 2022-12-30 | 2024-07-04 | Shanghai United Imaging Healthcare Co., Ltd. | Camera calibration systems, methods, and storage mediums for x-ray imaging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024141102A1 (en) * | 2022-12-30 | 2024-07-04 | Shanghai United Imaging Healthcare Co., Ltd. | Camera calibration systems, methods, and storage mediums for x-ray imaging |
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