CN109009201B - Flat PET limited angle sub-image positioning system and positioning method thereof - Google Patents
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Abstract
The invention discloses a panel PET limited angle sub-image positioning system and a positioning method thereof. The invention places the imaging sample in the middle of a pair of flat PET plates without mechanical rotation; the pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample, and the position of the intersection point is calculated and stored by the computer; the position of the flat PET is kept unchanged, PET data are collected, and the PET data are transmitted to a computer; the computer obtains a PET reconstructed image through a combination algorithm of an expected maximization algorithm EM and a total variation minimization algorithm TV, overcomes the difficulties of image deformation and large image noise caused by a missing angle, fuses the intersection point of two beams of visible light into the PET reconstructed image, displays the PET reconstructed image in a pseudo-bright spot mode, realizes the fusion with optical information, and takes the intersection point as a reference point, thereby directly displaying a target point in an imaging sample and intuitively positioning the target point.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a flat PET limited angle sub-image positioning system and a positioning method thereof.
Background
Positron emission tomography (Positron Emission Tomography, PET) is a non-invasive molecular medical imaging technique that can non-invasively, quantitatively, and dynamically reflect metabolism, biochemical reactions, functional activities, and perfusion levels in vivo. Since the glucose metabolism of malignant tumor cells is much higher than that of normal tissue cells, PET is widely used clinically for imaging diagnosis of malignant tumor. With the development of technology, tumors become the greatest threat to human life. Surgery is one of the oldest and most effective methods of treating tumors. Tumors are generally located in the body and thus have great significance for tumor localization both pre-and intra-operatively.
Along with the continuous deep application of PET, the awareness and acceptance of clinical diagnosis and basic research on PET instruments are gradually improved, and meanwhile, new requirements are also provided for the performance and functions of the PET instruments, so that researchers of the PET instruments are promoted to develop new methods and technologies, and the updating of the instruments is promoted from a plurality of links such as system design, hardware devices, image reconstruction and the like. From the perspective of system design, researchers have proposed various new configurations of PET imaging systems. Among them, the PET imaging system employing a pair of flat panel detectors is easy to realize in engineering due to its compact structure, and has both openness and adjustability, and has been attracting attention of researchers. Unlike annular PET, which traditionally uses multiple detectors, flat panel PET uses only a pair of flat panel detectors to form the entire system. The open adjustable flat PET can be used for guiding stereotactic biopsy in real time, so that the accuracy of biopsy sampling is improved; in the surgical excision operation or the real-time guided radiotherapy of tumors, the open PET structure can enable treatment and imaging to be carried out synchronously, can detect and position residual focus in real time, guides treatment and improves the radical treatment effect of the operation.
For flat PET, two flat plates rotate, and 180 degrees of complete data can be acquired for image reconstruction. At present, a patient can only carry out PET tumor imaging examination on a PET machine before operation, when the patient is on an operation table and the operation is carried out, the position, the tissue organ and the existence and the position (residual tumor) of the tumor of the patient are greatly changed, and a solution and a technology for rapidly carrying out PET imaging and positioning of the tumor (residual tumor) in the operation are not available at present.
Disclosure of Invention
In order to solve the problems of inaccurate positioning and change of the position of a target point in the existing PET positioning process in the operation, the invention provides a panel PET limited angle sub-image positioning system and a positioning method thereof, and the panel PET can realize rapid image imaging and real-time positioning of the target point in a molecular image without rotating.
It is an object of the present invention to provide a limited angle sub-image positioning system for flat panel PET without rotation.
The limited angle sub-image positioning system under the condition that the flat PET of the invention does not rotate comprises: an imaging bed, an imaging support, a pair of flat PET, a visible light source, a motor and a computer; wherein the imaging sample is located on an imaging couch; the pair of flat PET are opposite and are not mechanically rotated, and are arranged on the imaging bracket, an imaging sample is positioned between the pair of flat PET, and the acquisition angle of the flat PET is more than or equal to 90 degrees; a pair of flat panel PET's connected to a computer; the visible light source comprises a pair of visible light generators connected to the motor; a pair of visible light generators and motors are respectively connected to the computer; the pair of visible light generators emit two beams of visible light, the angles of the two beams of visible light are synchronously controlled through the motor, so that the intersection point of the two beams of visible light is positioned on the surface of an imaging sample, at the moment, the inclination angles of the pair of visible light generators are transmitted to the computer, and the computer calculates and stores the position of the intersection point; a pair of flat PET acquisition PET data and transmission to a computer; after the preprocessing of a computer, a PET reconstructed image is obtained through a combination algorithm of an Expectation Maximization (EM) algorithm and a total variation minimization (TV) algorithm; the computer fuses the intersection point of the two beams of visible light into the PET reconstructed image, and displays the image in a pseudo-bright point mode, so that the image is fused with optical information, the intersection point is used as a reference point, and therefore a target point in an imaging sample is directly displayed and the target point is intuitively positioned.
The imaging bracket comprises a movable frame and a connecting arm; the movable frame can move, the connecting arm is fixed on the movable frame, and a pair of opposite flat PET plates are respectively and fixedly installed at two ends of the connecting arm. The connecting arm adopts a C-shaped arm.
The visible light generator adopts a laser pen.
It is another object of the present invention to provide a limited angle sub-image positioning method without rotation of the flat panel PET.
The invention relates to a limited angle sub-image positioning method under the condition of no rotation of a flat PET, which comprises the following steps:
1) Placing an imaging sample on an imaging bed, wherein a pair of flat PET (polyethylene terephthalate) are opposite and have no mechanical rotation, the imaging sample is positioned between the pair of flat PET, the distance between the pair of flat PET is regulated, the acquisition angle of the flat PET is more than or equal to 90 degrees, and the rotation center coordinates of the pair of flat PET are obtained by calculation of a computer;
2) The pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample, the inclination angles of the pair of visible light generators at the moment are transmitted to the computer, and the computer calculates and stores the position of the intersection point;
3) The position of the flat PETT is kept unchanged, PET data are collected, and the PET data are transmitted to a computer;
4) Preprocessing PET data by a computer;
5) The computer carries out an expectation maximization algorithm EM for iterating the preprocessed PET data twice to obtain a reconstructed image;
6) The computer carries out a total variation minimization algorithm TV on the reconstructed image, and smoothes and denoises the image;
7) Repeating the steps 5) and 6), and continuously improving the image quality until a preset image condition is met or a preset iteration step is reached, so as to obtain a PET reconstructed image;
8) The computer fuses the intersection point of the two beams of visible light into the PET reconstructed image, and displays the PET reconstructed image in a pseudo-bright spot mode, so that the PET reconstructed image is fused with optical information;
9) The intersection point is taken as a reference point, thereby directly displaying the target point in the imaging sample and intuitively locating the target point, and determining the absolute coordinate position of the target point with respect to the rotation center coordinates of the flat PET.
Wherein, in step 2), obtaining the position of the intersection point includes the steps of:
a) The pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, and the intersection point of the two visible light beams always moves along the vertical direction, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample;
b) Confirming the inclination angles of the pair of visible light generators at the moment, and transmitting the inclination angles of the pair of visible light generators to a computer;
c) The computer calculates the position of the crossing point according to the inclination angle of the visible light generator and stores the position of the crossing point.
In step 5), when the EM performs image reconstruction on complete projection data or under the condition of small missing angles, the effect of iterative reconstruction is better, but when the EM is used under the condition of large missing angles, if the iteration times are large, the reconstructed image has serious high-frequency noise artifact, the iteration times are small, the reconstructed image has serious deformation, and the image cannot be used for practical application.
In step 6), the TV is applied to image denoising, and can well preserve edge information while denoising.
The invention combines the TV and the EM for the rapid reconstruction of the serious missing angle target point of the flat PET, adopts an optimized combination sequence of the TV and the EM, increases the iteration times and ensures smaller noise generation, well overcomes the difficulties of image deformation and larger image noise caused by the missing angle, and can better obtain the imaging of the residual target point in the local range in the field of view FOV of the maximum reconstruction of the flat PET.
The invention has the advantages that:
the invention arranges the imaging sample in the middle of a pair of flat PET without mechanical rotation, and the acquisition angle of the flat PET is more than or equal to 90 degrees; the pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample, and the position of the intersection point is calculated and stored by the computer; the position of the flat PET is kept unchanged, PET data are collected, and the PET data are transmitted to a computer; the computer obtains a PET reconstruction image through a combination algorithm of an expectation maximization algorithm EM and a total variation minimization algorithm TV, then fuses the intersection point of two beams of visible light into the PET reconstruction image, displays the PET reconstruction image in a pseudo-bright spot mode, fuses the PET reconstruction image with optical information, takes the intersection point as a reference point, and directly displays a target point in an imaging sample and intuitively locates the target point.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a flat panel PET limited angle sub-image positioning system of the present invention;
FIG. 2 is an imaging schematic diagram of a flat panel PET limited angle sub-image positioning system of the present invention;
FIG. 3 is a schematic diagram of a pair of flat PET's of one embodiment of a flat PET limited angle sub-image positioning system of the present invention.
Detailed Description
The invention will be further elucidated by means of specific embodiments in conjunction with the accompanying drawings.
As shown in fig. 1, the flat PET limited angle sub-image positioning system of the present embodiment includes: an imaging bed 1, an imaging support, a pair of flat panel PET (5 and 6), a visible light source, a motor and a computer; wherein the imaging sample is located on the imaging couch 1; the pair of flat PET (5 and 6) are opposite and are not mechanically rotated, and are arranged on an imaging bracket, the imaging bracket comprises a movable frame 2 and a connecting arm 3, the connecting arm 3 adopts a C-shaped arm, an imaging sample is positioned between the pair of flat PET, the acquisition angle of the flat PET is more than or equal to 90 degrees, and an xyz coordinate system is established by taking the rotation center 4 of the pair of flat PET as a coordinate origin; a pair of flat panel PETs are connected to a computer.
As shown in fig. 2, the visible light source includes a pair of visible light generators 7 connected to the motor; a pair of visible light generators 7 and motors are connected to the computer, respectively; the pair of visible light generators 7 emit two beams of visible light, the angles of the two beams of visible light are synchronously controlled through the motor, so that an intersection point 10 of the two beams of visible light is positioned on the surface of an imaging sample, at the moment, the inclination angles of the pair of visible light generators are transmitted to the computer, and the computer calculates and stores the position of the intersection point; a pair of flat PET acquisition PET data and transmission to a computer; after the pretreatment of a computer, a PET reconstructed image is obtained through a combination algorithm of an expectation maximization algorithm EM and a total variation minimization algorithm TV; the computer fuses the intersection point of two beams of visible light into the PET reconstructed image, and displays the image in a pseudo-bright spot mode, so that the image is fused with optical information, and the intersection point 10 is taken as a reference point, thereby directly displaying the target point 8 in an imaging sample and intuitively positioning the target point 8.
In this embodiment, the visible light generator employs a laser pen. As shown in fig. 3, the flat PET has a thickness h=15 cm, a length l=30 cm, a width w=40 cm, and a distance D of 40cm.
The method for locating the limited angle sub-image of the flat PET of the embodiment comprises the following steps:
1) The imaging sample is placed on an imaging bed, the pair of flat PET are opposite and are not mechanically rotated, the imaging sample is respectively located on the upper side and the lower side of the vertical direction of the imaging sample, the distance between the pair of flat PET is adjusted, the distance D is less than or equal to 40cm, the acquisition angle of the flat PET is more than or equal to 90 degrees, and the rotation center coordinates of the pair of flat PET are obtained through calculation by a computer.
2) The computer calculates the position of the intersection:
a) The pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, and the intersection point of the two visible light beams always moves along the vertical direction, namely the y axis, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample;
b) Confirming the pair of visible light generators at the moment, and transmitting the inclination angles of the pair of visible light generators to a computer;
c) The computer calculates the position of the crossing point according to the inclination angle of the visible light generator and stores the position of the crossing point.
3) The PET data are collected by keeping the position of a pair of flat PETT unchanged and transmitted to a computer.
4) The computer pre-processes the PET data.
5) And (3) carrying out an expectation maximization algorithm EM for iterating the preprocessed PET data twice by the computer to obtain a reconstructed image.
6) The computer carries out total variation minimization algorithm TV on the reconstructed image, and smoothes and denoises the image.
7) Repeating the steps 5) and 6), and continuously improving the image quality until a preset image condition is met or a preset iteration step is achieved, so as to obtain a PET reconstructed image.
8) The computer fuses the intersection point of the two visible lights into the PET reconstructed image, and displays the PET reconstructed image in a pseudo-bright spot mode, so that the PET reconstructed image and the PET reconstructed image are fused with optical information.
9) The intersection point is taken as a reference point, thereby directly displaying the target point in the imaging sample and intuitively locating the target point, and determining the absolute coordinate position of the target point with respect to the rotation center coordinates of the flat PET.
Finally, it should be noted that the examples are disclosed for the purpose of aiding in the further understanding of the present invention, but those skilled in the art will appreciate that: various alternatives and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the disclosed embodiments, but rather the scope of the invention is defined by the appended claims.
Claims (6)
1. A limited angle sub-image positioning system for a flat panel PET without rotation, the positioning system comprising: an imaging bed, an imaging support, a pair of flat PET, a visible light source, a motor and a computer; wherein the imaging sample is located on an imaging couch; the pair of flat PET plates are opposite and are not mechanically rotated, and are arranged on the imaging bracket, an imaging sample is positioned between the pair of flat PET plates, and the acquisition angle of the flat PET plates is more than or equal to 90 degrees; the pair of flat panel PETs are connected to a computer; the visible light source comprises a pair of visible light generators connected to the motor; the pair of visible light generators and the motor are respectively connected to the computer; the pair of visible light generators emit two beams of visible light, the angles of the two beams of visible light are synchronously controlled through the motor, so that the intersection point of the two beams of visible light is positioned on the surface of an imaging sample, at the moment, the inclination angles of the pair of visible light generators are transmitted to the computer, and the computer calculates and stores the position of the intersection point; a pair of flat PET acquisition PET data and transmission to a computer; after the pretreatment of a computer, a PET reconstructed image is obtained through a combination algorithm of an expectation maximization algorithm EM and a total variation minimization algorithm TV; the computer fuses the intersection point of the two beams of visible light into the PET reconstructed image, and displays the image in a pseudo-bright point mode, so that the image is fused with optical information, the intersection point is used as a reference point, and therefore a target point in an imaging sample is directly displayed and the target point is intuitively positioned.
2. The positioning system of claim 1 wherein the imaging support comprises a mobile carriage and a connecting arm; the movable frame can move, the connecting arm is fixed on the movable frame, and a pair of opposite flat PET plates are respectively and fixedly installed at two ends of the connecting arm.
3. The positioning system of claim 2 wherein said connecting arm is a C-arm.
4. The positioning system of claim 1 wherein said visible light generator employs a laser pointer.
5. A method for locating a limited angular sub-image of a flat PET without rotation, the method comprising the steps of:
1) Placing an imaging sample on an imaging bed, wherein a pair of flat PET (polyethylene terephthalate) are opposite and have no mechanical rotation, the imaging sample is positioned between the pair of flat PET, the distance between the pair of flat PET is regulated, the acquisition angle of the flat PET is more than or equal to 90 degrees, and the rotation center coordinates of the pair of flat PET are obtained by calculation of a computer;
2) The pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample, the inclination angles of the pair of visible light generators at the moment are transmitted to the computer, and the computer calculates and stores the position of the intersection point;
3) The position of the flat PET is kept unchanged, PET data are collected, and the PET data are transmitted to a computer;
4) Preprocessing PET data by a computer;
5) The computer carries out an expectation maximization algorithm EM for iterating the preprocessed PET data twice to obtain a reconstructed image;
6) The computer carries out a total variation minimization algorithm TV on the reconstructed image, and smoothes and denoises the image;
7) Repeating the steps 5) and 6), and continuously improving the image quality until a preset image condition is met or a preset iteration step is reached, so as to obtain a PET reconstructed image;
8) The computer fuses the intersection point of the two beams of visible light into the PET reconstructed image, and displays the PET reconstructed image in a pseudo-bright spot mode, so that the PET reconstructed image is fused with optical information;
9) The intersection point is taken as a reference point, thereby directly displaying the target point in the imaging sample and intuitively locating the target point, and determining the absolute coordinate position of the target point with respect to the rotation center coordinates of the flat PET.
6. The positioning method according to claim 5, wherein in step 2), obtaining the position of the intersection point includes the steps of:
a) The pair of visible light generators emit two visible light beams, the angles of the two visible light beams are synchronously controlled through the motor, and the intersection point of the two visible light beams always moves along the vertical direction, so that the intersection point of the two visible light beams is positioned on the surface of an imaging sample;
b) Confirming the inclination angles of the pair of visible light generators at the moment, and transmitting the inclination angles of the pair of visible light generators to a computer;
c) The computer calculates the position of the crossing point according to the inclination angle of the visible light generator and stores the position of the crossing point.
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| 周小林.基于压缩感知理论的图像重建算法研究.《第十三届中国体视学与图像分析学术会议论文集》.2013,摘要，第1.2节. * |
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