阅读说明：本技术 定位方法、装置、设备及数字化x线摄影系统 (Localization method, device, equipment and Digital X-ray Radiotive system ) 是由 李海春 董旭洋 于 2019-08-30 设计创作，主要内容包括：本申请公开了一种定位方法、装置、设备及数字化X线摄影系统。该方法包括：获得所述摄像头所拍摄的包括患者的人体图像；根据所述人体图像获得人体部位分布图像,从而获得待投照部位在所述人体图像中的像素位置；获得所述探测器通过所述摄像头成像的像素位置；根据所述待投照部位在所述人体图像中的像素位置和所述探测器的像素位置,确定所述探测器在竖直方向上的待移动距离；根据所述待移动距离输出移动信号,以使所述运动机构驱动所述探测器移动所述待移动距离。本公开实施例实现探测器根据待投照部位自动调整位置,定位精度高,并且适用于不同身形的患者；通过利用相对位置实现定位,减少了对全局坐标系的精度依赖,提高了系统的可靠性。(This application discloses a kind of localization method, device, equipment and Digital X-ray Radiotive systems.This method comprises: obtaining the human body image captured by the camera including patient；Human body distributed image is obtained according to the human body image, to obtain wait throw the location of pixels according to position in the human body image；Obtain the location of pixels that the detector passes through the camera imaging；According to the location of pixels wait throw location of pixels and the detector according to position in the human body image, the distance to be moved of the detector in the vertical direction is determined；According to described to be moved apart from output mobile signal, so that the movement mechanism drives the mobile distance to be moved of the detector.The embodiment of the present disclosure realizes that detector shines position automatic adjusting position according to wait throw, and positioning accuracy is high, and is suitable for the patient of different figures；By realizing positioning using relative position, reduces the precision dependence to global coordinate system, improve the reliability of system.)

1. a kind of localization method, which is characterized in that applied to the positioning device of Digital X-ray Radiotive system, the system is also wrapped Radioactive source, detector, the camera that the radiation source is set, and the movement mechanism of the driving detector motion are included, The described method includes:

Obtain the human body image captured by the camera including patient；

Human body distributed image is obtained according to the human body image, to obtain wait throw according to position in the human body image Location of pixels；

Obtain the location of pixels that the detector passes through the camera imaging；

According to the location of pixels wait throw location of pixels and the detector according to position in the human body image, institute is determined State the distance to be moved of detector in the vertical direction；

According to described to be moved apart from output mobile signal, so that the movement mechanism drives the detector mobile described wait move Dynamic distance.

2. the method according to claim 1, wherein described obtain human body distribution according to the human body image Information, comprising:

The human body image is input to human bioequivalence network trained in advance, obtains the human body point for being labelled with human body Cloth image.

3. the method according to claim 1, wherein the location of pixels of the detector includes the detector The center pixel position of top edge location of pixels and/or the detector；

Obtain the location of pixels that the detector passes through the camera imaging, comprising:

Obtain the actual size of the distance between the camera and the detector and the detector；

The top edge location of pixels of the detector and/or the center of the detector are obtained according to the intrinsic parameter of the camera Location of pixels.

4. according to the method described in claim 3, it is characterized in that, the pixel wait throw according to position in the human body image Position includes described wait throw upper marginal position and/or center according to position；

According to the location of pixels wait throw location of pixels and the detector according to position in the human body image, institute is determined State the distance to be moved of detector in the vertical direction, comprising:

According to the top edge location of pixels of the detector and it is described wait throw upper marginal position according to position vertical direction away from From determining the distance to be moved of the detector in the vertical direction；Or

According to the center pixel position of the detector with described wait throw the center according to position at a distance from vertical direction, really The fixed distance to be moved of the detector in the vertical direction.

5. the method according to claim 1, wherein the camera be set as in the level of the detector In the plane of heart line, and the camera is arranged to follow the mobile corresponding distance of the detector.

6. the method according to claim 1, wherein the method also includes training human bioequivalence networks, specifically Include:

Obtain sample human body image；

To in the sample human body image, each human body is labeled；

Using the sample human body image of the mark comprising human body, the human bioequivalence network is trained, the people is made Body identification network can identify each human body in input picture.

7. the method according to claim 1, wherein further include:

It obtains after the detector moves the distance to be moved, including the patient captured by the camera Human body image；

Human body distributed image is obtained according to the human body image, to obtain wait throw according to position in the human body image Location of pixels；

The location of pixels is compared with the presetted pixel position wait throw according to position, within the set range in difference In the case of, determine that the position of the detector reaches sets requirement.

8. a kind of positioning device, which is characterized in that applied to the positioning device of Digital X-ray Radiotive system, the system is also wrapped Radioactive source, detector, the camera that the radiation source is set, and the movement mechanism of the driving detector motion are included, Described device includes:

Image acquisition unit, for obtaining the human body image captured by the camera including patient；

First position acquiring unit, for obtaining human body distributed image according to the human body image, to obtain photograph to be thrown Location of pixels of the position in the human body image；

Second position acquiring unit passes through the location of pixels of the camera imaging for obtaining the detector；

Distance determining unit, it is described wait throw location of pixels and the detector according to position in the human body image for basis Location of pixels, determine the distance to be moved of the detector in the vertical direction；

Signal output unit, for according to described to be moved apart from output mobile signal, so that described in movement mechanism driving The mobile distance to be moved of detector.

9. device according to claim 8, which is characterized in that the first position acquiring unit is for according to the people When body image obtains human body distributed image, it is specifically used for:

The human body image is input to human bioequivalence network trained in advance, obtains the human body point for being labelled with human body Cloth image.

10. device according to claim 8, which is characterized in that the location of pixels of the detector includes the detector Top edge location of pixels and/or the detector center pixel position；

The second position acquiring unit is specifically used for:

Obtain the actual size of the distance between the camera and the detector and the detector；

The top edge location of pixels of the detector and/or the center of the detector are obtained according to the intrinsic parameter of the camera Location of pixels.

11. device according to claim 10, which is characterized in that the picture wait throw according to position in the human body image Plain position includes described wait throw upper marginal position and/or center according to position；

The distance determining unit is specifically used for:

According to the top edge location of pixels of the detector and it is described wait throw upper marginal position according to position vertical direction away from From determining the distance to be moved of the detector in the vertical direction；Or

According to the center pixel position of the detector with described wait throw the center according to position at a distance from vertical direction, really The fixed distance to be moved of the detector in the vertical direction.

12. a kind of positioning device characterized by comprising the equipment includes memory, processor, and the memory is used for The computer instruction that can be run on a processor is stored, the processor is for realizing right when executing the computer instruction It is required that any method in 1 to 7.

13. a kind of Digital X-ray Radiotive system, which is characterized in that including radioactive source, detector, setting in the radiation source Camera, the driving detector motion movement mechanism and positioning device as claimed in claim 12.

Technical field

This specification is related to technical field of medical equipment more particularly to a kind of localization method, device, equipment and digital X Line camera chain.

Background technique

Digital X-ray Radiotive (Digital Radiography, DR) system is sent out using digitizer tablet detector and x-ray Emitter carries out perspective imaging, since digitizer tablet detector is big etc. with high sensitivity, dynamic range with respect to conventional detectors Advantage becomes the preferred option of X-ray photographic instead of conventional detectors at present.Pendulum position is carried out to patient, by portion interested Position is aligned with x-ray transmitter, digitizer tablet detector, be medical DR is primarily also one of most important workflow.

Currently used pendulum position mode is manual pendulum position, and one side working efficiency is low, on the other hand may in dynamic shooting Unnecessary ray radiation can be brought to technician.

Summary of the invention

To overcome the problems in correlation technique, present description provides a kind of localization method, device, equipment and numbers Change X-ray photograph system.

Specifically, the application is achieved by the following technical solution:

In a first aspect, providing a kind of localization method, the method is applied to the positioning device of Digital X-ray Radiotive system, The system also includes radioactive source, detector, the camera that the radiation source is arranged in, and the driving detector motions Movement mechanism, which comprises obtain captured by the camera include patient human body image；According to the human body Image obtains human body distributed image, to obtain wait throw the location of pixels according to position in the human body image；Obtain institute State the location of pixels that detector passes through the camera imaging；According to the pixel wait throw according to position in the human body image The location of pixels of position and the detector determines the distance to be moved of the detector in the vertical direction；According to it is described to Moving distance output mobile signal, so that the movement mechanism drives the mobile distance to be moved of the detector.

Optionally, described that human body distributed intelligence is obtained according to the human body image, comprising: the human body image is defeated Enter to human bioequivalence network trained in advance, obtains the human body distributed image for being labelled with human body.

Optionally, the location of pixels of the detector include the detector top edge location of pixels and/or the spy Survey the center pixel position of device；Obtain the location of pixels that the detector passes through the camera imaging, comprising: take the photograph described in acquisition As the actual size of the distance between head and the detector and the detector；It is obtained according to the intrinsic parameter of the camera The top edge location of pixels of the detector and/or the center pixel position of the detector.

Optionally, described wait throw includes described wait throw according to the upper of position according to location of pixels of the position in the human body image Marginal position and/or center；According to location of pixels and the detection wait throw according to position in the human body image The location of pixels of device determines the distance to be moved of the detector in the vertical direction, comprising: according to the top of the detector Edge location of pixels, wait throw the upper marginal position according to position at a distance from vertical direction, determines the detector in vertical side with described Upward distance to be moved；Or it according to the center pixel position of the detector and described shine the center at position wait throw and is erecting Histogram to distance, determine the distance to be moved of the detector in the vertical direction.

Optionally, the camera be set as in the plane of the horizontal center line of the detector, and the camera shooting Head is arranged to follow the mobile corresponding distance of the detector.

Optionally, it the method also includes training human bioequivalence network, specifically includes: obtaining sample human body image；To institute It states in sample human body image, each human body is labeled；It is right using the sample human body image of the mark comprising human body The human bioequivalence network is trained, and the human bioequivalence network is enable to identify each human body in input picture.

Optionally, the acquisition sample human body image, comprising: obtain the sample human figure shot under the conditions of actual photographed Picture.

Optionally, the method also includes: obtain after the detector moves the distance to be moved, it is described to take the photograph Including the human body image of the patient as captured by head；Human body distributed image is obtained according to the human body image, thus It obtains wait throw the location of pixels according to position in the human body image；By the location of pixels with described wait throw according to the default of position Location of pixels is compared, difference within the set range in the case where, determine that the position of the detector reaches sets requirement.

Second aspect provides a kind of positioning device, and described device is applied to the positioning device of Digital X-ray Radiotive system, The system also includes radioactive source, detector, the camera that the radiation source is arranged in, and the driving detector motions Movement mechanism, described device includes: image acquisition unit, for obtain captured by the camera include patient human body Image；First position acquiring unit, for obtaining human body distributed image according to the human body image, to obtain photograph to be thrown Location of pixels of the position in the human body image；Second position acquiring unit is taken the photograph for obtaining the detector by described The location of pixels being imaged as head；Distance determining unit, it is described wait throw the pixel according to position in the human body image for basis The location of pixels of position and the detector determines the distance to be moved of the detector in the vertical direction；Signal output is single Member, for according to described to be moved apart from output mobile signal so that the movement mechanism drive the detector it is mobile described in Distance to be moved.

Optionally, the second position acquiring unit is used to obtain human body distributed image according to the human body image When, it is specifically used for: the human body image is input to human bioequivalence network trained in advance, obtains the people for being labelled with human body Body region distributed image.

Optionally, the location of pixels of the detector include the detector top edge location of pixels and/or the spy Survey the center pixel position of device；The second position acquiring unit is specifically used for: obtain the camera and the detector it Between distance and the detector actual size；The top edge of the detector is obtained according to the intrinsic parameter of the camera The center pixel position of location of pixels and/or the detector.

Optionally, described wait throw includes described wait throw according to the upper of position according to location of pixels of the position in the human body image Marginal position and/or center；The distance determining unit is specifically used for: according to the top edge location of pixels of the detector With described wait throw the upper marginal position according to position at a distance from vertical direction, determine the detector in the vertical direction wait move Dynamic distance；Or according to the center pixel position of the detector and it is described wait throw center according to position vertical direction away from From determining the distance to be moved of the detector in the vertical direction.

Optionally, the camera be set as in the plane of the horizontal center line of the detector, and the camera shooting Head is arranged to follow the mobile corresponding distance of the detector.

Optionally, described device further includes the training unit for training human bioequivalence network, is specifically used for: obtaining sample Human body image；To in the sample human body image, each human body is labeled；Utilize the sample of the mark comprising human body This human body image is trained the human bioequivalence network, and the human bioequivalence network is enable to identify in input picture Each human body.

Optionally, the training unit is for being specifically used for when obtaining sample human body image: obtaining in actual photographed item The sample human body image shot under part.

Optionally, described device further includes confirmation unit, is used for: obtain the detector move it is described it is to be moved away from From the human body image for later, captured by the camera including the patient；Human body is obtained according to the human body image Distributed image, to obtain wait throw the location of pixels according to position in the human body image；By the location of pixels and it is described to Throw and be compared according to the presetted pixel position at position, difference within the set range in the case where, determine the position of the detector It sets and reaches sets requirement.

The third aspect provides a kind of positioning device characterized by comprising and the equipment includes memory, processor, The memory is used to execute the computer for storing the computer instruction that can be run on a processor, the processor Above-described localization method is realized when instruction.

Fourth aspect provides a kind of Digital X-ray Radiotive system, which is characterized in that including radioactive source, detector, setting In the camera of the radiation source, the movement mechanism of the driving detector motion and positioning device as described above.

The technical solution that the embodiment of this specification provides can include the following benefits:

In this specification embodiment, wait throw the location of pixels according to position in human body image captured by acquisition camera, with And detector is by the location of pixels of the camera imaging, by will be wait throw the position pass according to position and detector in imaging System, determines the distance to be moved of the detector, fixed so as to realize that detector shines position automatic adjusting position according to wait throw Position precision is high, and is suitable for the patient of different figures；By realizing positioning using relative position, reduce to global coordinate system Precision rely on, improve the reliability of system.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not This specification can be limited.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the reality for meeting this specification Example is applied, and is used to explain the principle of this specification together with specification.

Fig. 1 shows Digital X-ray Radiotive systematic difference schematic diagram of a scenario；

Fig. 2 is a kind of flow chart of localization method shown in one exemplary embodiment of the application；

Fig. 3 is the camera schematic view of the mounting position shown in one exemplary embodiment of the application；

Fig. 4 is a kind of schematic diagram of positioning device shown in one exemplary embodiment of the application；

Fig. 5 is a kind of structural schematic diagram of positioning device shown in one exemplary embodiment of the application；

Fig. 6 is a kind of structural schematic diagram of Digital X-ray Radiotive system shown in one exemplary embodiment of the application.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all embodiments consistent with this specification.On the contrary, they are only and such as institute The example of the consistent device and method of some aspects be described in detail in attached claims, this specification.

It is Digital X-ray Radiotive systematic difference schematic diagram of a scenario referring to Fig. 1.The system may include 101 He of radioactive source Detector 102.

As shown in Figure 1, radioactive source 101 can be an x-ray bulb, detector 102 can be a digitized plate Detector has the advantages such as high sensitivity, dynamic range be big relative to conventional detectors.

The system can also include beam-defining clipper 103, for controlling the light field of x-ray bulb output.

Before shooting x-ray image, doctor or technician is needed to carry out pendulum position to patient, by region of interest and x-ray bulb, put down Then partitioned detector alignment determines that exposure agreement, conditions of exposure are exposed imaging, finally carries out post-processing slice to image.

Currently used pendulum position mode is manual pendulum position, needs doctor or technician by the light field and body at bulb beam-defining clipper end Then privileged site alignment adjusts digitizer tablet detector position and is aligned with light field.If it is more to shoot position, skill is needed Shi Duoci carries out pendulum position between being shielded, one side working efficiency is low, on the other hand may bring to technician in dynamic shooting Unnecessary ray radiation.

Based on the above situation, in the embodiment of the present application, in Digital X-ray Radiotive system shown in Fig. 1, increase shooting to It throws the camera 104 according to position and drives the movement mechanism 105 of the detector motion, the image information exported by camera The moving distance for determining detector makes the mobile respective distance of movement mechanism driving detector, to realize detector according to wait throw According to position automatic adjusting position.

It is retouched in detail below with reference to localization method of the Digital X-ray Radiotive system shown in FIG. 1 to the embodiment of the present disclosure It states.

Fig. 2 is a kind of flow chart for localization method that at least one embodiment of the disclosure provides.As shown in Fig. 2, this method It may comprise steps of:

In step 201, the human body image captured by the camera including patient is obtained.

In the embodiments of the present disclosure, the camera can be set in the radiation source.Such as shown in Fig. 3, camera 303 are embedded in the beam-defining clipper 302 at 301 end of radioactive source.

The camera is preferably arranged to the center line of the beam-defining clipper light field point-blank.In the radioactive source With in the case where detector centering tracking namely the horizontal center line of the beam-defining clipper light field center line and detector is to begin It is aligned eventually, therefore the horizontal center line always with detector is maintained at same plane by camera.

The camera can both acquire the human body image of single frames, can also be by acquiring video flowing, to be included The human body image of patient.

In step 202, human body distributed image is obtained according to the human body image, existed wait throw according to position to obtain Location of pixels in the human body image.

For the human body image, different human bodies can be marked.The human body is for example including head Portion, thorax abdomen, four limbs etc..Agreement is shot according to the X-ray of selection, can know position to be captured, such as normotopia of chest, with This determines the location of pixels of chest in the picture, provides reference position for subsequent calculating.

In step 203, the location of pixels that the detector passes through the camera imaging is obtained.

According to shooting condition, available current radio source and flat panel detector distance SID (Source Image Distance, source image away from), the actual size of known flat panel detector, camera intrinsic parameter when, can derive that plate is visited Survey location of pixels of the device at current SID.

The intrinsic parameter of camera includes focal length, the position (as the position of plane) of principal point and pixel and true environment Size is the build-in attribute of camera.It, can be according to camera according to current radio source at a distance from flat panel detector Location of pixels or actual measurement obtain camera at a distance from flat panel detector.By camera and flat panel detector away from From and the camera intrinsic parameter, then can determine location of pixels of the flat panel detector by camera imaging.The pixel Position includes the location of pixels and flat panel detector of flat panel detector edge (top edge, lower edge, left edge, right hand edge) The location of pixels at center, and the length in pixels of flat panel detector, width can be obtained etc..

In step 204, the location of pixels and the detector according to described wait throw according to position in the human body image Location of pixels, determine the distance to be moved of the detector in the vertical direction.

The gap wait throw the location of pixels of the corresponding region according to position Yu the detector, is mapped to real space, It is the distance to be moved of detector in the vertical direction.After detector moves respective distance, the corresponding region of detector It can be aligned with the corresponding region wait throw according to position.Wherein, corresponding region can be wait throw the top according to position and detector Edge, or wait throw the central point according to position and detector, be also possible to wait throw according to other of position and detector region, such as under Edge, left edge etc. determine specifically using which region as corresponding region according to practical throw according to position.For example, for chest The information of the image of normotopia, apex pulmonis region is important, and some images scrapped are often because not receiving the upper end of lung Record in film, therefore, can by by the location of pixels of the top edge of lung, with the position element position of the top edge of detector it Between difference, to determine the distance to be moved of detector in the vertical direction.

In step 205, according to described to be moved apart from output mobile signal, so that the movement mechanism drives the spy Survey the mobile distance to be moved of device.

The mobile distance to be moved of the detector is driven by movement mechanism, in the radioactive source and the detector pair In the case where tracking, the radioactive source also will move with corresponding distance, so that the light field of radioactive source, which is covered, shines position wait throw, To realize the self-oscillate position to the detector.

In the embodiments of the present disclosure, wait throw the location of pixels according to position in human body image captured by acquisition camera, with And detector is by the location of pixels of the camera imaging, by will be wait throw the position pass according to position and detector in imaging System, determines the distance to be moved of the detector, fixed so as to realize that detector shines position automatic adjusting position according to wait throw Position precision is high, and is suitable for the patient of different figures；By realizing positioning using relative position, reduce to global coordinate system Precision rely on, improve the reliability of system.

In some embodiments, after detector moves respective distance, confirm the detector current location whether It meets the requirements.

It obtains after the detector moves the distance to be moved first, includes institute captured by the camera State the human body image of patient.The position that this step requires the holding of patient to shoot before, without displacement.

Later, human body distributed image is obtained according to the human body image, shines position in the people wait throw to obtain Location of pixels in body image.

Next, the location of pixels is compared with the presetted pixel position wait throw according to position, exist in difference In the case where in setting range, determine that the position of the detector reaches sets requirement.

It is chest in the picture best wait throw the presetted pixel position according to position for example, when shooting normotopia of chest Position.By the location of pixels where chest in captured human body image, it is compared with the optimum position of chest in the picture, When the two difference within the set range namely the matching degree of the two is preferable, that is, determine that the position of detector at this time is accurate , to carry out further verifying to the accuracy of the localization method of the embodiment of the present disclosure.

In some embodiments, it can be obtained by the way that the human body image to be input to human bioequivalence network trained in advance The human body distributed image of human body must be labelled with.

In one example, the identification to human body is realized using the deep neural network of convolution with holes.The network is adopted Feature extraction and local information enhancement are carried out with the multiple dimensioned convolution with holes of pyramid shape, and using full condition of contact random field essence True predicted boundary；And the network can effectively carry out image, semantic segmentation, by setting 1 for the convolution stride of certain layer, energy Enough receptive fields for guaranteeing maximum Chi Huahou are constant, so that output result is fine.The network utilizes the technique drill of transfer learning, former Beginning network parameter is trained according to PASCAL-Person-Part (human body segmentation) data.

It is not limited to it will be appreciated by those skilled in the art that carrying out human body and knowing method for distinguishing using above-described net The depth convolutional network of network, other forms can achieve same purpose.

It in some embodiments, can be by being trained with lower section to the human bioequivalence network:

Firstly, obtaining sample human body image.

The sample human body image can be under a variety of SID, under a variety of camera shooting grease head highness, the clothes of a variety of height and weights and people Image under the several scenes such as decorations, action.The sample human body image is preferably included in the sample shot under the conditions of actual photographed This human body image, to optimize network suitable for application scenarios.

Next, being labeled to each human body in the sample human body image.For example, can be by delineating one This is delineated included pixel and is used as the corresponding pixel in the position, realizes the mark to human body by human body.Ability Field technique personnel should be appreciated that also can use other modes realizes mark to each human body.

Later, using the sample human body image of the mark comprising human body, the human bioequivalence network is trained, The human bioequivalence network is set to identify each human body in input picture.

After completing to the training of the human bioequivalence network, for inputting the human figure comprising patient of the network Picture, the network can be directed to the human body distributed image of the patient.

In some embodiments, movement mechanism of the Digital X-ray Radiotive system in addition to driving the detector motion, It further include the horizontal movement system that can drive the radioactive source horizontal movement, so as to change between radioactive source and detector Horizontal distance, realize better Effect on Detecting.

Each step in process shown in above-mentioned Fig. 2, execution sequence are not limited to the sequence in flow chart.In addition, each The description of a step can be implemented as software, hardware or its form combined, for example, those skilled in the art can be by it It is embodied as the form of software code, can is the computer executable instructions that can be realized the corresponding logic function of the step. When it is realized in the form of software, the executable instruction be can store in memory, and by the processor in system It executes.

Corresponding with the embodiment of aforementioned localization method, the disclosure additionally provides positioning device, positioning device and number Change the embodiment of X-ray photograph system.

Referring to fig. 4, the structural schematic diagram of the positioning device provided at least one embodiment of the disclosure.The device is applied to The system also includes radioactive source, detector, the radiation source is arranged in the positioning device of Digital X-ray Radiotive system Camera, and the movement mechanism of the driving detector motion, described device includes: image acquisition unit 401, for obtaining It include the human body image of patient captured by the camera；First position acquiring unit 402, for according to the human body image Human body distributed image is obtained, to obtain wait throw the location of pixels according to position in the human body image；It obtains the second position Unit 403 is taken, passes through the location of pixels of the camera imaging for obtaining the detector；Distance determining unit 404, is used for According to the location of pixels wait throw location of pixels and the detector according to position in the human body image, the spy is determined Survey the distance to be moved of device in the vertical direction；Signal output unit 405, for according to described to be moved apart from output mobile letter Number, so that the movement mechanism drives the mobile distance to be moved of the detector.

In some embodiments, first position acquiring unit 402 is for obtaining human body according to the human body image When distributed image, it is specifically used for: the human body image is input to human bioequivalence network trained in advance, acquisition is labelled with human body The human body distributed image at position.

In some embodiments, the location of pixels of the detector include the detector top edge location of pixels and/ Or the center pixel position of the detector；Second position acquiring unit 403 is specifically used for: obtaining the camera and the spy Survey the actual size of the distance between device and the detector；The detector is obtained according to the intrinsic parameter of the camera The center pixel position of top edge location of pixels and/or the detector.

In some embodiments, described to include the photograph to be thrown wait throw the location of pixels according to position in the human body image The upper marginal position at position and/or center；Distance determining unit 404 is specifically used for: according to the top edge of the detector Location of pixels, wait throw the upper marginal position according to position at a distance from vertical direction, determines the detector in vertical direction with described On distance to be moved；Or according to the center pixel position of the detector with described wait throw the center according to position vertical The distance in direction determines the distance to be moved of the detector in the vertical direction.

In some embodiments, the camera be set as in the plane of the horizontal center line of the detector, and The camera is arranged to follow the mobile corresponding distance of the detector.

In some embodiments, described device further includes the training unit for training human bioequivalence network, is specifically used for: Obtain sample human body image；To in the sample human body image, each human body is labeled；Using including human body The sample human body image of mark is trained the human bioequivalence network, and the human bioequivalence network is enable to identify input Each human body in image.

In some embodiments, the training unit is for being specifically used for when obtaining sample human body image: obtaining in reality The sample human body image shot under the shooting condition of border.

In some embodiments, described device further includes confirmation unit, for obtain moved in the detector it is described It include the human body image of the patient after distance to be moved, captured by the camera；It is obtained according to the human body image Human body distributed image, to obtain wait throw the location of pixels according to position in the human body image；By the location of pixels Be compared with the presetted pixel position wait throw according to position, difference within the set range in the case where, determine the spy The position for surveying device reaches sets requirement.

Referring to Fig. 5, for the structural schematic diagram for the positioning device that at least one embodiment of the disclosure provides, the equipment includes Memory 501, processor 502, memory 501 are used for storing the computer instruction that can be run on a processor, processor 502 The localization method described in the realization disclosure any embodiment when executing the computer instruction.

It should for the structural schematic diagram for the Digital X-ray Radiotive system that at least one embodiment of the disclosure provides referring to Fig. 6 System may include: radioactive source 601, detector 602, camera 603, movement mechanism 604 and positioning device 605.Wherein, it puts The connection relationship of source 601, detector 602, camera 603 and movement mechanism 604 is penetrated as described in disclosure any embodiment, is positioned Equipment 605 is used to realize the automatic positioning to detector 602 using localization method described in disclosure any embodiment.

In the embodiment of the present application, computer readable storage medium can be diversified forms, for example, in different examples In, the machine readable storage medium may is that RAM (Radom Access Memory, random access memory), volatile deposit Reservoir, nonvolatile memory, flash memory, memory driver (such as hard disk drive), solid state hard disk, any kind of storage dish (such as CD, dvd) perhaps similar storage medium or their combination.Special, described computer-readable medium Can also be paper or other be suitably capable of the medium of print routine.Using these media, these programs can be passed through The mode of electricity gets (for example, optical scanner), can be compiled, be explained and processing in an appropriate manner, then can be by It stores in computer media.

The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.