Patent Description:
Before medical examination is performed on an examinee by using a medical imaging device (e.g., a CT), the examinee needs to be placed so that the examinee maintains a proper position and posture on an examination table of the medical imaging device for proper medical examination.

CT scanning is divided into topo (TOPO) scanning and tomo (TOMO) scanning. Generally, topo scanning is first performed on the examinee at a low radiation dose to generate a topo image, where the topo image is used to determine a precise tomo scanning range of tomo scanning. Then tomo scanning is performed on the examinee at a high radiation dose to generate a tomo image. In a CT scanning workflow, before topo scanning is performed, the examinee is placed on the examination table to fix the position of the examinee on the examination table, and the center of a to-be-examined organ of the examinee is made close to the isocenter of a CT scanner gantry in the vertical direction. The examination table is then moved horizontally so that the examinee reaches a topo scanning start position (i.e., a horizontal start point of the to-be-examined organ of the examinee reaches the horizontal isocenter of the CT scanner gantry). Then, topo scanning is started on the examinee.

Recent several studies have shown that position misalignment in the vertical direction between the center of the to-be-examined organ and the isocenter of the CT scanner gantry affect the radiation dose to the examinee and image quality. However, one study found that almost <NUM>% of examinees undergoing chest CT were inappropriately positioned vertically and that the average deviation distance between the center of the to-be-examined organ and the isocenter of the CT scanner gantries was <NUM>. Therefore, the center of the to-be-examined organ of the examinee needs to be as close to the isocenter of the CT scanner gantry as possible in the vertical direction, so as to minimize the radiation dose to the examinee and improve CT imaging quality.

Currently, a technician uses a laser-assisted system to visually estimate a proper position of an examinee for vertical positioning. That is, a laser source is used to emit a plurality of visible lasers (for example, red lasers) toward the isocenter of the CT scanner gantry to mark the isocenter position of the CT scanner gantry. The technician then manually adjusts the height of the examination table, so that the center of the to-be-examined organ of the examinee overlaps with the isocenter in the vertical direction. However, this requires full attention by the technician during the operation, because the vertical positioning precision of the examinee depends on the operation precision of the technician. It also requires the technician to have expertise to know the best table height for patients of different sizes under different organ scanning solutions. Some technicians may need to adjust the height for several times to obtain a better vertical position, which results in inefficient clinical workflows.

Therefore, a technical solution based on a 3D camera (combined with time-of-flight, structural light, binocular camera, etc.) is proposed to solve this imprecise and inefficient vertical positioning problem. In this solution, a depth map of an object is obtained by using the three-dimensional camera, so as to calculate thickness of an examinee. Along with other functions, the 3D camera can provide more functions, but due to high costs, an alternative cost-effective solution is still needed for low-end scanners. In addition, the current 3D camera needs to be installed on the ceiling of a scanning room, so as to ensure that the entire body of the examinee can be photographed when the examinee is lying on the examination table. However, due to differences of scanning rooms, additional installation and adjustment procedures may be required on site. <CIT> Al discloses a 3D camera which is installed at the scanner.

A main objective of this application is to provide a method for vertically positioning an examinee, an apparatus for vertically positioning an examinee, and a CT system, so as to resolve a problem in the prior art that it is difficult to simply and economically perform high-precision vertical positioning on an examinee for which medical imaging examination is to be performed.

To achieve the foregoing objective, according to an aspect of this application, a method for vertically positioning an examinee that is placed on an examination table of a CT device according to claim <NUM> is provided, where a sensor for measuring a distance to the examinee is attached to the CT device, and the method includes inter alia:
obtaining an initial position of an examination table of the CT device when horizontal placement of the examinee is completed; obtaining a measurement range of the sensor that is corresponding to a to-be-examined organ of the examinee and that is on the examination table, where the measurement range includes a start point and an end point in the horizontal direction; during movement of the examination table toward a scanner gantry of the CT device, when the start point reaches a measurement position of the sensor, causing the sensor to start measurement, and when the end point reaches the measurement position, stopping measurement of the sensor, and obtaining a real-time height of the examination table corresponding to the measurement range while the sensor performs measurement; calculating an organ center height based on a measurement result of the distance to the examinee by the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, where the organ center height represents an average height of the center of the to-be-examined organ corresponding to the measurement range in the vertical direction; and adjusting the height of the examination table based on the calculated organ center height, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry.

In this manner, the vertical height of the examinee can be adjusted by using the sensor, so that the adjusted organ center height of the examinee is equal to the isocenter height of the scanner gantry. Thus, the radiation dose to the examinee is minimized and CT imaging quality is improved.

Further, the calculating an organ center height includes: calculating average organ thickness of the examinee corresponding to the measurement range based on the measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, and calculating the organ center height based on the average organ thickness and the current height of the examination table.

In this manner, the average height of the current organ center point may be obtained by calculating the average organ thickness corresponding to the measurement range. For example, the organ center height is equal to the sum of a half of the average organ thickness and the current height of the examination table.

Further, the obtaining a measurement range of the sensor that is corresponding to a to-be-examined organ of the examinee and that is on the examination table includes: obtaining a top-view image of the examinee from a camera; determining an image range corresponding to the to-be-examined organ from the top-view image, where the image range is defined by pixel start coordinates and pixel end coordinates in the horizontal direction; mapping the pixel start coordinates to an initial position of the start point of the examination table based on an imaging parameter of the camera and the initial position of the examination table, and mapping the pixel end coordinates to an initial position of the end point of the examination table; and determining the measurement range from the start point and the end point.

In this manner, a precise measurement range may be obtained by using the camera, so that vertical positioning adjustment of the examinee can be completed before topo scanning, so that topo scanning and tomo scanning are performed at an optimized vertical position, thereby minimizing the radiation dose to the examinee and maximizing CT imaging quality.

Further, according to an embodiment of this application, the calculating an organ center height based on a measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range includes: obtaining a distance profile curve from the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; and calculating the organ center height corresponding to the measurement range based on the distance profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range.

In this manner, the distance profile curve corresponding to the measurement range may be obtained by using the sensor, and the average organ thickness corresponding to the measurement range may be further calculated from the distance profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, so that the organ center height can be obtained.

Further, according to an embodiment of this application, the obtaining a measurement range of the sensor that is corresponding to a to-be-examined organ of the examinee and that is on the examination table includes: obtaining a topo scanning range of topo scanning of the CT device, where the topo scanning range is determined by the CT device for the to-be-examined organ, and the topo scanning range includes a scanning start point and a scanning end point of the examination table in the horizontal direction; and determining the measurement range based on the obtained topo scanning range.

In this manner, the measurement range may be directly determined by using the topo scanning range determined by the CT device, so as to avoid using an additional camera, thereby simplifying determining of the measurement range and simplifying construction of the CT system for vertically positioning the examinee.

Further, according to an embodiment of this application, the determining the measurement range based on the obtained topo scanning range includes: determining the start point and the end point of the measurement range based on the scanning start point of the topo scanning range.

In this manner, the measurement range of the sensor can be obtained by determining the start point and the end point of the measurement range by using the scanning start point of the topo scanning range.

Further, according to an embodiment of this application, a distance between the start point and the end point is equal to a distance between the sensor and the isocenter of the scanner gantry in the horizontal direction.

In this manner, measurement of the sensor exactly ends when the examinee moves to the tomo scanning start position. That is, measurement of the sensor may be performed during movement of the examination table to the topo scanning start position for performing topo scanning, thereby avoiding additional movement of the examination table and simplifying the measurement process of the sensor.

Further, according to an embodiment of this application, the calculating an organ center height based on a measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range includes: obtaining a distance profile curve based on the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; determining a calculation range corresponding to the to-be-examined organ based on the distance profile curve, where the calculation range is within the measurement range; determining an updated profile curve based on the calculation range, where the updated profile curve indicates a distance from the sensor to the examinee corresponding to each point in the calculation range; and calculating the organ center height corresponding to the measurement range based on the updated profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the calculation range within the measurement range.

In this manner, a calculation range of relatively high precision corresponding to the to-be-examined organ may be determined according to a measurement range of low precision, so that the organ center height is calculated with high precision. In this way, even when a camera is not used, high-precision adjustment of a vertical position of the examinee can be implemented.

Further, according to an embodiment of this application, the determining the measurement range based on the obtained topo scanning range includes: determining the start point of the measurement range based on the scanning start point of the topo scanning range, and determining the end point of the measurement range based on the scanning end point of the topo scanning range, where the measurement range includes the topo scanning range.

In this manner, measurement of the sensor may be performed simultaneously with topo scanning, thereby avoiding additional movement of the examination table. In addition, measurement of the sensor is completed at the completion of topo scanning, so as to avoid spending additional time on measurement of the sensor in the CT workflow, so that measurement of the sensor is implemented without affecting the CT workflow. Therefore, the method for vertically positioning an examinee is more easily implemented on the CT device.

Further, according to an embodiment of this application, the calculating an organ center height based on a measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range includes: obtaining a distance profile curve based on the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; obtaining a calculation range from the CT device, where the calculation range is a tomo scanning range in the horizontal direction determined by the CT device, and the tomo scanning range is determined by the CT device from a topo image generated by the topo scanning and is within the topo scanning range; determining an updated profile curve based on the calculation range from the distance profile curve, where the updated profile curve indicates a distance from the sensor to the examinee corresponding to each point in the calculation range; and calculating the organ center height corresponding to the measurement range based on the updated profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the calculation range within the measurement range.

In this manner, by using the tomo scanning range determined by the CT device as a calculation range for high-precision calculation, not only high-precision calculation of the organ center height and high-precision adjustment of the vertical height of the examinee can be implemented, but also additional processing of the measurement range is avoided, thereby simplifying the process of adjusting the vertical height of the examinee.

According to another aspect of the present application, an apparatus according to claim <NUM> for vertically positioning an examinee that is placed on an examination table of a CT device is further provided and includes inter alia: an obtaining module, configured to: obtain an initial position of an examination table of the CT device from the CT device when horizontal placement of the examinee is completed; and obtain a measurement range that is corresponding to a to-be-examined organ of the examinee and that is on the examination table, where the measurement range includes a start point and an end point in the horizontal direction; a sensor, attached to a scanner gantry of the CT device, where a signal transmission direction of the sensor intersects an isocenter axis of the scanner gantry frame, and the sensor is configured to: during movement of the examination table toward the scanner gantry, when the start point reaches a measurement position of the sensor, start to measure the distance to the examinee, and when the end point reaches the measurement position, stop measurement, where the obtaining module is further configured to obtain a real-time height of the examination table corresponding to the measurement range while the sensor performs measurement; a calculation module, configured to calculate an organ center height based on a measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, where the organ center height represents an average height of the center of the to-be-examined organ corresponding to the measurement range in the vertical direction; and an adjustment module, configured to adjust the height of the examination table based on the calculated organ center height, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry.

In this manner, the vertical height of the examinee can be adjusted by using the sensor, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry. Thus, the radiation dose to the examinee is minimized and CT imaging quality is improved.

Further, according to an embodiment of this application, the calculating an organ center height includes: calculating average organ thickness of the examinee corresponding to the measurement range based on the measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, and calculating the organ center height based on the average organ thickness and the current height of the examination table.

Further, the apparatus for vertically positioning an examinee further includes a camera, configured to shoot a top-view image of the examinee when horizontal placement of the examinee is completed; and the obtaining module is further configured to: obtain the top-view image and determine an image range corresponding to the to-be-examined organ from the top-view image, where the image range is defined by pixel start coordinates and pixel end coordinates in the horizontal direction; map the pixel start coordinates to an initial position of the start point of the examination table based on an imaging parameter of the camera and the initial position of the examination table, and map the pixel end coordinates to an initial position of the end point of the examination table; and determine the measurement range from the start point and the end point.

Further, according to an embodiment of this application, the calculation module is further configured to: determine a distance profile curve based on the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; and calculate the organ center height corresponding to the measurement range based on the distance profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range.

Further, according to an embodiment of this application, the obtaining module is further configured to: obtain a topo scanning range of topo scanning from the CT device, where the topo scanning range is determined by the CT device for the to-be-examined organ, and the topo scanning range includes a scanning start point and a scanning end point of the examination table in the horizontal direction; and determine the measurement range based on the obtained topo scanning range.

Further, according to an embodiment of this application, the calculation module is further configured to: determine a distance profile curve from the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; determine a calculation range corresponding to the to-be-examined organ based on the distance profile curve, where the calculation range is within the measurement range; determine an updated profile curve based on the calculation range, where the updated profile curve indicates a distance from the sensor to the examinee corresponding to each point in the calculation range; and calculate the organ center height corresponding to the measurement range based on the updated profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the calculation range within the measurement range.

Further, according to an embodiment of this application, the obtaining module is further configured to: determine the start point of the measurement range based on the scanning start point of the topo scanning range, and determine the end point of the measurement range based on the scanning end point of the topo scanning range, where the measurement range includes the topo scanning range.

In this manner, measurement of the sensor may be performed simultaneously with topo scanning, thereby avoiding additional movement of the examination table and simplifying the measurement process of the sensor.

Further, according to an embodiment of this application, the obtaining module is further configured to obtain a calculation range from the CT device, where the calculation range is a tomo scanning range in the horizontal direction determined by the CT device, and the tomo scanning range is determined by the CT device from a topo image generated by the topo scanning and is within the topo scanning range; and the calculation module is further configured to: determine a distance profile curve from the measurement result of the sensor, where the distance profile curve indicates a distance from the sensor to the examinee corresponding to each point in the measurement range; determine an updated profile curve based on the calculation range from the distance profile curve, where the updated profile curve indicates a distance from the sensor to the examinee corresponding to each point in the calculation range; and calculate the organ center height corresponding to the measurement range based on the updated profile curve, the height of the sensor, and the real-time height of the examination table corresponding to the calculation range within the measurement range.

Further, according to an embodiment of this application, the sensor includes a single sensor unit or an array including a plurality of sensor units.

In this manner, a single sensor unit or an array including a plurality of sensor units may be selected for distance measurement according to an adjustment precision requirement. For example, a single time-of-flight sensor may be used for point-to-point measurement, or an array including a plurality of time-of-flight sensors may be used for row-by-row or segment-by-segment measurement.

According to another aspect of this application, a CT system is further provided, including: the foregoing apparatus for vertically positioning an examinee and a CT device, including: an examination table capable of moving vertically under control of the apparatus for vertically positioning an examinee; and a scanner gantry, configured to perform topo scanning or tomo scanning on a examinee in the scanner gantry, where a sensor of the apparatus for vertically positioning an examinee is attached to the scanner gantry, and a signal transmission direction of the sensor intersects an isocenter axis of the scanner gantry.

In this manner, in the CT system, a vertical height of the examinee can be adjusted with high precision, thereby minimizing the radiation dose to the examinee and improving CT imaging quality. In addition, according to the CT system of this application, the examinee may be automatically positioned vertically without manual operation by an operator, thereby greatly improving efficiency of a clinical workflow. In particular, in the case of multi-part scanning, a corresponding height of the examinee is automatically adjusted for each part, so that the radiation dose to the examinee is reduced while an extension of operating time of the CT system is avoided. In addition, the CT system integrates sensors with scanner gantries, and is easier to install and maintain than a traditional 3D camera-based solution. In addition, by combining sensor-based vertical automatic positioning with RGB camera-based horizontal automatic positioning, a fully automated positioning system can be provided for entry-level CT products with low costs.

In the embodiments of this application, a sensor is disposed, and a vertical distance to an examinee is measured by using the sensor during movement of an examination table, so that an average height of the center of a to-be-examined organ in the vertical direction is measured by using a plurality of vertical distances corresponding to the to-be-examined organ, and a height of the examination table is adjusted so that the adjusted organ center height is equal to an isocenter height of a scanner gantry, so as to at least resolve a problem in the prior art that it is difficult to perform high-precision vertical positioning on the examinee without affecting CT working efficiency, thereby implementing an effect of minimizing the radiation dose to the examinee and improving CT imaging quality without affecting CT working efficiency.

The accompanying drawings constituting a part of this application are used for providing further understanding for this application. Exemplary embodiments of this application and descriptions thereof are used for describing this application and do not constitute any inappropriate limitation to this application. In the drawings:.

The accompanying drawings include the following reference numerals:.

It should be noted that the embodiments in this application and the features in the embodiments may be combined with each other in case of no conflicts. This application is described in detail below with reference to the drawings and the embodiments.

It should be noted that, unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which this application belongs.

In this application, unless otherwise specified, orientation terms such as "upper", "lower", "top", and "bottom" are generally used based on a direction shown in the accompanying drawings, or generally defined based on a component on a vertical, perpendicular, or gravity direction; and similarly, for ease of understanding and description, "inside and outside" refer to inside and outside relative to a profile of a component. However, the foregoing orientation terms are not intended to limit this application.

<FIG> is a flowchart of a method for vertically positioning an examinee according to an embodiment of this application. As shown in <FIG>, a sensor used to measure a distance to an examinee is attached to a CT device, and the method for vertically positioning an examinee includes the following steps:.

In this manner, the vertical height of the examinee can be adjusted by using distance measurement of the sensor, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry. Thus, the radiation dose to the examinee is minimized and CT imaging quality is improved.

<FIG> is a schematic structural diagram of an apparatus for vertically positioning an examinee according to an embodiment of this application. As shown in <FIG>, an apparatus <NUM> for vertically positioning an examinee includes: an obtaining module <NUM>, configured to: obtain an initial position of an examination table of the CT device from the CT device when horizontal placement of the examinee is completed; and obtain a measurement range that is corresponding to a to-be-examined organ of the examinee and that is on the examination table, where the measurement range includes a start point and an end point in the horizontal direction; a sensor <NUM>, attached to a scanner gantry of the CT device, where a signal transmission direction of the sensor intersects an isocenter axis of the scanner gantry frame, and the sensor <NUM> is configured to: during movement of the examination table toward the scanner gantry, when the start point reaches a measurement position of the sensor, start to measure the distance to the examinee, and when the end point reaches the measurement position of the sensor, stop measurement, where the obtaining module <NUM> is further configured to obtain a real-time height of the examination table corresponding to the measurement range while the sensor performs measurement; a calculation module <NUM>, configured to calculate an organ center height based on a measurement result of the sensor, the height of the sensor, and the real-time height of the examination table corresponding to the measurement range, where the organ center height represents an average height of the center of the to-be-examined organ corresponding to the measurement range in the vertical direction; and an adjustment module <NUM>, configured to adjust the height of the examination table based on the calculated organ center height, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry.

The apparatus <NUM> for vertically positioning an examinee shown in <FIG> is configured to perform the vertical positioning method shown in <FIG>, and can implement an effect of minimizing the radiation dose to the examinee and improving CT imaging quality without affecting CT operation efficiency.

Further, according to an embodiment of this application, the apparatus <NUM> for vertically positioning an examinee may further include a camera <NUM> (as shown in <FIG>), configured to shoot a top-view image of the examinee after the examinee is positioned on the examination table; and the obtaining module <NUM> is further configured to: determine an image range corresponding to the to-be-examined organ from the top-view image, where the image range is defined by pixel start coordinates and pixel end coordinates in the horizontal direction; map the pixel start coordinates to an initial position of the start point of the examination table based on an imaging parameter of the camera and the initial position of the examination table, and map the pixel end coordinates to an initial position of the end point of the examination table; and determine the measurement range from the start point and the end point.

<FIG> is a schematic structural diagram of a CT system including an apparatus for vertically positioning an examinee according to an embodiment of this application. As shown in <FIG>, a CT system <NUM> includes the apparatus <NUM> for vertically positioning an examinee shown in <FIG> and a CT device <NUM>. The CT device <NUM> includes an examination table <NUM> capable of moving vertically under control of the apparatus <NUM> for vertically positioning an examinee; and a scanner gantry <NUM>, configured to perform topo scanning or tomo scanning on an examinee <NUM> in the scanner gantry <NUM>. A sensor <NUM> of the apparatus <NUM> for vertically positioning an examinee is attached to the scanner gantry <NUM>, and a signal transmission direction of the sensor <NUM> intersects an isocenter axis Za of the scanner gantry <NUM>.

The following specifically describes a method for vertically positioning an examinee, an apparatus for vertically positioning an examinee, and a CT system including the apparatus according to the embodiments of this application with reference to <FIG>. In <FIG>, the sensor <NUM> is a time-of-flight sensor, such as a time-of-flight laser radar sensor. However, a person skilled in the art will understand that another distance measurement sensor may be used.

<FIG> is a schematic diagram of installing a time-of-flight sensor of an apparatus for vertically positioning an examinee to a CT scanner gantry according to an embodiment of this application. <FIG> shows a schematic side view of the CT device <NUM> and the time-of-flight sensor <NUM>. An examination table <NUM> is arranged in the z direction. The time-of-flight sensor <NUM> is fixed on the scanner gantry <NUM> of the CT device <NUM> and is above the examination table <NUM> to measure the distance from the sensor to the examinee on the examination table <NUM> of the CT device. It should be noted that in the following, the horizontal movement direction of the examination table <NUM> is the z direction, the vertical (height) direction of the examination table <NUM> is the y direction, and the left and right directions of the examination table <NUM> is the x direction.

<FIG> shows the top view of the CT device <NUM> and the time-of-flight sensor <NUM>, where a signal transmission direction of the time-of-flight sensor <NUM> intersects the isocenter axis Za of the scanner gantry <NUM> (the isocenter axis Za is positioned in the z direction and passes through the isocenter C of the scanner gantry, and x coordinates of Za coincide with x center coordinates of the examination table <NUM>) to measure the distance to the examinee at the central position in the x direction on the examination table <NUM>.

<FIG> is a schematic diagram of a plurality of installing positions of a time-of-flight sensor of an apparatus for vertically positioning an examinee on a CT scanner gantry according to an embodiment of this application. In each of <FIG>, a side view of the scanner gantry <NUM> in the yz direction is shown in the upper part, and a side view of the scanner gantry <NUM> in the xz direction is shown in the lower part.

<FIG> shows a case in which the time-of-flight sensor <NUM> is installed in the upper center of the scanner gantry <NUM>. The time-of-flight sensor <NUM> overlaps the x coordinates of the isocenter C of the scanner gantry <NUM> in the x direction, is positioned at a higher position of the scanner gantry <NUM> in the y direction, and is positioned at a position of the scanner gantry <NUM> closest to the outer surface of the examination table <NUM> in the z direction. In this case, the time-of-flight sensor <NUM> transmits a measurement signal (such as infrared laser) vertically downward to measure the distance to the examinee's body surface.

<FIG> shows a case in which the time-of-flight sensor <NUM> is installed outside the scanner gantry <NUM>. A holder extends on the scanner gantry <NUM> in the z direction, and the time-of-flight sensor <NUM> is installed at an end portion of the holder. That is, compared with <FIG>, in <FIG>, the time-of-flight sensor <NUM> is closer to the examination table <NUM> in the z direction. In this case, the time-of-flight sensor <NUM> transmits a measurement signal vertically downward to measure the distance to the examinee's body surface.

<FIG> shows a case in which the time-of-flight sensor <NUM> is installed at an upper offset center position of the scanner gantry <NUM>. Positions of the time-of-flight sensor <NUM> in the y and z directions are the same as those in <FIG>, but the position thereof in the x direction is offset to the right from the position in <FIG>. In this case, the time-of-flight sensor <NUM> transmits a measurement signal to the lower left, and the signal direction intersects the isocenter axis Za to measure the distance to the examinee's body surface.

<FIG> shows a case in which the time-of-flight sensor <NUM> is installed on an inner surface of the scanner gantry <NUM>. In this case, the time-of-flight sensor <NUM> is installed on the inner surface of the annular scanner gantry <NUM>. That is, compared with the case in <FIG>, the height of the time-of-flight sensor <NUM> in the y direction decreases. In this case, the time-of-flight sensor <NUM> transmits a measurement signal vertically downward to measure the distance to the examinee's body surface.

<FIG> is a schematic diagram of distance measurement performed on an examinee by using a time-of-flight sensor according to an embodiment of this application. The position of the time-of-flight sensor <NUM> in <FIG> corresponds to the position shown in <FIG>. As shown in <FIG>, horizontal placement of the examinee <NUM> is completed on the examination table <NUM>, where the examination table is at an initial height H0. While the examinee moves horizontally to the right with the examination table, the time-of-flight sensor <NUM> emits infrared light to measure the distance to the examinee <NUM> on the examination table <NUM>, so as to obtain a distance profile curve for the examinee <NUM>.

Specifically, as shown in <FIG>, the examinee <NUM> moves to the right along with the examination table <NUM>. The time-of-flight sensor <NUM> starts to measure the distance s to the examinee <NUM> in response that the examinee reaches the measurement position of the time-of-flight sensor <NUM> at a moment t<NUM> (shown directly below the sensor <NUM> in the figure). <FIG> shows the position of the examinee <NUM> at a moment t<NUM> after the moment t<NUM>. In this case, the examinee <NUM> partly enters the scanner gantry <NUM> along with the examination table <NUM>. The time-of-flight sensor <NUM> then continues to perform scanning until it receives a scanning end signal.

<FIG> shows the distance profile curve of the examinee obtained after the time-of-flight sensor <NUM> starts scanning at the moment t<NUM> and passes through the moment t<NUM> until the end of the scanning. The horizontal coordinate of the distance profile curve is a scanning time t, and the vertical coordinate s is a distance from the time-of-flight sensor <NUM> to the examinee <NUM> measured by the time-of-flight sensor <NUM>.

Next, by using the measurement principle shown in <FIG>, a method for adjusting the height of the examinee by using the time-of-flight sensor <NUM> in different embodiments that is controlled by the apparatus <NUM> for vertically positioning an examinee is described in detail with reference to <FIG>.

It should be noted that the distance profile curve obtained in <FIG> differs from the distance profile curve shown in <FIG> in that the horizontal coordinates of the distance profile curve obtained in <FIG> are horizontal coordinates (that is, z coordinates) of the examination table <NUM>, rather than the scanning time. In an embodiment, the z coordinates of the examination table <NUM> are represented by a horizontal distance between a fixed point on the examination table <NUM> (e.g., an endpoint in the upper right corner of the examination table <NUM>) and the isocenter C of the scanner gantry <NUM>.

<FIG> is a schematic diagram of distance measurement performed on an examinee by using a time-of-flight sensor according to a first example embodiment of this application. <FIG> shows a method for adjusting a height of an examinee by using a time-of-flight sensor <NUM> in combination with a camera <NUM>, and the method is performed before topo scanning.

As shown in <FIG>, the camera <NUM> is installed at a fixed position above an examination table <NUM> (for example, attached to a scanner gantry <NUM> at a specific distance), so that an imaging range of the camera <NUM> covers the entire examination table <NUM>.

First, the examinee <NUM> is horizontally placed on the examination table <NUM>. When horizontal placement is completed, the examination table <NUM> is at a preset initial height H0, and a horizontal position (a position in the z-direction) of the examination table <NUM> is known. For example, by setting the isocenter C (or another fixed point) of the scanner gantry <NUM> as the origin of the z direction, the horizontal position z of each point on the examination table <NUM> may be initially learned. In addition, the time-of-flight sensor <NUM> is at a fixed position, and its height Ht and horizontal position Zt are known. The height Hc and the horizontal position Zc of the isocenter C are also known.

Then, a top-view image I1 of the examinee <NUM> on the examination table <NUM> is shot by using the camera <NUM>.

Next, an image range S0 (as shown in <FIG>) in which the time-of-flight sensor <NUM> performs measurement in the z direction is determined on the shot image I1 according to a to-be-examined organ (for example, the chest) of the examinee. The image range S0 is limited by start pixel coordinates a1 and end pixel coordinates a2 in the z direction on the image I1. Note that when required, the image range S0 may also be manually determined by an operator.

Then, the start pixel coordinates a1 and the end pixel coordinates a2 corresponding to the selected image range S0 are mapped to positions of coordinate points on the examination table <NUM> based on an imaging parameter of the camera <NUM>, a distance from the camera <NUM> to the examination table <NUM>, and the like. The positions of the mapped coordinate points are determined as a measurement start point P1 and a measurement end point P2 on the examination table <NUM>. The measurement start point P1 and the measurement end point P2 define a measurement range S1 on the examination table <NUM>.

Then, the examination table <NUM> is moved toward the scanner gantry <NUM>.

During the movement of the examination table <NUM>, in response to that the measurement start point P1 arrives at the measurement position of the time-of-flight sensor <NUM> (the response may be triggered based on time or distance; for example, the real-time z coordinates of the examination table <NUM> are obtained from the CT device, and measurement of the sensor <NUM> is triggered in response to that the z coordinates are changed to a specific value and the start point P1 is just below the time-of-flight sensor <NUM>), the time-of-flight sensor <NUM> starts to measure the distance to the examinee <NUM>. In response to that the measurement end point P2 reaches the measurement position of the time-of-flight sensor <NUM>, the time-of-flight sensor <NUM> stops measurement. A real-time height H1 of the examination table <NUM> corresponding to the measurement range S1 is obtained while the time-of-flight sensor <NUM> performs measurement.

It should be noted that in this application, the height of the examination table <NUM> may change during movement of the examination table <NUM> toward the scanner gantry <NUM>. Therefore, the real-time height H1 of the examination table <NUM> corresponding to each point in the measurement range S1 needs to be obtained while the time-of-flight sensor <NUM> performs measurement. The real-time height H1 of the examination table <NUM> may be obtained from the CT device. When the height of the examination table <NUM> remains unchanged during movement, only the initial height H0 of the examination table <NUM> needs to be obtained.

After measurement of the time-of-flight sensor <NUM> ends, a distance profile curve of the examinee <NUM> within the measurement range S1 is obtained based on the measurement result of the time-of-flight sensor <NUM>. The profile curve indicates the distance s from the time-of-flight sensor <NUM> to the examinee <NUM> corresponding to each point from the measurement start point P1 to the measurement end point P2.

Based on the distance profile curve, the height Ht of the time-of-flight sensor <NUM>, and the real-time height H1 of the examination table <NUM> corresponding to the measurement range S1, an organ center height H of the examinee <NUM> within the measurement range S1 may be calculated. The organ center height H represents the average height of the organ center corresponding to the measurement range S1 in the vertical direction (y direction). For example, the organ center height H is equal to the sum of a half of the average organ thickness and the current height H2 of the examination table <NUM>. That is, the calculated organ center height H is the organ center height at the current moment.

For example, by subtracting the distance s corresponding to each point on the distance profile curve from the height Ht of the time-of-flight sensor <NUM>, and subtracting the real-time height H1 of the examination table <NUM> corresponding to each point, thickness Ht-s-H1 of the organ of the examinee corresponding to each point from the measurement start point P1 to the measurement end point P2 may be obtained. All organ thickness of the examinee corresponding to all points may be averaged to obtain the average organ thickness Ha of the examinee within the measurement range S1. Therefore, at the current moment, the organ center height is H=Ha/<NUM>+H2.

After the organ center height H of the examinee <NUM> within the measurement range S1 is calculated, the calculated organ center height H may be compared with the isocenter height Hc of the scanner gantry <NUM>. Because the organ center height H represents the average height of the central point of the to-be measured organ, it is desirable that the organ center height H is equal to the isocenter height Hc. In this case, the center of the to-be-examined organ overlaps the isocenter of the scanner gantry <NUM> in the y direction, so that the radiation dose to the examinee undergoing CT examination can be minimized and image quality of imaging can be improved.

When the calculated organ center height H is not equal to the isocenter height Hc, the height of the examination table <NUM> is adjusted, so that the adjusted organ center height H' is equal to the isocenter height Hc. For example, when the organ center height H< the isocenter height Hc, the height of the examination table <NUM> is increased by Hc-H; when the organ center height H> the isocenter height Hc, the height of the examination table <NUM> is reduced by H-Hc.

After the height of the examination table <NUM> is adjusted, the height of the center point of the to-be-examined organ coincides with the isocenter height of the scanner gantry <NUM>. Then, the height of the examination table <NUM> remains unchanged, and topo scanning and tomo scanning are successively performed on the examinee <NUM>.

<FIG> is a schematic diagram of distance measurement performed on an examinee by using a time-of-flight sensor according to a second example embodiment of this application. <FIG> shows a method for adjusting a height of an examinee by using only a time-of-flight sensor <NUM>, and the method is performed before topo scanning.

The method shown in <FIG> is different from the method shown in <FIG> in that in <FIG>, a camera is not used to determine an exact time-of-flight scanning range before measurement is performed by using the time-of-flight sensor <NUM>.

First, the examinee <NUM> is horizontally placed on the examination table <NUM>. When horizontal placement is completed, the examination table <NUM> is at a preset initial height H0, and a horizontal position (a position in the z-direction) of the examination table <NUM> is known. The time-of-flight sensor <NUM> is at a fixed position, and its height Ht and horizontal position Zt are known. The position (Zc, Hc) of the isocenter C of the scanner gantry <NUM> is known.

A measurement range S1 of the time-of-flight sensor <NUM> is determined according to a to-be-examined organ. The measurement range S1 may be predetermined according to the to-be-scanned organ. The measurement range S1 may be defined by a measurement start point P1 and a measurement end point P2 in the horizontal direction on the examinee <NUM> (or corresponding to the examination table). For simplicity, the horizontal distance (i.e., the scanning range) between the start point P1 and the measurement end point P2 is also represented by S1.

In an example embodiment, the measurement start point P1 is determined by a topo scanning start point. That is, a topo scanning range corresponding to the to-be-examined organ is obtained from a CT device, and the topo scanning range is pre-stored by the CT device. The topo scanning range includes a topo scanning start point and a topo scanning end point on the examination table <NUM> in the horizontal direction. The topo scanning start point is determined as the measurement start point P1 of the time-of-flight sensor <NUM>, as shown in <FIG>.

In an example embodiment, the measurement end point P2 is determined by a topo scanning end point. That is, the horizontal position of the measurement end point P2 = the horizontal position of the topo scanning start point - (Zc-Zt). In this manner, when the examinee moves to the topo scanning start position (that is, when the topo scanning start point reaches the isocenter C of the scanner gantry <NUM>), the measurement end point P2 exactly reaches the measurement position of the time-of-flight sensor <NUM>, as shown in <FIG>. In this way, when the examinee <NUM> moves to the topo scanning start position, measurement of the time-of-flight sensor <NUM> ends exactly, and then topo scanning may be directly started without additional movement of the examination table <NUM>.

However, it should be noted that the measurement start point P1 and the measurement end point P2 are only examples, and any measurement range S1 corresponding to the to-be-examined organ may be determined.

After the measurement range S1 is determined, the examination table <NUM> is moved toward the scanner gantry <NUM>.

As shown in <FIG>, the time-of-flight sensor <NUM> starts to measure the distance to the examinee <NUM> in response to that the measurement start point P1 reaches the measurement position of the time-of-flight sensor <NUM>. The response may be triggered based on time or distance. Alternatively, the measurement start point P1 is positioned exactly below the time-of-flight sensor <NUM> when the examinee <NUM> is placed horizontally. In this case, the time-of-flight sensor <NUM> starts to perform measurement while the scanner gantry <NUM> starts moving.

As shown in <FIG>, in response to that the measurement end point P2 reaches the measurement position of the time-of-flight sensor <NUM>, the time-of-flight sensor <NUM> stops measurement. During measurement by the time-of-flight sensor <NUM>, a real-time height H1 of the examination table <NUM> corresponding to the measurement range S1 is obtained.

As shown in <FIG>, based on the measurement result of the time-of-flight sensor <NUM>, a distance profile curve of the examinee <NUM> within the measurement range S1 is obtained. The profile curve indicates the distance s from the time-of-flight sensor <NUM> to the examinee <NUM> corresponding to each point from the measurement start point P1 to the measurement end point P2.

A calculation range S2 is selected from the distance profile curve. The calculation range S2 is defined by a calculation start point P3 and a calculation end point P4, and the calculation start point P3 and the calculation end point P4 are positioned between the measurement start point P1 and the measurement end point P2. The distance between the calculation start point P3 and the calculation end point P4 is also represented by S2. Generally, <NUM>.

Based on the selected calculation range S2, an updated distance profile curve is obtained, which indicates a distance s from the time-of-flight sensor <NUM> to the examinee <NUM> corresponding to each point from the calculation start point P3 to the calculation end point P4.

Then, similar to the steps of the method shown in <FIG>, based on the updated distance profile curve, the height Ht of the time-of-flight sensor <NUM>, and the real-time height H1 of the examination table <NUM> corresponding to the calculation range S2 within the measurement range S1, an organ center height H of the examinee <NUM> within the calculation range S2 is calculated.

Next, the calculated organ center height H is compared with the isocenter height Hc of the scanner gantry <NUM>. When the calculated organ center height H is not equal to the isocenter height Hc, the height of the examination table <NUM> is adjusted, so that the adjusted organ center height H' is equal to the isocenter height Hc.

After the height of the examination table <NUM> is adjusted, topo scanning and tomo scanning are successively performed on the examinee <NUM>.

<FIG> is a schematic diagram of distance measurement performed on an examinee by using a time-of-flight sensor according to a third example embodiment of this application. <FIG> shows a method for adjusting a height of an examinee by using only a time-of-flight sensor <NUM>, and in this method, a measurement period of the time-of-flight sensor <NUM> partly coincides with a time period of topo scanning.

Then, a topo scanning range of topo scanning of the CT device corresponding to a to-be-examined organ is obtained, and a measurement range S1 of the time-of-flight sensor <NUM> is determined based on the topo scanning range. The topo scanning range is pre-stored in the Corresponding to machine. The topo scanning range includes a topo scanning start point and a topo scanning end point on the examination table <NUM> in the horizontal direction. In this embodiment, the measurement range S1 includes the topo scanning range.

In an example embodiment, a measurement start point P1 of the measurement range S1 is determined by the topo scanning start point. For example, the topo scanning start point is determined as the measurement start point P1. In this case, measurement of the time-of-flight sensor <NUM> starts earlier than topo scanning.

In an example embodiment, the measurement end point P2 of the measurement range S1 is determined by the topo scanning end point. For example, the horizontal position of the measurement end point P2 = the horizontal position of the topo scanning end point - (Zc-Zt). In this way, when the examinee <NUM> moves to the topo scanning end position (that is, the topo scanning end point reaches the isocenter C of the scanner gantry <NUM>), the measurement end point P2 exactly reaches the measurement position of the time-of-flight sensor <NUM>. In this way, when topo scanning ends, measurement of the time-of-flight sensor <NUM> ends at the same time.

After the measurement range S1 is determined, the examination table <NUM> is moved toward the scanner gantry <NUM>. Similar to the steps in <FIG>, the time-of-flight sensor <NUM> measures a distance to the examinee <NUM> for the measurement range S1, and obtains a distance profile curve corresponding to the measurement range S1 (as shown in the lower part of <FIG>). The profile curve indicates the distance s from the time-of-flight sensor <NUM> to the examinee <NUM> corresponding to each point from the measurement start point P1 to the measurement end point P2. In addition, a detector in the scanner gantry <NUM> performs topo scanning on the examinee <NUM> to generate a topo image I2 corresponding to the topo scanning range. During measurement by the time-of-flight sensor <NUM>, a real-time height H1 of the examination table <NUM> corresponding to the measurement range S1 is further obtained from the CT device <NUM>.

Then, a calculation range S2 is obtained, or the topo image I2 and the calculation range S2 (the calculation range S2 is within the topo scanning range) are obtained. The calculation range S2 is defined by a calculation start point P3 and a calculation end point P4 in the horizontal direction.

In an example embodiment, the calculation range S2 is obtained from the CT device <NUM>. That is, the calculation range is a tomo scanning range in the horizontal direction determined by the CT device <NUM>, and the tomo scanning range is determined by the CT device <NUM> from the topo image I2 generated by topo scanning, and is within the topo scanning range. Because the measurement range S1 includes the topo scanning range, the calculation start point P3 and the calculation end point P4 of the calculation range S2 are necessarily positioned between the measurement start point P1 and the measurement end point P2. For simplicity, the distance between the calculation start point P3 and the calculation end point P4 is also represented by S2. Generally, <NUM>.

Based on the obtained calculation range S2, an updated profile curve is determined from the measured profile curve, and the updated profile curve indicates a distance from the sensor <NUM> to the examinee <NUM> corresponding to each point in the calculation range S2 (that is, each point from the calculation start point P3 to the calculation end point P4).

Then, similar to the steps of the method shown in <FIG>, based on the updated profile curve, the height Ht of the time-of-flight sensor <NUM>, and the real-time height H1 of the examination table <NUM> corresponding to the calculation range S2 within the measurement range S1, an organ center height H of the examinee <NUM> within the calculation range S2 is calculated.

The calculated organ center height H is compared with the isocenter height Hc of the scanner gantry <NUM>. When the calculated organ center height H is not equal to the isocenter height Hc, the height of the examination table <NUM> is adjusted, so that the adjusted organ center height H' is equal to the isocenter height Hc.

After the height of the examination table <NUM> is adjusted, tomo scanning is performed on the examinee.

<FIG> is a schematic diagram of height adjustment performed on an examinee after distance measurement is performed by using a time-of-flight sensor according to an embodiment of this application.

As shown in <FIG>, before a time-of-flight sensor <NUM> measures an examinee <NUM>, an examination table <NUM> is at an initial height H0. The initial height H0 is a preset value.

As shown in <FIG>, after height measurement and adjustment are performed on the examinee <NUM> by using the time-of-flight sensor <NUM> with reference to the methods of <FIG>, the examination table <NUM> is adjusted to an optimized height H'. In this case, the height H' overlaps with the isocenter C of the scanner gantry <NUM> in the y direction, that is, H'=Hc.

It should be noted that time-of-flight sensors <NUM> used in the foregoing descriptions with reference to <FIG> are all single time-of-flight sensors that transmit a single measurement signal such as infrared light to the examinee <NUM>. A person skilled in the art can understand that the time-of-flight sensor <NUM> may also include a plurality of time-of-flight sensors. The plurality of time-of-flight sensors may form a row of time-of-flight sensors or an array of time-of-flight sensors.

It should be noted that by using the method for vertically positioning an examinee described with reference to <FIG>, a deviation distance between the vertical center of a to-be-examined organ of the examinee and the isocenter C of the CT scanner gantry <NUM> may be reduced at least to be less than <NUM>. When a high-precision camera or a high-precision time-of-flight sensor is used, an offset between the vertical center of the organ and the isocenter C of the scanner gantry <NUM> may be further reduced.

Apparently, the described embodiments are only some embodiments rather than all the embodiments of this application.

It should be noted that terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise. In addition, it should further be understood that terms "comprise" and/or "include" used in this specification indicate that there are features, steps, operations, devices, components, and/or combinations thereof.

In the specification, claims, and the foregoing accompanying drawings of this application, the terms "first", "second", and so on are intended to distinguish similar objects but do not necessarily indicate a specific order or sequence. It is to be understood that the data termed in such a way are interchangeable in appropriate circumstances, so that the embodiments of this application described herein can be implemented in orders other than the order illustrated or described herein.

Claim 1:
A method for vertically positioning an examinee that is horizontally placed on an examination table of a CT device, wherein a sensor for measuring a vertical distance to the examinee is attached to the CT device, and the method comprises:
obtaining (<NUM>) an initial position of the examination table of the CT device when horizontal placement of the examinee is completed;
obtaining (<NUM>) a measurement range of the sensor that is corresponding to a to-be-examined organ of the examinee , wherein the measurement range is on the examination table and comprises a start point and an end point in the horizontal direction, wherein the obtaining of the measurement range comprises:
obtaining a top-view image of the examinee from a camera;
determining an image range corresponding to the to-be-examined organ from the top-view image, wherein the image range is defined by pixel start coordinates and pixel end coordinates in the horizontal direction;
mapping the pixel start coordinates to an initial position of the start point of the examination table based on an imaging parameter of the camera and the initial position of the examination table, and mapping the pixel end coordinates to an initial position of the end point of the examination table;
determining the measurement range from the start point and the end point;
during movement of the examination table (<NUM>) toward a scanner gantry of the CT device, when the start point reaches a measurement position of the sensor, causing the sensor to start measuring the vertical distance to the examinee, and when the end point reaches the measurement position, stopping measurement of the sensor, and obtaining a real-time height of the examination table corresponding to each point in the measurement range while the sensor performs measurement;
calculating (<NUM>) an organ center height based on a plurality of measurement results by the sensor of the distance to the examinee, the height of the sensor, and the real-time height of the examination table corresponding to each point in the measurement range, wherein the organ center height represents an average height within the measurement range of the center of the to-be-examined organ in the vertical direction; and
adjusting (<NUM>) the height of the examination table based on the calculated organ center height, so that the adjusted organ center height is equal to the isocenter height of the scanner gantry.