CN115553793A - Control method, system, equipment and storage medium for human body part scanning - Google Patents
Control method, system, equipment and storage medium for human body part scanning Download PDFInfo
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Abstract
The invention discloses a control method, a system, equipment and a storage medium for human body part scanning, wherein the method comprises the following steps: controlling the scanning device to move according to the received control instruction so as to enable the part to be scanned of the target object to be positioned at the isocenter of the scanning device; acquiring a rotation angle of a scanning device and a target distance between the scanning device and a target object in a treatment room in a scanning process; and adjusting the rotation angle according to the target distance. The scanning device is controlled to move to enable the part to be scanned of the target object to be located at the isocenter of the scanning device, and then the rotating angle of the scanning device and the target distance between the scanning device and the target object in the treatment room in the scanning process are obtained; and adjusting the rotation angle based on the comparison result of the target distance and the preset threshold value. The scanning device is prevented from colliding with a target object in the treatment room based on the adjustment of the rotation angle, and the acquisition efficiency of the part to be scanned is improved.
Description
Technical Field
The invention relates to the technical field of medical imaging, in particular to a control method, a system, equipment and a storage medium for human body part scanning.
Background
During the conventional coronary artery interventional operation, if the operator needs to perform different-angle contrast on the coronary artery, the cardiac rotation acquisition function can acquire contrast images of a plurality of angles simultaneously by one exposure and one contrast agent injection.
The traditional heart rotation acquisition function is complex to operate, and specifically, an operator selects a corresponding heart rotation scanning protocol according to the size of a patient; manually positioning the heart at the rotating center of the C arm according to the X-ray real-time perspective image; then, whether the C-arm collides with surrounding objects or patients or not is judged manually by an operator, the traditional mode needs the operator to perform repeated operation for multiple times, the radiation exposure in the operation process is more, and the preparation time for cardiac rotation acquisition is longer.
Disclosure of Invention
The invention aims to overcome the defects of complex operation and long preparation time of a traditional heart rotation acquisition mode in the prior art, and provides a control method, a system, equipment and a storage medium for human body part scanning.
The invention solves the technical problems through the following technical scheme:
the invention provides a control method for human body part scanning, which comprises the following steps:
acquiring a part to be scanned of a target object;
controlling a scanning device to move according to the received control instruction so that the part to be scanned is positioned at the isocenter of the scanning device;
acquiring a rotation angle of the scanning device and a target distance between the scanning device and a target object in a treatment room in a scanning process;
and adjusting the rotation angle according to the target distance.
Preferably, the step of acquiring the part to be scanned of the target object comprises:
collecting color image information and/or depth image information of the target object;
generating a human body model of the target object according to the color image information and/or the depth image information;
superimposing a body part of the target object into the mannequin;
acquiring a part to be scanned of the target object from the human body model;
and/or the presence of a gas in the atmosphere,
the step of adjusting the rotation angle according to the target distance includes:
if the target distance is smaller than or equal to a preset threshold value, the rotation angle is adjusted, and the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
Preferably, after the step of acquiring the rotation angle of the scanning device and the target distance between the scanning device and the target object in the treatment room during the scanning process, the control method further comprises:
setting the adjustment amplitude of the rotation angle according to the target distance;
if the target distance is less than or equal to a preset threshold, adjusting the rotation angle so that the target distance between the scanning device and the target object in the treatment room after the adjustment of the rotation angle is greater than the preset threshold, including:
if the target distance is smaller than or equal to a preset threshold value, the rotation angle is adjusted according to the adjustment amplitude, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
Preferably, after the step of adjusting the rotation angle if the target distance value is less than or equal to a preset threshold value, so that the target distance value between the scanning device and the target object in the treatment room after the adjustment of the rotation angle is greater than the preset threshold value, the control method further includes:
acquiring a preset scanning path;
the analog scanning device scans around the part to be scanned according to the preset scanning path;
and if the scanning device collides with the target object in the treatment room during the simulation scanning, outputting collision prompt information, collision position information and rotation angle adjustment information.
Preferably, the control method further comprises:
and if the fact that the scanning device does not collide with the target object in the treatment room during the simulation scanning is judged, controlling the scanning device to scan around the part to be scanned according to an actual scanning path.
Preferably, the target object in the treatment room is the target object or medical equipment;
and/or the presence of a gas in the atmosphere,
the scanning device comprises a C-arm.
Preferably, the medical device comprises at least one of a scanning bed, a surgical display, a high-pressure injector, an electrocardiograph monitor and a surgical cart.
The invention provides a control system for human body part scanning, which comprises a first acquisition module, a first control module, a second acquisition module and an adjustment module;
the first acquisition module is used for acquiring a part to be scanned of a target object;
the first control module is used for controlling the scanning device to move according to the received control instruction so as to enable the part to be scanned to be positioned at the isocenter of the scanning device;
the second acquisition module is used for acquiring the rotation angle of the scanning device and the target distance between the scanning device and a target object in the treatment room in the scanning process;
the adjusting module is used for adjusting the rotating angle according to the target distance.
Preferably, the first obtaining module comprises an acquiring unit, a generating unit, a superimposing unit and an obtaining unit;
the acquisition unit is used for acquiring color image information and/or depth image information of the target object;
the generating unit is used for generating a human body model of the target object according to the color image information and/or the depth image information;
the superposition unit is used for superposing the human body part of the target object into the human body model;
the acquisition unit is used for acquiring a part to be scanned of the target object from the human body model;
and/or the presence of a gas in the atmosphere,
the adjusting module is used for adjusting the rotation angle if the target distance is smaller than or equal to a preset threshold value, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
Preferably, the control system further comprises a setting module;
the setting module is used for setting the adjustment amplitude of the rotation angle according to the target distance;
the adjusting module is used for adjusting the rotation angle according to the adjustment amplitude if the target distance is smaller than or equal to a preset threshold value, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
Preferably, the control system further comprises a third obtaining module, a second control module and an output module;
the third acquisition module is used for acquiring a preset scanning path;
the second control module is used for controlling a simulated scanning device to scan around the part to be scanned according to the preset scanning path;
the output module is used for outputting collision prompt information, collision position information and rotation angle adjustment information if the scanning device collides with the target object in the treatment room during simulation scanning.
Preferably, the control system further comprises a third control module;
and the third control module is used for controlling the scanning device to scan around the part to be scanned according to an actual scanning path if the scanning device is judged not to collide with the target object in the treatment room during the simulation scanning.
Preferably, the target object in the treatment room is the target object or medical equipment;
and/or the presence of a gas in the atmosphere,
the scanning device comprises a C-arm.
Preferably, the medical device comprises at least one of a scanning bed, a surgical display, a high-pressure injector, an electrocardiographic monitoring and a surgical cart.
A third aspect of the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the control method for scanning a human body part according to the first aspect when executing the computer program.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of controlling a scan of a part of a human body according to the first aspect.
The positive progress effects of the invention are as follows:
the scanning device is controlled to move, so that the part to be scanned of the target object is positioned at the isocenter of the scanning device, and the rotating angle of the scanning device and the target distance between the scanning device and the target object in the treatment room in the scanning process are obtained; and adjusting the rotation angle according to the target distance. The scanning device is prevented from colliding with a target object in the treatment room based on the adjustment of the rotation angle, and the acquisition efficiency of the part to be scanned is improved.
Drawings
Fig. 1 is a first flowchart of a method for controlling a human body part scan according to embodiment 1 of the present invention.
Fig. 2 is a flowchart of step 101 of a method for controlling human body part scanning according to embodiment 1 of the present invention.
Fig. 3 is a second flowchart of a control method for human body part scanning according to embodiment 1 of the present invention.
Fig. 4 is a third flowchart of a method for controlling human body part scanning according to embodiment 1 of the present invention.
Fig. 5 is a schematic view of the rotation scanning process of the scanning device in embodiments 1 and 2 of the present invention.
Fig. 6 is a schematic structural diagram of a control system for human body part scanning according to embodiment 2 of the present invention.
Fig. 7 is a schematic structural diagram of an electronic device according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides a method for controlling a human body part scan, as shown in fig. 1, the method includes:
in this embodiment, the portion to be scanned may be a heart of the target object, or may be other portions of the target object, which is not specifically limited herein.
102, controlling the scanning device to move according to the received control instruction so as to enable the part to be scanned to be positioned at the isocenter of the scanning device;
in this embodiment, the scanning device includes a C-arm.
In the specific implementation process, the C-shaped arm is controlled to move according to the received control command, so that the part to be scanned is located at the isocenter of the C-shaped arm.
103, acquiring a rotation angle of the scanning device and a target distance between the scanning device and a target object in the treatment room in the scanning process;
in this embodiment, the target object in the treatment room is a target object or medical equipment;
in this embodiment, the medical device includes at least one of a scanning bed, a surgical monitor, a high-pressure injector, an electrocardiographic monitor, and a surgical cart.
In this embodiment, all rotation angles of the C-shaped arm and a target distance between the C-shaped arm and a target object or medical equipment in a scanning process are obtained;
for example, a target distance between the C-arm and the target object is obtained, specifically, a distance between a lowest end of the detector on the C-arm and a highest position on the body surface of the target object is obtained, which is the target distance between the C-arm and the target object.
It should be noted that, in this embodiment, only the C-arm may be controlled to move, and the scanning bed does not move, so that the part to be scanned is located at the isocenter of the scanning apparatus; the scanning bed can also be controlled to move, and the C-shaped arm does not move, so that the part to be scanned is positioned at the isocenter of the scanning device; the C-shaped arm and the scanning bed can be controlled to move simultaneously, so that the part to be scanned is positioned at the isocenter of the scanning device.
And step 104, adjusting the rotation angle according to the target distance.
In this embodiment, the preset threshold is set according to an actual situation, and is not specifically limited herein.
In the embodiment, after the scanning part is located at the isocenter of the scanning device, the rotation angle is adjusted based on the acquired target distance between the scanning device and the target object in the treatment room, so that the rotation angle can be corrected more accurately.
The embodiment adjusts the rotation angle of the C-arm according to the target distance between the C-arm and the target object or the medical device, so that not only can the C-arm be prevented from colliding with the target object or the medical device, but also better imaging can be achieved (i.e. the to-be-scanned part can be scanned more comprehensively through a larger rotation angle).
In one implementation, as shown in fig. 2, step 101 includes:
in the embodiment, the image pickup device is used for acquiring color image information and/or depth image information of a target object;
it should be noted that the camera device may be a camera, and may also be other devices capable of acquiring image information. In addition, the camera includes an RGB color camera and a depth camera.
in this embodiment, the human body model is a 3D human body model.
in this embodiment, the human body part may be obtained by CT or CBCT or a camera, that is, the internal organ structure information of the human body part of the target object may be obtained by CT or CBCT scanning, and the body surface information of the human body part of the target object may be acquired and obtained by the camera.
And 1014, acquiring a part to be scanned of the target object from the human body model.
In this embodiment, not only the human body surface of the target object but also the structure of the internal organ of the target object can be seen from the 3D human body model.
In this embodiment, the information of the target object and the spatial environment of the treatment room is acquired by the camera, a mannequin, a body position, and a spatial environment model of the treatment room (for example, an operating room) are generated and identified, and an automatic cardiac rotation acquisition and control function is realized by using the mannequin, the body position, and the spatial environment model of the treatment room, that is, internal organ structure information of a human body part of the target object can be acquired through CT or CBCT scanning, body surface information of the human body part of the target object can be acquired and acquired through the camera, and a 3D mannequin is generated; and meanwhile, the space environment of a treatment room is identified, and whether the system component (such as a C-shaped arm) and the environment of the treatment room (such as a scanning bed, an operation display, a high-pressure injector, an electrocardiogram monitor, an operation cart, a doctor, a target object and the like) collide or not is monitored in real time.
In a specific implementation process, a plurality of cameras can be arranged in the treatment room, for example, taking three cameras as an example, the three cameras simultaneously collect the body surface information of the human body part of the target object and the environmental information of the treatment room, the camera meeting the definition requirement is selected from the three cameras, and the remaining two cameras are used as backup through the body surface information of the human body part collected by the camera meeting the definition requirement and the environmental information of the treatment room.
In one implementation, step 104 includes:
if the target distance is smaller than or equal to the preset threshold, the rotation angle is adjusted, and the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold.
In an implementation scenario, as shown in fig. 3, after step 103, the control method further includes:
103-1, setting the adjustment amplitude of the rotation angle according to the target distance;
step 104 includes:
and step 104-1, if the target distance is smaller than or equal to a preset threshold, adjusting the rotation angle according to the adjustment range, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold.
In this embodiment, the larger the difference between the target distance and the preset threshold is, the larger the amplitude of the rotation angle adjustment is.
In an implementation scenario, as shown in fig. 4, after step 104, the control method further includes:
105, acquiring a preset scanning path;
and 107, if the scanning device is judged to collide with the target object in the treatment room during the simulation scanning, outputting collision prompt information, collision position information and rotation angle adjustment information.
In this embodiment, a preset scanning path may be obtained in the computer, and the analog scanning device scans around the part to be scanned in the computer according to the preset scanning path; if the scanning device collides with the target object in the treatment room during the simulation scanning, collision prompt information, collision position information and rotation angle adjustment information are output so that the rotation angle can be quickly and accurately adjusted in real time according to actual conditions to avoid the collision between the scanning device and the target object in the treatment room.
In an implementable aspect, the control method further includes:
and if the scanning device is judged not to collide with the target object in the treatment room during the simulation scanning, controlling the scanning device to scan around the part to be scanned according to the actual scanning path.
In a specific implementation process, color image information and/or depth image information of a target object are automatically identified through a camera device (such as a camera), and a 3D human body model of the target object is generated according to the color image information and/or the depth image information; and the 3D human body model is displayed on an interactive interface of a user, and meanwhile, the human body part (such as a heart model) of the target object is superposed on the 3D human body model reconstructed by the camera, so that the user can conveniently obtain the part to be scanned of the target object from the 3D human body model. When the part to be scanned (such as the heart) needs to be rotationally acquired, only the area of the part to be scanned (such as the heart) is selected on the 3D human body model of the target object, and the one-touch in-place control (APC) is triggered, the system automatically moves the part to be scanned (such as the heart) of the target object to the rotation center (i.e., the isocenter) of the C-arm, corrects the rotation angle according to the target distance between the scanning device and the target object in the treatment room (e.g., corrects the rotation angle according to the target distance between the scanning device and the target object, i.e., according to the size of the target object), and simultaneously simulates and calculates whether the C-arm and the rack collide with the surrounding medical equipment or the target object on the corrected rotational scanning path, and when it is determined that no collision occurs, the system automatically performs rotational scanning around the part to be scanned (such as the heart) of the target object. The automatic positioning of the part to be scanned based on the computer vision technology and the automatic adjustment of the rotation angle according to the body type of the target object or the target distance between the medical equipment and the scanning device are realized, the additional repeated operation of a user is not needed, the radiation exposure in the operation process is reduced, and the preparation time for the rotary acquisition of the part to be scanned (such as the heart) is also reduced. That is, the embodiment combines the application of computer vision with the workflow of a treatment room by using the technology of a camera device (such as a camera), thereby further simplifying the operation of a clinical interventional surgeon and improving the convenience and the operation efficiency in the interventional operation process.
For example, in the cardiac rotation acquisition process, the position of the heart of the patient is determined by the camera, the isocenter of the scanning device is moved to the heart, then the path simulation is performed according to the rotation angle of the preset protocol, and the rotation angle is adjusted according to the distance between the scanning device and the target object in the treatment room, which is calculated in the path simulation. For example, as shown in fig. 5, the preset initial rotation angles of the four scanning positions of the scanning device are a-B-C-D (i.e. the preset initial rotation angles are off-left foot (30 ° left forward oblique), 30 ° foot position), off-left head (30 ° left forward oblique, 30 ° head position), off-right head (30 ° right oblique, 30 ° head position), off-right foot (30 ° right oblique, 30 ° foot position), when the target distance through the simulated path is small, the angle is decreased, for example, the adjustment angle is 28 degrees, when the target distance through the simulated path is large, the angle is increased, for example, the adjustment angle is 32 degrees, when the patient is thin, and the angle information of only one scanning position can be adjusted according to actual conditions.
In the embodiment, the scanning device is controlled to move, so that the part to be scanned of the target object is positioned at the isocenter of the scanning device, and the rotation angle of the scanning device and the target distance between the scanning device and the target object in the treatment room in the scanning process are acquired; and adjusting the rotation angle according to the target distance. The scanning device is prevented from colliding with a target object in the treatment room based on the adjustment of the rotation angle, and the acquisition efficiency of the part to be scanned is improved.
Example 2
The present embodiment provides a control system for human body part scanning, as shown in fig. 6, the control system includes a first obtaining module 21, a first control module 22, a second obtaining module 23, and an adjusting module 24;
the first obtaining module 21 is configured to obtain a portion to be scanned of a target object;
in this embodiment, the part to be scanned may be a heart of the target object, and may also be other parts of the target object, which is not specifically limited herein.
The first control module 22 is configured to control the scanning device to move according to the received control instruction, so that the part to be scanned is located at an isocenter of the scanning device;
in this embodiment, the scanning device comprises a C-arm.
In the specific implementation process, the C-shaped arm is controlled to move according to the received control instruction, so that the part to be scanned is located at the isocenter of the C-shaped arm.
The second obtaining module 23 is configured to obtain a rotation angle of the scanning device and a target distance between the scanning device and a target object in the treatment room during the scanning process;
in this embodiment, the target object in the treatment room is a target object or medical equipment;
in this embodiment, the medical device includes at least one of a scanning bed, a surgical monitor, a high-pressure injector, an electrocardiographic monitor, and a surgical cart.
In this embodiment, all rotation angles of the C-shaped arm and a target distance between the C-shaped arm and a target object or medical equipment in a scanning process are obtained;
for example, a target distance between the C-arm and the target object is obtained, specifically, a distance between a lowest end of the detector on the C-arm and a highest position on the body surface of the target object is obtained, which is the target distance between the C-arm and the target object.
It should be noted that, in this embodiment, only the C-arm may be controlled to move, and the scanning bed does not move, so that the portion to be scanned is located at the isocenter of the scanning apparatus; the scanning bed can also be controlled to move, and the C-shaped arm does not move, so that the part to be scanned is positioned at the isocenter of the scanning device; the C-shaped arm and the scanning bed can be controlled to move simultaneously, so that the part to be scanned is positioned at the isocenter of the scanning device.
The adjusting module 24 is configured to adjust the rotation angle according to the target distance.
In this embodiment, the preset threshold is set according to an actual situation, and is not specifically limited herein.
In the embodiment, after the scanning part is located at the isocenter of the scanning device, the rotation angle is adjusted based on the acquired target distance between the scanning device and the target object in the treatment room, so that the rotation angle can be corrected more accurately.
The embodiment adjusts the rotation angle of the C-arm according to the target distance between the C-arm and the target object or the medical device, so that not only can the C-arm be prevented from colliding with the target object or the medical device, but also better imaging can be achieved (i.e. the to-be-scanned part can be scanned more comprehensively through a larger rotation angle).
In an implementable scenario, as shown in fig. 6, the first obtaining module 21 includes an acquiring unit 211, a generating unit 212, a superimposing unit 213, and an obtaining unit 214;
the acquisition unit 211 is configured to acquire color image information and/or depth image information of a target object;
in the embodiment, the image pickup device is used for acquiring color image information and/or depth image information of a target object;
it should be noted that the camera device may be a camera, and may also be other equipment capable of acquiring image information. In addition, the camera includes an RGB color camera and a depth camera.
A generating unit 212 for generating a manikin of the target object from the color image information and/or the depth image information;
in this embodiment, the human body model is a 3D human body model.
The superimposing unit 213 is configured to superimpose the body part of the target object into the human body model;
in this embodiment, the human body part may be obtained by CT or CBCT or a camera, that is, the internal organ structure information of the human body part of the target object may be obtained by CT or CBCT scanning, and the body surface information of the human body part of the target object may be acquired and obtained by the camera.
The acquiring unit 214 is used for acquiring a part to be scanned of the target object from the human body model.
In this embodiment, not only the human body surface of the target object but also the structure of the internal organ of the target object can be seen from the 3D human body model.
In this embodiment, the information of the target object and the spatial environment of the treatment room is acquired by the camera, a mannequin, a body position, and a spatial environment model of the treatment room (for example, an operating room) are generated and identified, and an automatic cardiac rotation acquisition and control function is realized by using the mannequin, the body position, and the spatial environment model of the treatment room, that is, internal organ structure information of a human body part of the target object can be acquired through CT or CBCT scanning, body surface information of the human body part of the target object can be acquired and acquired through the camera, and a 3D mannequin is generated; and meanwhile, the space environment of a treatment room is identified, and whether the system component (such as a C-shaped arm) and the environment of the treatment room (such as a scanning bed, an operation display, a high-pressure injector, an electrocardiogram monitor, an operation cart, a doctor, a target object and the like) collide or not is monitored in real time.
In a specific implementation process, a plurality of cameras can be arranged in the treatment room, for example, taking three cameras as an example, the three cameras simultaneously collect the body surface information of the human body of the target object and the environment information of the treatment room, the camera meeting the definition requirement is selected from the three cameras, and the remaining two cameras are used as backup through the body surface information of the human body and the environment information of the treatment room collected by the camera meeting the definition requirement.
In an implementation scheme, the adjusting module 24 is configured to adjust the rotation angle if the target distance is less than or equal to a preset threshold, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is greater than the preset threshold.
In one embodiment, as shown in fig. 6, the control system further includes a setup module 25;
the setting module 25 is configured to set an adjustment range of the rotation angle according to the target distance;
the adjusting module 24 is configured to adjust the rotation angle according to the adjustment range if the target distance is smaller than or equal to a preset threshold, so that the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold.
In this embodiment, the larger the difference between the target distance and the preset threshold is, the larger the amplitude of the rotation angle adjustment is.
In an implementable scenario, as shown in fig. 6, the control system further includes a third obtaining module 26, a second control module 27, and an output module 28;
the third obtaining module 26 is configured to obtain a preset scanning path;
the second control module 27 is used for simulating the scanning device to scan around the part to be scanned according to a preset scanning path;
the output module 28 is configured to output collision prompt information, collision position information, and rotation angle adjustment information if it is determined that the scanning device collides with the target object in the treatment room during the simulation scanning.
In this embodiment, a preset scanning path may be obtained in the computer, and the analog scanning device scans around the part to be scanned in the computer according to the preset scanning path; if the scanning device collides with the target object in the treatment room during the simulation scanning, collision prompt information, collision position information and rotation angle adjustment information are output so that the rotation angle can be quickly and accurately adjusted in real time according to actual conditions to avoid the collision between the scanning device and the target object in the treatment room.
In one possible implementation, as shown in FIG. 6, the control system further includes a third control module 29;
the third control module 29 is configured to control the scanning device to scan around the portion to be scanned according to the actual scanning path if it is determined that the scanning device does not collide with the target object in the treatment room during the simulation scanning.
In a specific implementation process, color image information and/or depth image information of a target object are automatically identified through a camera device (such as a camera), and a 3D human body model of the target object is generated according to the color image information and/or the depth image information; and the 3D human body model is displayed on an interactive interface of a user, and meanwhile, the human body part (such as a heart model) of the target object is superposed on the 3D human body model reconstructed by the camera, so that the user can conveniently obtain the part to be scanned of the target object from the 3D human body model. When the part to be scanned (such as the heart) needs to be rotationally acquired, only the area of the part to be scanned (such as the heart) is selected on the 3D human body model of the target object, and the one-touch in-place control (APC) is triggered, the system automatically moves the part to be scanned (such as the heart) of the target object to the rotation center (i.e., the isocenter) of the C-arm, corrects the rotation angle according to the target distance between the scanning device and the target object in the treatment room (e.g., corrects the rotation angle according to the target distance between the scanning device and the target object, i.e., according to the size of the target object), and simultaneously simulates and calculates whether the C-arm and the rack collide with the surrounding medical equipment or the target object on the corrected rotational scanning path, and when it is determined that no collision occurs, the system automatically performs rotational scanning around the part to be scanned (such as the heart) of the target object. The automatic positioning of the part to be scanned based on the computer vision technology and the automatic adjustment of the rotation angle according to the body type of the target object or the target distance between the medical equipment and the scanning device are realized, the additional repeated operation of a user is not needed, the radiation exposure in the operation process is reduced, and the preparation time for the rotary acquisition of the part to be scanned (such as the heart) is also reduced. That is, the embodiment combines the application of computer vision with the workflow of a treatment room by using the technology of a camera device (such as a camera), thereby further simplifying the operation of a clinical interventional surgeon and improving the convenience and the operation efficiency in the interventional operation process.
For example, in the cardiac rotation acquisition process, the position of the heart of the patient is determined through the camera, the isocenter of the scanning device is moved to the heart part, then path simulation is performed according to a preset protocol rotation angle, and the rotation angle is adjusted according to the distance between the scanning device and a target object in the treatment room, which is calculated in the path simulation. For example, as shown in fig. 5, the preset initial rotation angles of the four scanning positions of the scanning device are a-B-C-D (i.e. the preset initial rotation angles are off-left foot (30 ° left forward oblique), 30 ° foot position), off-left head (30 ° left forward oblique, 30 ° head position), off-right head (30 ° right oblique, 30 ° head position), off-right foot (30 ° right oblique, 30 ° foot position), when the target distance through the simulated path is small, the angle is decreased, for example, the adjustment angle is 28 degrees, when the target distance through the simulated path is large, the angle is increased, for example, the adjustment angle is 32 degrees, when the patient is thin, and the angle information of only one scanning position can be adjusted according to actual conditions.
In the embodiment, the scanning device is controlled to move, so that the part to be scanned of the target object is positioned at the isocenter of the scanning device, and then the rotation angle of the scanning device and the target distance between the scanning device and the target object in the treatment room in the scanning process are acquired; and adjusting the rotation angle according to the target distance. The scanning device is prevented from colliding with a target object in the treatment room based on the adjustment of the rotation angle, and the acquisition efficiency of the part to be scanned is improved.
Example 3
Fig. 7 is a schematic structural diagram of an electronic device according to embodiment 3 of the present invention. The electronic device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and the processor executes the program to realize the control method of the human body part scanning of the embodiment 1. The electronic device 30 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 7, the electronic device 30 may take the form of a general-purpose computing device, which may be, for example, a server device. The components of the electronic device 30 may include, but are not limited to: the at least one processor 31, the at least one memory 32, and a bus 33 connecting the various system components (including the memory 32 and the processor 31).
The bus 33 includes a data bus, an address bus, and a control bus.
The memory 32 may include volatile memory, such as Random Access Memory (RAM) 321 and/or cache memory 322, and may further include Read Only Memory (ROM) 323.
The processor 31 executes various functional applications and data processing, such as the control method of human body part scanning according to embodiment 1 of the present invention, by running the computer program stored in the memory 32.
The electronic device 30 may also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). Such communication may be through input/output (I/O) interfaces 35. Also, model-generating device 30 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via network adapter 36. As shown in FIG. 7, network adapter 36 communicates with the other modules of model-generating device 30 via bus 33. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the model-generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.
It should be noted that although in the above detailed description several units/modules or sub-units/modules of the electronic device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the units/modules described above may be embodied in one unit/module according to embodiments of the invention. Conversely, the features and functions of one unit/module described above may be further divided into embodiments by a plurality of units/modules.
Example 4
The present embodiment provides a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the control method for human body part scanning provided in embodiment 1.
More specific examples that may be employed by the readable storage medium include, but are not limited to: a portable disk, a hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible implementation, the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform a control method for performing the scanning of a body part as described in embodiment 1, when the program product is run on the terminal device.
Where program code for carrying out the invention is written in any combination of one or more programming languages, the program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on a remote device or entirely on the remote device.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A control method for scanning a human body part, the control method comprising:
acquiring a part to be scanned of a target object;
controlling a scanning device to move according to the received control instruction so that the part to be scanned is positioned at the isocenter of the scanning device;
acquiring a rotation angle of the scanning device and a target distance between the scanning device and a target object in a treatment room in a scanning process;
and adjusting the rotation angle according to the target distance.
2. The method for controlling the scanning of the part of the human body according to claim 1, wherein the step of acquiring the part to be scanned of the target object comprises:
collecting color image information and/or depth image information of the target object;
generating a human body model of the target object according to the color image information and/or the depth image information;
superimposing a body part of the target object into the mannequin;
acquiring a part to be scanned of the target object from the human body model;
and/or the presence of a gas in the atmosphere,
the step of adjusting the rotation angle according to the target distance includes:
if the target distance is smaller than or equal to a preset threshold value, the rotation angle is adjusted, and the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
3. The method for controlling scanning of a body part according to claim 2, wherein after the step of obtaining the rotation angle of the scanning device and the target distance between the scanning device and the target object in the treatment room during scanning, the method further comprises:
setting the adjustment amplitude of the rotation angle according to the target distance;
if the target distance is less than or equal to a preset threshold, adjusting the rotation angle so that the target distance between the scanning device and the target object in the treatment room after the adjustment of the rotation angle is greater than the preset threshold, including:
if the target distance is smaller than or equal to a preset threshold value, the rotation angle is adjusted according to the adjustment range, and the target distance between the scanning device and the target object in the treatment room after the rotation angle is adjusted is larger than the preset threshold value.
4. The method as claimed in claim 1, wherein if the target distance value is less than or equal to a predetermined threshold, the rotation angle is adjusted such that the target distance value between the scanning device and the target object in the treatment room after the adjustment of the rotation angle is greater than the predetermined threshold, and the method further comprises:
acquiring a preset scanning path;
the analog scanning device scans around the part to be scanned according to the preset scanning path;
and if the scanning device collides with the target object in the treatment room during the simulation scanning, outputting collision prompt information, collision position information and rotation angle adjustment information.
5. The method for controlling scanning of a body part of claim 4, further comprising:
and if the scanning device is judged not to collide with the target object in the treatment room during the simulation scanning, controlling the scanning device to scan around the part to be scanned according to an actual scanning path.
6. The method for controlling the scanning of the human body part according to claim 1, wherein the target object in the treatment room is the target object or a medical device;
and/or the presence of a gas in the gas,
the scanning device comprises a C-arm.
7. The method of claim 6, wherein the medical device comprises at least one of a scanning bed, a surgical monitor, a high pressure syringe, electrocardiographic monitoring, and a surgical cart.
8. A control system for human body part scanning is characterized by comprising a first acquisition module, a first control module, a second acquisition module and an adjustment module;
the first acquisition module is used for acquiring a part to be scanned of a target object;
the first control module is used for controlling the scanning device to move according to the received control instruction so as to enable the part to be scanned to be positioned at the isocenter of the scanning device;
the second acquisition module is used for acquiring the rotation angle of the scanning device and the target distance between the scanning device and a target object in the treatment room in the scanning process;
the adjusting module is used for adjusting the rotating angle according to the target distance.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of controlling the scanning of a body part according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a scan of a body part according to any one of claims 1 to 7.
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|---|---|---|---|
| CN202211175599.3A CN115553793A (en) | 2022-09-26 | 2022-09-26 | Control method, system, equipment and storage medium for human body part scanning |
| EP23809958.4A EP4366644A1 (en) | 2022-09-26 | 2023-09-26 | Methods, systems, and mediums for scanning |
| PCT/CN2023/121709 WO2024067629A1 (en) | 2022-09-26 | 2023-09-26 | Methods, systems, and mediums for scanning |
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| CN202211175599.3A CN115553793A (en) | 2022-09-26 | 2022-09-26 | Control method, system, equipment and storage medium for human body part scanning |
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| WO2024067629A1 (en) * | 2022-09-26 | 2024-04-04 | Shanghai United Imaging Healthcare Co., Ltd. | Methods, systems, and mediums for scanning |
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| WO2024067629A1 (en) * | 2022-09-26 | 2024-04-04 | Shanghai United Imaging Healthcare Co., Ltd. | Methods, systems, and mediums for scanning |
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