WO2022217701A1 - 用于医疗设备的操作方法、装置、***、移动设备 - Google Patents

用于医疗设备的操作方法、装置、***、移动设备 Download PDF

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Publication number
WO2022217701A1
WO2022217701A1 PCT/CN2021/096085 CN2021096085W WO2022217701A1 WO 2022217701 A1 WO2022217701 A1 WO 2022217701A1 CN 2021096085 W CN2021096085 W CN 2021096085W WO 2022217701 A1 WO2022217701 A1 WO 2022217701A1
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Prior art keywords
target
target object
information
mobile device
position information
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PCT/CN2021/096085
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English (en)
French (fr)
Inventor
倪成
章卫
张志都
王续琨
王理
王益锋
Original Assignee
上海联影医疗科技股份有限公司
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Application filed by 上海联影医疗科技股份有限公司 filed Critical 上海联影医疗科技股份有限公司
Priority to CN202180097202.0A priority Critical patent/CN117202851A/zh
Publication of WO2022217701A1 publication Critical patent/WO2022217701A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment

Definitions

  • the present application relates to the technical field of medical equipment, and more particularly, to an operation method, apparatus, system, and mobile equipment for medical equipment.
  • the present application discloses an operation method, device, system and mobile device for medical equipment, so as to realize that the medical equipment can perform corresponding operations in real time according to the position of the detected person, and During the process, the operation of the medical equipment is adjusted in real time according to the position of the detected person and the motion monitoring feedback during the operation.
  • a first aspect a method of operation, the method comprising:
  • the characteristic information of the target object is acquired in real time, and the target operation device is controlled to adjust the first target operation according to the characteristic information.
  • the collecting the position information of the target object on the preset area includes:
  • the local position information under each preset angle is fused to obtain the position information.
  • the controlling the target operating device to perform the first target operation according to the location information includes:
  • the target operating device is controlled to transmit a target signal to the region of interest of the target object, or the target operating device is controlled to adjust its own position.
  • the controlling the target operating device to perform the first target operation on the target object according to the location information includes:
  • the target operating device Sending the position information to the target host, so that the target host controls the target operating device to transmit a target signal to the region of interest of the target object according to the position information and the preset reference position information, or The target operating device is controlled to adjust its own position.
  • the controlling the target operating device to adjust the first target operation according to the feature information includes:
  • control the target operating device to perform an adjustment operation; the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, stopping adjusting the position of the target object, and lowering the direction of the target object. At least one of the frequencies of the target signal emitted by the region of interest of the target object.
  • the controlling the target operating device to adjust the first target operation according to the feature information includes:
  • the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, At least one of stopping adjusting the position of the self and reducing the frequency of the target signal transmitted to the region of interest of the target object.
  • obtaining the feature information of the target object in real time includes:
  • the characteristic image includes at least one of an RGB image of the target object, a depth image of the target object, and an infrared image of the target object;
  • the feature information is obtained.
  • the method further includes:
  • the target object is instructed to adjust his own breathing through a preset guidance method; the preset guidance method includes displaying a second screen and/or a voice broadcast .
  • the method further includes:
  • the target host sends the breathing signal to the target host, so that the target host performs a second target operation according to the breathing signal; the second target operation includes imaging the target object and adjusting the target signal. At least one of emitting a dose and adjusting a surgical instrument.
  • the method further includes:
  • the target object When it is detected that the target object enters the operation time, the target object is guided to move to the operation area through a preset instruction manner.
  • the guiding the target object to move to the operation area by a preset instruction method includes:
  • the first voice prompt is broadcast to guide the target object to move to the operation area.
  • the guiding the target object to move to the operation area by a preset instruction method includes:
  • Projecting a first indicator to the ground guides the target object to move to the operation area.
  • the method further includes:
  • the target identity information is the identity information obtained from the target host
  • the target object is guided to move to the operation area through the preset instruction manner.
  • the method further includes:
  • the identity information of the target object is broadcast by voice.
  • the method further includes:
  • a second voice prompt is broadcast; the second voice prompt is used to remind the target object that the first target operation has been completed.
  • the method further includes:
  • a second indication mark is projected onto the ground; the second indication mark is used to guide the target object to leave the operation room.
  • the method further includes:
  • the target operation device performs the first target operation, obtain the position information of the moving part of the target object;
  • control the target operation device to stop executing the first target operation.
  • the method further includes:
  • the evasion operation includes at least one of the following operations: stop moving, and re-plan the travel path according to the location of the obstacle and the destination address.
  • a method of operation for a medical device comprising:
  • Receive location information of a target object sent by a mobile device is information collected by the mobile device when the target object enters a preset area
  • the target operation device is controlled to perform the first target operation according to the position information.
  • the controlling the target operating device to perform the first target operation according to the location information includes:
  • the target operating device is controlled to transmit a target signal to the region of interest of the target object, or the target operating device is controlled to adjust its own position.
  • the method further includes:
  • the breathing signal is collected in real time by the mobile device during the process of the target operation device performing the first target operation;
  • a second target operation is performed according to the breathing signal; the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting a surgical instrument.
  • the method further includes:
  • the feature information is that the mobile device collects the feature image of the target object in real time when the target operating device performs the first target operation, and according to the Describe the information obtained from the feature image;
  • control the target operating device to perform an adjustment operation; the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, stopping adjusting the position of the target object, and lowering the direction of the target object. At least one of the frequencies of the target signal emitted by the region of interest of the target object.
  • an operating system for a medical device includes: a target operating device, a mobile device, and a target host, wherein,
  • the target manipulation device for performing a first target operation on a region of interest of a target object, the first target operation including imaging and/or therapy;
  • the mobile device which moves relative to the target operating device, the mobile device being used for presenting and/or collecting information related to the target object;
  • the target host is configured to control the target operation device to perform a first target operation.
  • the mobile device includes a projection device, and the projection device is used for projecting a first picture for guiding the target object to position.
  • the mobile device further comprises a collection device, the collection device is configured to collect the position information of the target object in the first orientation and the second orientation respectively;
  • the target host is configured to adjust the relative position of the target object and the target operation device according to the position information of the first orientation and the position information of the second orientation and/or to control the target operation device to execute the The first target operation.
  • the mobile device includes a first mobile device and a second mobile device, the first mobile device collects the position information of the target object at a first orientation, and the second mobile device collects the location information of the target object at a second orientation The location information of the target object.
  • the projection device is further used to project a second picture, and the second picture is used to guide the target object to adjust its own breathing.
  • the collection device is further configured to collect a characteristic image of the target object in real time, acquire characteristic information according to the characteristic image, and control the target operation device to adjust the first target operation according to the characteristic information.
  • the mobile device is configured to provide a preset instruction manner to guide the target object to move to a preset operation area and/or to leave the operation room.
  • the collection device is further configured to collect the breathing signal of the target object in real time, and send the breathing signal to the target host, so that the target host performs the second target operation according to the breathing signal;
  • the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting a surgical instrument.
  • the mobile device is further configured to judge the identity information of the target object, and judge whether the identity information matches the target identity information; if the identity information matches the target identity information, the preset The target object is guided to move to the operation area by the instruction method; wherein, the target identity information is the identity information obtained from the target host.
  • the mobile device is further configured to acquire position information of the moving part of the target object, and determine whether the target object collides with the target operating device according to the position information of the moving part, and if so, then The target operation device is controlled to stop performing the first target operation.
  • the mobile device is further configured to acquire the space environment information collected by the collection device, and determine whether there is an obstacle on the driving path according to the space environment information, and if so, execute an avoidance operation; the avoidance operation includes: At least one of the following operations: stop moving, and re-plan the travel path according to the location of the obstacle and the destination address.
  • the mobile device includes at least one of a wall crawling robot, a ground walking robot, a movable camera on the ceiling and an unmanned aerial vehicle.
  • the acquisition device includes at least one of an RGB camera, a depth camera, an infrared camera, a voice device and a light emission device.
  • the mobile device further comprises: a main body and a driving device for driving the main body to move.
  • the mobile device further comprises: a trajectory generator
  • the trajectory generator is configured to generate an action trajectory of the mobile device.
  • an operating system for a medical device comprising a mobile device, a target host, and a target operating device, wherein,
  • the mobile device for performing the operation method for a medical device according to the first aspect
  • the target host for executing the operation method for a medical device according to the second aspect
  • the target operation device is used to perform a first target operation; the first target operation includes that the target operation device transmits a target signal to the region of interest of the target object, and/or the target operation device adjusts where it is located s position.
  • a fifth aspect is a mobile device, wherein the mobile device is applied to the operation method for a medical device according to the first aspect, and the mobile device includes an RGB camera, a depth camera, and an infrared camera mounted thereon. , at least one of a voice device and a light emitting device.
  • an operating device for medical equipment comprising: a projection module, a first control module and a second control module, wherein:
  • a projection module configured to project a first image in the operation area when it is detected that the target object has reached the operation area; the first image is used to guide the target object to enter the preset area;
  • the first control module is configured to collect the position information of the target object on the preset area when the target object enters the preset area, and control the target operating device to execute the first control module according to the position information. a target operation;
  • a second control module configured to acquire feature information of the target object in real time during the process of the target operating device performing the first target operation, and control the target operating device to adjust the first target object according to the feature information target action.
  • an operating device for medical equipment comprising: a first receiving module and a control module, wherein:
  • the first receiving module is configured to receive the location information of the target object sent by the mobile device;
  • the location information is the location information of the target object collected by the mobile device when the target object enters a preset area in the preset area. information on the area;
  • the control module is configured to control the target operation device to perform the first target operation according to the position information.
  • a target host for performing the method of operation for a medical device as described in the second aspect is provided.
  • a computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, implements the steps of the operation method for a medical device described in the first aspect and the second aspect.
  • the present application discloses an operation method, system, mobile device, device, target host and storage medium for medical equipment.
  • the middle projection guides the target object to enter the first screen of the preset area, which can guide the target object to enter the preset area accurately, so that the position information of the target object on the preset area can be collected when the target object enters the preset area, Since the mobile device collects the three-dimensional position information of the target object on the preset area, and the three-dimensional position information contains rich information, the mobile device can accurately control the target operation device to execute the first target in real time according to the collected position information operation, and then can obtain the feature information of the target object in real time during the process of the target operating device performing the first target operation. Since the feature information of the target object is obtained in real time, the mobile device can timely control the target object according to the feature information of the target object.
  • the operating device adjusts the first target operation to ensure the accuracy of the first target operation performed by the target operating device
  • FIG. 1 is an application environment diagram of an operating method for a medical device provided by an embodiment
  • FIG. 2 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 3 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 4 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 5 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 6 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 7 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 8 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 9 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 10 is a schematic flowchart of an operating method for a medical device provided by another embodiment
  • FIG. 11 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 12 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 13 is a schematic flowchart of an operating method for a medical device provided by an embodiment
  • FIG. 14 is a schematic diagram of an operating system for a medical device provided by one embodiment
  • 15 is a schematic diagram of an operating system for a medical device provided by one embodiment
  • 16 is a schematic diagram of a non-coplanar treatment system provided by one embodiment
  • 17 is a schematic diagram of an operating system for a medical device provided by one embodiment
  • FIG. 18 is a schematic diagram of a mobile device provided by an embodiment
  • FIG. 19 is a schematic structural diagram of an operating device provided by an embodiment
  • 20 is a schematic structural diagram of an operating device provided by an embodiment
  • FIG. 21 is a schematic structural diagram of a target host provided by an embodiment.
  • the embodiments of the present application disclose an operation method, device, system, mobile device and storage medium for medical equipment, so as to realize that the medical equipment can monitor the medical equipment according to the position of the detected person and the motion monitoring feedback during the operation. Operations are adjusted in real time.
  • the operating method for medical equipment may be applied to the system shown in FIG. 1 .
  • the system includes a mobile device, a target host and a target operating device, wherein the mobile device communicates wirelessly with the target host and the target operating device respectively, and the mobile device can be a drone, a mobile robot, a movable device, a wall slide robot, etc.
  • a device with mobile capability the target host can be a server, a personal computer, or other terminal devices, and the target operating device can be a digital radiography (DR) device, a computer tomography (Computed Tomography, CT) device.
  • DR digital radiography
  • CT computer tomography
  • MRI Magnetic Resonance Imaging
  • PET Positron Emission Tomography
  • LINAC Medical Electron Linear Accelerator
  • gamma knife gamma knife
  • surgical robot etc. This is not limited.
  • MRI Magnetic Resonance Imaging
  • PET Positron Emission Tomography
  • LINAC Medical Electron Linear Accelerator
  • gamma knife gamma knife
  • surgical robot etc. This is not limited.
  • the mobile device in FIG. 1 is only described by taking the drone as an example and is not limited thereto.
  • FIG. 2 a schematic flowchart of an operation method for a medical device is provided, and the method is applied to the mobile device in FIG. 1 as an example to illustrate, including the following steps :
  • the operation area may be the operation area of the target operation device, and the target operation device may be a digital radiography (DR) device, a computer tomography (Computed Tomography, CT) device, or a nuclear magnetic resonance imaging device. (Magnetic Resonance Imaging, MRI) equipment, positron emission tomography (Positron Emission Tomography, PET), medical electron linear accelerator, gamma knife, surgical robot, etc.
  • the preset area can be the area of the hospital bed, such as the scan of the target operating equipment
  • the bed can also be the treatment bed of the target operating equipment, or the operating area of the surgical robot.
  • the mobile device when it detects that the target object has reached the operation area, it projects a first picture in the operation area, and guides the target object to enter the preset area through the first picture.
  • the projected first picture may be a virtual two-dimensional or three-dimensional picture.
  • the projected first picture may be a virtual three-dimensional picture that guides how the target object is positioned on the hospital bed.
  • the mobile device may collect a depth image of the target object, and detect whether the target object has reached the above-mentioned operation area through the depth image of the target object.
  • the mobile device when detecting that the target object has reached the operation area, the mobile device can also send a control instruction to other devices to trigger the other devices to display a screen to guide the target object to enter the preset area.
  • the display screen may be displayed in the above-mentioned operation area, or may be displayed in the non-operation area.
  • the display picture may be displayed on a display screen or projected by a projection device.
  • Which of the instructing screens guides the target object to reach the corresponding target operating device, wherein the various instructing screens are instructing screens corresponding to the above-mentioned various devices.
  • the above-mentioned information can be obtained by a doctor, or the scanning protocol information of the above-mentioned target object or the information related to the treatment plan can be obtained, so as to determine the corresponding instruction screen for the target object.
  • the mobile device guides the target object to enter the preset area by projecting the first picture in the above-mentioned operation area, collects the position information of the target object in the above-mentioned preset area, and controls the target operation device to execute the operation according to the collected position information
  • the first target operation may be to transmit a target signal to the region of interest of the target object.
  • an X-ray signal may be transmitted to the region of interest of the target object to perform CT or X-ray imaging.
  • a pulse sequence can also be sent to the region of interest of the target object to perform magnetron imaging, or, radiation can be sent to the region of interest of the target object to perform radiotherapy on the target object, and the radiation can be electrons, Photons, protons, heavy ions, etc., or, alternatively, surgical instruments can be operated to operate on the region of interest of the above-mentioned target object.
  • the first target operation in this embodiment may also be that the target operation device adjusts its own position.
  • the mobile device may control the target operating device to perform the above-mentioned first target operation when the position information of the target object on the above-mentioned preset area meets the operation requirements.
  • the mobile device can control the target operation device to transmit the target signal to the area of interest of the target object under the condition that the area of interest of the target object matches the position of the transmitting site where the target operation device transmits the target signal.
  • the mobile device acquires the feature information of the target object in real time during the first target operation performed by the target operating device, and controls the target operating device to adjust the first target operation according to the feature information of the target object.
  • the feature information of the target object in this embodiment may be the position information of the target object, the facial expression information of the target object, or the breathing signal of the target object.
  • the mobile device may collect a feature image of the target object, for example, a facial image of the target object, during the process of performing the above-mentioned first target operation by the target operating device, and obtain the feature of the target object from the collected feature image of the target object.
  • information, or an acquisition instruction may be sent to the target operating device to acquire feature information of the target object from the target operating device.
  • the mobile device may analyze the acquired characteristic information of the target object, and control the above-mentioned target operation device to adjust the above-mentioned first target operation when it is determined that abnormal information exists in the characteristic information of the target object.
  • the mobile device controlling the target operating device to adjust the first target operation may be controlling the target operating device to suspend the execution of the first target operation.
  • the target operating device is a radiotherapy device
  • the application of radiotherapy includes non-coplanar treatment.
  • the treatment couch of the target operating device is at an unconventional angle.
  • the treatment couch can be vertically wound.
  • the straight axis is rotated to different angles, and the mobile device can track the angle of the treatment couch and collect the current position of the target object in real time at the current treatment couch angle, calculate the difference between the current position of the target object and the planned position, and compare the difference with the set threshold.
  • the threshold can be adjusted by doctors, physicists or technicians according to the target object’s own condition and the imaging or treatment site. If the deviation of the patient’s real-time position calculated by the mobile device exceeds the set threshold, the target operation is controlled. The device terminates the treatment process, and restarts the treatment process after the technician re-determines the correct position by moving the six-dimensional bed.
  • the mobile device can also use the obtained feature information of the target object to During the process of the target operating device performing the first target operation, anti-collision monitoring is performed on the moving part of the target operating device, and the mobile device can also prompt the target object through voice broadcast according to the anti-collision monitoring result, so as to avoid the collision between the target object and the target operating device .
  • the mobile device taking the feature information of the target object as the position information of the target object, and the first target operation to be performed is a radiotherapy operation as an example, the mobile device can perform the collision between the treatment head of the medical electron linear accelerator and the target object in the radiotherapy. Monitoring, or monitoring the collision between the treatment head of the medical electron linear accelerator and the treatment couch, or monitoring the collision between the electron portal imaging system (EPID) of the medical electron linear accelerator and the target object, etc.
  • EID electron portal imaging system
  • the mobile device when the mobile device detects that the target object has reached the operation area, by projecting the first picture in the operation area that guides the target object to enter the preset area, the mobile device can guide the target object to enter the preset area accurately, so as to capture The position information of the target object on the preset area, because the mobile device collects the three-dimensional position information of the target object on the preset area, and the three-dimensional position information contains relatively rich information, so the mobile device can The information accurately controls the target operation device to perform the first target operation in real time, and then can acquire the feature information of the target object in real time during the process of the target operation device performing the first target operation. The device can timely control the target operation device to adjust the first target operation according to the characteristic information of the target object, which ensures the accuracy of the first target operation performed by the target operation device.
  • the mobile device can collect the position information of the target object on the preset area from multiple angles.
  • FIG. 3 a schematic flowchart of another operation method is provided.
  • the collection target object in the foregoing S202 is preset in the Location information on the zone, including:
  • S301 Collect local position information of a target object in a preset area under at least one preset angle respectively.
  • the mobile device collects local position information of the target object in the above-mentioned preset area under at least one preset angle, respectively.
  • the mobile device may collect the local positions of the target object in the preset area on the left side, the right side, and the front side of the target operating device, respectively.
  • the same mobile device can be used to collect the local position information of the target object in the preset area at the corresponding angle from different angles.
  • the local position of the target object in the preset area can also be collected simultaneously from different angles by using two or more mobile devices. For example, when the mobile device moves from one angle to another, there will be a time difference. At this time, two or three mobile devices can be used to simultaneously collect the local position information of the target object in the above preset area from different angles. , thereby improving the accuracy of the location.
  • the mobile device fuses the local position information at each angle to obtain the position information of the target object on the preset area.
  • the mobile device may use a fusion algorithm to fuse the local position information at each preset angle to obtain the position information of the target object on the above-mentioned preset area, or may use a splicing method to fuse the local position information at each preset angle.
  • the local position information of the target object is fused to obtain the position information of the target object on the above-mentioned preset area.
  • the mobile device can also send the local position information under each preset angle to a processor that can communicate with it, and the processor fuses the local position information to obtain the target object on the above-mentioned preset area.
  • the location information of the target object is sent to the mobile device by the processor, and the mobile device receives the location information of the target object.
  • the local position information collected by the mobile device is the position information of the target object in the preset area collected from multiple preset angles, and the local position information collected from different angles is different, therefore, for each After the local position information under the preset angle is fused, the obtained position information includes position information of different angles, so that the obtained position information is relatively complete, and the accuracy of the obtained position information of the target object on the preset area is ensured.
  • the mobile device controls the target operating device to perform the first target operation according to the position information of the target object on the preset area
  • the mobile device itself may control the target operating device to perform the first target operation according to the position information of the target object on the preset area.
  • the mobile device can also send the position information of the target object in the preset area to the target host, and the target host can control the target operation device to execute the above-mentioned first target according to the position information of the target object in the preset area. operation, and the embodiments corresponding to the two scenarios will be described below.
  • controlling the target operating device to perform the first target operation according to the position information of the target object on the preset area includes: According to the position information, control the target operation device to transmit the target signal to the area of interest of the target object, or control the target operation device to adjust its own position
  • the mobile device controls the target operating device to transmit a target signal to the region of interest of the target object, or controls the target operating device to adjust its own position according to the position information of the target object in the preset area.
  • the mobile device may determine a matching result between the position information of the target object in the preset area and the preset reference position information.
  • the mobile device may obtain the preset reference position information corresponding to the target operating device in advance, store the preset reference position information in its own memory, and collect the position of the target object on the preset area. After the information is obtained, a matching result between the collected location information and the preset reference location information is determined.
  • the mobile device may compare the above-mentioned collected position information with the above-mentioned preset reference position information, and determine the matching result between the collected position information and the above-mentioned preset reference position information, or may compare the above-mentioned collected position information.
  • the position information is registered with the above-mentioned preset reference position information, and a matching result between the collected position information and the above-mentioned preset reference position information is determined.
  • the matching result obtained by the mobile device may be that the above-mentioned collected position information matches the preset reference position information, or that the above-mentioned collected position information does not match the preset reference position information or that the above-mentioned collected position information does not match.
  • the mobile device controls the target operating device to transmit a target signal to the region of interest of the target object, or controls the target operating device to adjust its own position, that is, the above-mentioned first target operation may be to the target object.
  • the region of interest emits target signals (for example, imaging or radiotherapy of the region of interest of the target object), and can also adjust its own position for controlling the target operating device.
  • the mobile device controls the target operation device to transmit the target signal to the region of interest of the target object; if the mobile device The obtained matching result is that the above-mentioned collected position information does not match the preset reference position information, then the mobile device controls the target operating device to adjust its own position, for example, according to the above-mentioned deviation value, adjust the position of the bed board of the hospital bed so that the collected position The information matches the preset reference position information.
  • the region of interest of the target object may be the abdomen of the target object, or may be the chest of the target object, or the like.
  • the region of interest may include a tumor.
  • the target signal emitted by the target manipulation device to the region of interest of the target object may be an X-ray signal, a pulse sequence, or a radiation.
  • the target signals emitted by different types of target operating devices are also different. If the target operating device is a DR device, the target signal emitted by the target operating device is an X-ray signal. If the target operating device is an MRI device, then The target signal emitted by the target operating device is an MRI signal. If the target operating device is a radiotherapy device, the target signal emitted by the target operating device is radiation. It should be noted that if the target operating device is a radiotherapy device, the application of radiotherapy includes non-coplanar treatment.
  • the mobile device can track the angle of the treatment couch and collect the body position of the target object in real time at the current treatment couch angle. , calculate the difference between the current body position of the target object and the planned body position, and compare the difference with the set threshold, wherein the threshold can be determined by the doctor, physicist or technician according to the target object's own condition and the different imaging or treatment parts. Adjustment, if the real-time position deviation of the patient calculated by the mobile device exceeds the set threshold, the target operation device is controlled to terminate the treatment process, and the treatment process is restarted after the technician re-determines the accurate position by moving the six-dimensional bed.
  • the mobile device controls the target operation device to transmit the target signal to the region of interest of the target object, or controls the target operation device to adjust its own location. Since the operation performed by the mobile device to control the target operation device is performed according to the position information of the target object in the preset area, and the target operation device is controlled to perform the corresponding operation according to the position information of the target object in the preset area, it is possible to Ensure the accuracy with which the mobile device controls what the target operating device does.
  • controlling the target operating device to perform the first target operation according to the position information of the target object on the preset area includes: The location information is sent to the target host, so that the target host controls the target operating device to transmit a target signal to the area of interest of the target object according to the location information and the preset reference location information, or controls the target operating device to adjust its own position.
  • the mobile device collects the position information of the target object in the above-mentioned preset area, it sends the collected position information of the target object in the preset area to the target host, so that the target host can use the position information sent by the mobile device to send the target host. and preset reference position information to control the target operation device to transmit a target signal to the region of interest of the target object, or to control the target operation device to adjust its own position.
  • the process in which the mobile device sends the collected location information of the target object on the preset area to the target host is a real-time sending process.
  • the target host determines that the position information collected by the mobile device matches the preset reference position information, the target host controls the target operating device to transmit a target signal to the area of interest of the target object; if the target host determines that the mobile device If the collected position information does not match the preset reference position information, the target host controls the target operating device to adjust its own position.
  • the region of interest of the target object may be the abdomen of the target object, or may be the chest of the target object, or the like.
  • the target signal emitted by the target manipulation device to the region of interest of the target object may be an X-ray signal, a magnetic resonance signal, or a radiation. It should be understood that the targets emitted by different types of target manipulation devices The signals are also different.
  • the target operating device is a DR device
  • the target signal emitted by the target operating device is an X-ray signal.
  • the target operating device is an MRI device
  • the target signal emitted by the target operating device is an MRI signal.
  • the operating device is a radiotherapy device
  • the target signal emitted by the target operating device is radiation. It should be noted that, if the target operating device is a radiotherapy device, the application of radiotherapy includes non-coplanar treatment. In this scenario, the treatment couch of the target operating device is at an unconventional angle. For example, the treatment couch can be vertically oriented.
  • the axis rotates to different angles
  • the mobile device can track the angle of the treatment bed and collect the body position of the target object in real time at the current treatment bed angle, and send the collected body position of the target object to the target host, and the target host calculates the difference between the current body position and the planned body position of the target object.
  • the difference value is compared with the set threshold value, wherein the threshold value can be adjusted by the doctor, physicist or technician according to the target object’s own condition and the imaging or treatment site. If the position deviation exceeds the set threshold, the target operation device is controlled to terminate the treatment process, and the treatment process will be restarted after the technician re-determines the accuracy of the position by moving the six-dimensional bed.
  • the mobile device collects the location information of the target object on the preset area, it sends the location information of the target object on the preset area to the target host, so that the target host can make the collected location information and the preset location information based on the target host.
  • the set reference position information controls the target operating device to transmit the target signal to the area of interest of the target object, or controls the target operating device to adjust its own position, because the target host controls the target operating device.
  • the target operating device is controlled to perform the corresponding operation, which can ensure the accuracy of the operation performed by the target host to control the target operating device.
  • the mobile device controls the target operating device to adjust the first target operation according to the feature information of the target object
  • the mobile device itself can control the target operating device to adjust the first target operation according to the feature information of the target object, or the mobile device can control the target operating device to adjust the first target operation according to the feature information of the target object.
  • the feature information of the target object is sent to the target host, and the target host controls the target operating device to adjust the above-mentioned first target operation according to the feature information of the target object.
  • the mobile device itself controls the target operation device to adjust the above-mentioned first target operation according to the feature information of the target object.
  • FIG. 4 a schematic flowchart of another operation method is provided.
  • the feature information of the target object in the foregoing S203 Controlling the target operation device to adjust the first target operation includes:
  • the mobile device determines whether there is abnormal information in the acquired feature information of the target object.
  • the feature information of the target object includes the position information of the target object, the facial expression of the target object, the breathing signal of the target object, and the like.
  • the abnormal information in the feature information of the target object may be that the position information of the target object deviates from the preset position information, the facial expression of the target object is abnormal facial expression, and the breathing signal of the target object is relatively short.
  • the mobile device can determine whether there is abnormal information in the characteristic information of the target object through the identification network, or can classify the characteristic information of the target object through a classifier to determine whether there is abnormal information in the characteristic information of the target object.
  • the recognition network may be a machine learning model or a deep learning model.
  • control the target operation device to perform an adjustment operation; the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, stopping adjusting the position of the self, and reducing the transmission to the region of interest of the target object. at least one of the frequencies of the target signal.
  • the mobile device determines that there is abnormal information in the feature information of the target object, it controls the above-mentioned target operating device to perform an adjustment operation; wherein the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, and stopping adjusting the position of itself. and at least one of reducing the frequency of the target signal transmitted to the region of interest of the target object.
  • the mobile device determines that the position information of the target object has deviated from the preset position information, the mobile device controls the target operating device to stop adjusting its position and stop transmitting the target signal to the area of interest of the target object; If the device determines that the facial expression of the target object is abnormal or the breathing signal of the target object is relatively short, the mobile device can control the target operation device to stop transmitting the target signal to the area of interest of the target object or reduce the transmission to the area of interest of the target object. the frequency of the target signal.
  • the mobile device determines that abnormal information exists in the above feature information, it can also provide alarm information for alarming.
  • the alarm information can be acoustic information, text information or optical information.
  • the user after receiving the alarm information, the user can determine whether to stop the inspection and adjust the target operation; or synchronously provide the alarm information and stop the operation.
  • the alarm information may be provided by the mobile device.
  • the mobile device determines whether there is abnormal information in the feature information of the target object, and in the case where there is abnormal information in the feature information of the target object, controls the target operating device to stop transmitting the target to the region of interest of the target object. at least one of signal, stop adjusting its own position, and reduce the frequency of the target signal transmitted to the region of interest of the target object, since the operation performed by the mobile device to control the target operating device is based on the feature information of the target object, Controlling the target operating device to perform a corresponding operation according to whether there is abnormal information in the feature information of the target object can ensure the accuracy of the operation performed by the mobile device in controlling the target operating device.
  • controlling the target operating device to adjust the first target operation according to the feature information of the target object includes: sending the feature information to The target host, so that the target host controls the target operating device to perform the adjustment operation according to the characteristic information; the adjustment operation includes stopping transmitting the target signal to the area of interest of the target object, stopping adjusting the position of itself, and reducing the transmission to the area of interest of the target object. at least one of the frequencies of the target signal.
  • the mobile device sends the collected feature information of the target object to the target host, so that the target host controls the target operating device to perform an adjustment operation according to the feature information of the target object; wherein, the adjustment operation includes stopping the operation to the region of interest of the target object. At least one of transmitting the target signal, stopping adjusting the position of the self, and reducing the frequency of the target signal transmitted to the region of interest of the target object.
  • the target host determines that the position information of the target object has deviated from the preset position information, the target host controls the target operating device to stop adjusting its position and stop transmitting the target signal to the area of interest of the target object; If the host determines that the facial expression of the target object is abnormal or the breathing signal of the target object is relatively short, the target host can control the target operating device to stop transmitting the target signal to the area of interest of the target object or reduce the transmission to the area of interest of the target object. the frequency of the target signal.
  • the target host determines that there is abnormal information in the above characteristic information, it can also provide alarm information for alarming.
  • the alarm information can be acoustic information, text information or optical information.
  • the user after receiving the alarm information, the user can determine whether to stop the inspection and adjust the target operation; or synchronously provide the alarm information and stop the operation.
  • the alarm information may be provided by the target host.
  • the mobile device After the mobile device collects the feature information of the target object, it sends the feature information of the target object to the target host, so that the target host can control the target operating device to stop the interest in the target object according to the feature information of the target object. At least one of the region transmitting the target signal, stopping adjusting its own position, and reducing the frequency of the target signal transmitted to the region of interest of the target object, since the operation performed by the mobile device to control the target operation device is based on the characteristic information of the target object By controlling the target operating device to perform a corresponding operation according to whether there is abnormal information in the feature information of the target object, the accuracy of the operation performed by the mobile device in controlling the target operating device can be ensured.
  • the mobile device obtains the feature information of the target object according to acquiring the feature image of the target object.
  • FIG. 5 a schematic flowchart of another operation method is provided.
  • the real-time acquisition of the characteristics of the target object in the foregoing S203 information including:
  • the characteristic image includes at least one of an RGB image of the target object, a depth image of the target object, and an infrared image of the target object.
  • the mobile device collects the characteristic image of the target object in real time, and the collected characteristic image of the target object includes at least one of an RGB image of the target object, a depth image of the target object, and an infrared image of the target object.
  • the mobile device may obtain the RGB image of the target object through its own optical camera, obtain the depth image of the target object through its own depth camera, and obtain the infrared image of the target object through its own infrared camera.
  • the feature image of the target object may be a feature image of the face of the target object, or a feature image of the abdomen of the target object, etc., which is not limited in this embodiment.
  • the mobile device obtains the feature information of the target object according to the above-mentioned collected feature image of the target object.
  • the mobile device may perform feature extraction on the feature image of the target object to obtain feature information of the target object.
  • the mobile device can determine the contour information of the target object through the depth image of the target object and then determine the breathing signal of the target object, or can determine the temperature change at the mouth and nose of the target object through the infrared image to obtain the breathing signal of the target object, or,
  • the mobile device may determine the position information of the target object through the depth image of the target object, or the mobile device may determine the facial expression information of the target object through the RGB image of the target object or the infrared image of the target object.
  • the mobile device may input the RGB image of the target object or the infrared image of the target object into a pre-trained recognition network, and determine the facial expression information of the target object through the recognition network.
  • the mobile device can obtain the feature image of the target object in real time by collecting the target object in real time, so that the mobile device can obtain the feature information of the target object according to the feature image of the target object, because the calculation amount of this process is small.
  • the operation is relatively simple, therefore, the mobile device can quickly obtain the feature information of the target object, which improves the efficiency of the mobile device obtaining the feature information of the target object.
  • the above-mentioned method further includes: in the process of performing the first target operation by the target operating device, instructing the target object in a preset guiding manner Adjust your own breathing; the preset guidance method includes displaying the second screen and/or voice broadcast.
  • the mobile device instructs the target object to adjust its own breathing through a preset guidance method during the process of the above-mentioned target operation device performing the above-mentioned first target operation; wherein, the preset guidance method includes displaying a second screen and/or voice broadcast.
  • a second picture may be displayed on the top of the preset position or on the ceiling perpendicular to the viewing angle of the eyes of the target object, and the second picture may guide the target object to adjust its own breathing. For example, by projecting the second picture, the target subject is instructed to perform a deep inspiration breath-hold technique (DIBH) operation, and then perform imaging or treatment during the breath-hold.
  • DIBH deep inspiration breath-hold technique
  • the mobile device instructing the target object to adjust its own breathing through the second screen or voice broadcast may be the target object to adjust its own breathing frequency, or the target object to adjust its own breathing action.
  • the second picture may be a breathing frequency signal, or may be a virtual two-dimensional or three-dimensional breathing picture.
  • the mobile device while the mobile device projects a second picture on top of the above-mentioned preset position to instruct the target object to adjust its own breathing action, the mobile device can also play the corresponding guidance sound by voice to further guide the target object.
  • the target object adjusts its own breathing.
  • the mobile device can also instruct the target object to adjust its own breathing only by displaying the second picture, or the mobile device can also instruct the target object to adjust its own breathing only through voice broadcast.
  • the mobile device can instruct the target object to adjust its own breathing through a preset guidance method during the process of the target operation device performing the first target operation, so as to reduce the influence of the target object's breathing on the execution of the first target operation .
  • the mobile device can also collect the breathing signal of the target object in real time, and send the collected breathing signal of the target object to the target host, so that the target host can perform the first target operation according to the target object in the above-mentioned first
  • the respiration signal in the course of a target operation performs the corresponding operation.
  • FIG. 6 a schematic flowchart of another operation method is provided. On the basis of the foregoing embodiment, as an optional implementation manner, the foregoing method further includes:
  • the mobile device collects the breathing signal of the target object in real time during the process.
  • the mobile device can collect the depth image of the target object and the infrared image of the target object through its own depth camera and infrared camera, and obtain the breathing signal of the target object through the depth image of the target object and the infrared image of the target object, for example,
  • the mobile device can determine the contour information of the target object and then determine the breathing signal of the target object through the depth image of the target object, and can also determine the temperature change of the target object's mouth and nose through the infrared image to obtain the breathing signal of the target object.
  • S602 Send the breathing signal to the target host, so that the target host performs a second target operation according to the breathing signal; the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting the surgical instrument.
  • the mobile device sends the breathing signal of the target object to the target host, so that the target host performs a second target operation according to the breathing signal of the target object, wherein the second target operation performed by the target host includes imaging and adjusting the target object. At least one of the emission dose of the target signal and the adjustment of the surgical instrument.
  • the second target operation performed by the target host according to the breathing signal of the target object is to image the target object according to the breathing signal of the target object
  • the corresponding first target operation may include performing X-ray scanning on the target object, At least one of CT scan, MR scan, PET scan, and ultrasound scan.
  • the imaging method may be a forward-looking imaging method or a retrospective imaging method.
  • CT imaging imaging scans can be performed in a specific respiratory phase according to the respiratory signal, or imaging scan data can be collected in multiple respiratory cycles, and then the imaging scan data of different respiratory phases can be extracted to reconstruct corresponding images, which can effectively Reduce motion artifacts and improve image quality.
  • the target host can also control the emission of the target signal according to the breathing signal of the target object. For example, in radiotherapy, when the mobile device monitors that the target object is in a specific breathing phase according to the breathing signal, it can control the radiation.
  • the output of the treatment device can improve treatment efficiency and reduce radiation damage to normal organs and tissues.
  • the target operation device can perform target operation on the target object according to the 4D radiotherapy plan.
  • the target host can also combine the real-time acquisition of the target object's breathing signal by the mobile device and the 4D radiotherapy plan. If the deviation between the real-time acquired signal and the signal in the 4D radiotherapy plan exceeds the threshold, the radiotherapy device will be controlled to stop the treatment.
  • the mobile device collects the breathing signal of the target object in real time, so that the target host can image the target object according to the breathing signal or adjust the target signal according to the breathing signal.
  • the emission dose of the target object can be adjusted flexibly to the first target operation performed by the target operation device, or the target object can be imaged more accurately according to the breathing signal of the target object.
  • the foregoing method further includes: when it is detected that the target object enters the operation time, guiding the target object to move to the operation area through a preset instruction manner.
  • the mobile device when detecting that the target object enters the operation time, guides the target object to move to the above-mentioned operation area through a preset instruction manner.
  • the mobile device may guide the target object to move to the above-mentioned operation area by broadcasting the first voice prompt, or may also project the first indication sign on the ground to guide the target object to move to the operation area.
  • the mobile device may collect an image of the wristband on the hand of the target object, and if the wristband image of the target object is collected, it is determined that the target object has entered the operating room.
  • the target object may carry a positioning device that can send location information, and the mobile device may obtain the location information to determine whether the target object enters the operating room.
  • the mobile device can also determine whether the target object has entered the operating room through its own infrared sensing device. It can be understood that, an indication mark for instructing and guiding the target object to move to the above-mentioned operation area may also be set on the wall of the operation room, and the target object is guided to move to the above-mentioned operation area through the indication mark.
  • the mobile device can verify the identity information of the target object to ensure that the entered target object is consistent with the object information loaded by the technician. Specifically, the mobile device obtains the identity information of the target object, and judges whether the identity information of the target object matches the target identity information. If the identity information of the target object matches the target identity information, the mobile device guides the target object to move to the above operating area.
  • the mobile device can also broadcast the identity information of the target object by voice, reminding the target object to verify its own identity information.
  • the mobile device may collect a wristband image of the target object, and analyze the wristband image of the target object to obtain the identity information of the target object.
  • the mobile device may also instruct the target object to report its own identity information by sending a voice command to the target object.
  • the target object when the mobile device detects that the target object enters the operation time, the target object can be quickly guided to move to the operation area by the preset instruction method, and the target object can also be guided to move to the operation area more accurately by the instruction method.
  • the operation area ensures the accuracy of the target object moving to the operation area.
  • the mobile device may give a voice prompt to indicate that the operation of the target object has been completed.
  • the above method further includes: in the case of detecting that the target operating device has completed the first target operation, broadcasting a second voice prompt; the second voice prompt is used to remind the target object of the first target operation. A target operation has completed.
  • the mobile device when the mobile device detects that the target operation device has completed the above-mentioned first target operation, it broadcasts a second voice prompt to remind the target object that the first target operation performed by the target operation device has been completed.
  • the mobile device may detect whether the target operating device has completed the above-mentioned first target operation by receiving a feedback signal sent by the target operating device.
  • the mobile device may also collect an image of the target operating device, and determine whether the target operating device has completed the above-mentioned first target operation through the image.
  • the mobile device may also project a second indication mark on the ground to guide the target object to leave the operation room.
  • the mobile device may also guide the target object to leave the operation room by broadcasting a voice prompt.
  • an indication sign for guiding the target object to leave the operation room may also be set on the wall of the operation room, and the target object is guided to leave the operation room according to the indication sign on the wall.
  • the mobile device when the mobile device detects that the target operation device has completed the first target operation, it can timely remind the target object that the operation has been completed by broadcasting a second voice prompt reminding the target object that the first target operation has been completed.
  • the mobile device may also acquire position information of the moving part of the target object, and perform anti-collision monitoring on the moving part of the target object.
  • the above method further includes:
  • the mobile device acquires the position information of the moving part of the target object in the process that the target operating device performs the above-mentioned first target operation.
  • the moving part of the target object may be the head of the target object, or the leg of the target object, or may be the hand of the target object.
  • the mobile device can obtain the image of the moving part of the target object through its own RGB camera during the process of performing the first target operation on the target operating device, and obtain the image of the moving part of the target object according to the image of the moving part of the target object. location information.
  • S702 according to the position information of the moving part, determine whether the target object collides with the target operating device.
  • the mobile device determines whether the target object collides with the target operating device according to the position information of the moving part of the target object.
  • the mobile device may determine whether the target object collides with the target operating device according to the deviation value between the position information of the moving part of the target object and the position information of the target operating device.
  • the mobile device may also determine whether the target object collides with the target operating device according to the distance value between the position of the moving part of the target object and the position of the target operating device.
  • the mobile device taking the target operating device as a medical electronic linear accelerator and the moving part of the target object as the head of the target object, the mobile device can determine whether the head of the target object is in line with the medical device according to the position information of the head of the target object.
  • the mobile device determines that the target object collides with the target operating device, the mobile device controls the target operating device to stop performing the above-mentioned first target operation.
  • the mobile device may send a control instruction to the target operating device, instructing the target operating device to stop performing the above-mentioned first target operation.
  • the mobile device when the target operating device performs the first target operation, can determine whether the target object is related to the target operating device according to the position information of the moving part of the target object by acquiring the position information of the moving part of the target object.
  • anti-collision monitoring can be performed on the target object in a timely manner, and when it is determined that the target object collides with the target operating device, the target operating device can be controlled in time to stop performing the first target operation, thereby avoiding the risk of the target object and ensuring The security of the target operating device to perform the first target operation is improved.
  • the mobile device can also perform an obstacle avoidance operation according to the image of the space environment where it is located.
  • the above method further includes:
  • S801 Acquire spatial environment information collected by a collection device.
  • the mobile device acquires the spatial environment information collected by the collection device.
  • the collection device may be a camera installed on the mobile device, or may be a video camera, or may be a laser or a lidar, or the like.
  • the mobile device may receive the space environment information collected by the collection device in real time.
  • the above-mentioned space environment information may include obstacle information on the traveling path of the mobile device and obstacle information on the wall of the traveling path of the mobile device.
  • the above-mentioned spatial environment information may be a space environment image; if the above-mentioned collection device is a laser, the above-mentioned space environment information may be a space echo signal, and the mobile device can use the space echo signal according to the space echo signal.
  • the above-mentioned space environment information is determined, that is, the laser emits a laser line, and the laser line is reflected back after encountering an obstacle, and the mobile device can determine the space environment information according to the reflected laser line.
  • the mobile device determines whether there is an obstacle on the travel path according to the obtained spatial environment information.
  • the obstacle on the traveling path of the mobile device may be a medical device, a technician, or a probe connected to the medical device, or the like.
  • the mobile device can input the obtained space environment image into a pre-trained recognition network, identify the environment image through the recognition network, and determine whether there are obstacles on the driving path. thing.
  • the above-mentioned spatial environment information is a spatial echo signal
  • the mobile device can determine that there is an obstacle on the driving path.
  • the travel path may be a travel path from the operation room to the operation area, or may be a travel path from the operation area to the operation room.
  • the avoidance operation includes at least one of the following operations: stop moving, and re-plan the travel path according to the location of the obstacle and the destination address.
  • the mobile device determines that there is an obstacle on the driving path, it performs an avoidance operation, wherein the avoidance operation includes stopping movement, or re-planning the travel path according to the location of the obstacle and its own destination address. That is to say, when the mobile device determines that there is an obstacle on the driving path, it will stop moving, or re-plan the driving path according to the location of the obstacle and its own destination address to avoid obstacles on the original driving path.
  • the mobile device can timely determine whether there is an obstacle on its own driving path according to the spatial environment image, and further determine whether there is an obstacle on the driving path. In the case of , stop moving or re-plan the driving path according to the location of the obstacle and the destination address, avoid the obstacles on the original driving path, and avoid the occurrence of collision.
  • FIG. 9 a schematic flowchart of an operating method for a medical device is provided, and the method is applied to the target host in FIG. 1 as an example for illustration, including the following steps :
  • S901 Receive location information of a target object sent by a mobile device; the location information is information of a target object on a preset area collected by a mobile device when the target object enters a preset area.
  • the preset area may be a hospital bed area, such as a scanning bed of a target operation device, or a treatment couch of a target operation device, and the target operation device may be a digital radiography (Digital Radiography, DR) device, or a computed tomography device.
  • Scanning (Computed Tomography, CT) equipment can also be Nuclear Magnetic Resonance (Magnetic Resonance Imaging, MRI) equipment, Positron Emission Tomography (Positron Emission Tomography, PET), Medical Electron Linear Accelerator, Gamma Knife, Surgical Robot, etc.
  • the target host receives the position information of the target object sent by the mobile device, wherein the position information of the target object is the information of the target object on the above-mentioned preset area collected by the mobile device when the target object enters the above-mentioned preset area .
  • the location information of the target object may be local location information of the target object on the preset area collected by the mobile device from multiple angles, and obtained by fusing the local location information. It should be noted here that the process in which the mobile device sends the collected location information of the target object on the preset area to the target host is a real-time sending process.
  • the mobile device may be an unmanned aerial vehicle, a mobile robot, a movable device, a wall slide robot, or other equipment with mobile capabilities.
  • This embodiment does not limit the specific equipment of the mobile device, as long as it has mobile ability.
  • charging piles and parking racks for mobile devices can be installed at the door of the operating room.
  • the target host controls the target operation device to perform the first target operation according to the position information of the target object on the preset area.
  • the first target operation in this embodiment may be to transmit a target signal to the region of interest of the target object (for example, imaging or radiotherapy to the region of interest of the target object).
  • the region of interest emits X-ray signals, or radiation may be emitted to the region of interest of the target object described above.
  • the first target operation in this embodiment may also be that the target operation device adjusts its own position. It should be noted that if the target operating device is a radiotherapy device, the application of radiotherapy includes non-coplanar treatment.
  • the treatment couch of the target operating device is at an unconventional angle
  • the mobile device can track the angle of the treatment couch.
  • the body position of the target object is collected in real time at the current angle of the treatment bed, and the collected body position of the target object is sent to the target host.
  • the threshold can be adjusted by doctors, physicists or technicians according to the situation of the target object and the difference in imaging or treatment parts. If the real-time position deviation of the patient calculated by the target host exceeds the set threshold, the target operation is controlled.
  • the device terminates the treatment process, and restarts the treatment process after the technician re-determines that the position is accurate by moving the treatment couch (eg, a six-dimensional couch).
  • the target host since the target host controls the target operation device to perform the first target operation based on the position information of the target object in the preset area collected by the mobile device, it can be based on the position information of the target object in the preset area.
  • the accurate control of the target operating device ensures the accuracy of the operations performed by the target host in controlling the target operating device.
  • the above S902 includes: controlling the target operating device to the target object according to the location information
  • the area of interest of the device transmits the target signal, or controls the target operation device to adjust its own position.
  • the target host controls the target operating device to transmit a target signal to the region of interest of the target object according to the position information of the target object on the preset area, or controls the target operating device to adjust its own position.
  • the process in which the mobile device sends the collected location information of the target object on the preset area to the target host is a real-time sending process.
  • the target host may compare the position information of the target object on the above-mentioned preset area with the above-mentioned preset reference position information, and determine the matching result between the collected position information and the above-mentioned preset reference position information, or The above-mentioned collected position information and the above-mentioned preset reference position information are registered, and a matching result between the collected position information and the above-mentioned preset reference position information is determined.
  • the matching result obtained by the target host may be that the collected position information matches the preset reference position information, or that the collected position information does not match the preset reference position information.
  • the target host controls the above-mentioned target operating device to transmit the target signal to the region of interest of the target object; If the matching result obtained by the host is that the collected position information does not match the preset reference position information, the target host controls the target operating device to adjust its own position.
  • the region of interest of the target object may be the abdomen of the target object, or may be the chest of the target object, or the like.
  • the target signal emitted by the target manipulation device to the region of interest of the target object may be an X-ray signal, a pulse sequence, or a radiation.
  • the target signal emitted by different types of target manipulation devices It is also different. If the target operating device is a DR device, the target signal emitted by the target operating device is an X-ray signal. If the target operating device is an MRI device, the target signal emitted by the target operating device is a pulse sequence. If the device is a radiotherapy device, the target signal emitted by the target operation device is radiation.
  • the target host controls the target operating device to transmit the target to the region of interest of the target object by determining the matching result between the position information of the target object on the preset area and the preset reference position information, and based on the determined matching result signal, or control the target operating device to adjust its own position. Since the operation performed by the target host to control the target operating device is based on the determined matching result, the target operating device is controlled according to the position information of the target object on the preset area to perform the corresponding operation. The operation can ensure the accuracy of the operation performed by the target host to control the target operating device.
  • the mobile device can also collect the breathing signal of the target object in real time, and send the collected breathing signal of the target object to the target host, so that the target host can use the breathing signal of the target object during the above-mentioned first target operation. Take action accordingly.
  • FIG. 10 a schematic flowchart of another operation method is provided. On the basis of the foregoing embodiment, as an optional implementation manner, the foregoing method further includes:
  • S1001 Receive a breathing signal sent by a mobile device; the breathing signal is collected in real time by a target operating device during a process of performing a first target operation.
  • the target host receives the breathing signal sent by the mobile device.
  • the breathing signal is the breathing signal of the target object collected by the mobile device in real time during the process of executing the first target operation by the target operating device.
  • the breathing signal of the target object collected in real time by the mobile device may be the depth image of the target object and the infrared image of the target object collected through its own depth camera and infrared camera, and the depth image of the target object and the infrared image of the target object collected through the depth image of the target object and the infrared image of the target object. obtained.
  • the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting the surgical instrument.
  • the target host performs a second target operation according to the respiration signal of the target object, wherein the second target operation performed by the target host includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting the surgical instrument .
  • the corresponding first target operation may include performing X-ray scanning, CT scanning, MR scanning, At least one of a PET scan and an ultrasound scan.
  • the imaging method may be a forward-looking imaging method or a retrospective imaging method.
  • imaging scans can be performed in a specific respiratory phase according to the respiratory signal, or imaging scan data can be collected in multiple respiratory cycles, and then the imaging scan data of different respiratory phases can be extracted to reconstruct corresponding images.
  • the target host controls the emission of the target signal according to the breathing signal of the target object.
  • the radiation therapy device when the target object is monitored according to the breathing signal in a specific breathing phase, the radiation therapy device is controlled to output a treatment beam.
  • the radiotherapy device is controlled to turn off the treatment beam.
  • the target manipulation device performs target manipulation on the target object according to the 4D radiotherapy plan.
  • the target host can also combine the breathing signal of the target object collected in real time by the mobile device and the breathing signal in the 4D radiotherapy plan to monitor the output of the treatment beam of the radiotherapy device, such as the real-time collected signal and the 4D radiotherapy plan. If the deviation of the signal exceeds the threshold, the radiotherapy equipment is controlled to stop the treatment.
  • the target host can image the target object according to the breathing signal or adjust the target signal according to the breathing signal by collecting the breathing signal of the target object in real time when the target operating device performs the first target operation.
  • the emission dose of the target object can be adjusted flexibly to the first target operation performed by the target operation device, or the target object can be imaged more accurately according to the breathing signal of the target object.
  • the target host may also receive feature information of the target object sent by the mobile device, and control the target operating device to adjust the first target operation according to the feature information of the target object.
  • FIG. 11 a schematic flowchart of another operation method is provided. On the basis of the foregoing embodiment, as an optional implementation manner, the foregoing method further includes:
  • S1101 Receive feature information of a target object sent by a mobile device; the feature information is information obtained by the mobile device collecting a feature image of the target object in real time during the process of performing the first target operation by the target operating device and according to the feature image.
  • the target host receives the feature information of the target object sent by the mobile device, wherein the feature information of the target object is the feature image of the target object collected by the mobile device in real time during the process of performing the first target operation by the target operating device.
  • the characteristic image of the target object collected by the mobile device includes at least one of an RGB image of the target object, a depth image of the target object, and an infrared image of the target object.
  • the mobile device may obtain the RGB image of the target object through its own optical camera, obtain the depth image of the target object through its own depth camera, and obtain the infrared image of the target object through its own infrared camera.
  • the mobile device may perform feature extraction on the feature image of the target object to obtain feature information of the target object.
  • the mobile device can determine the contour information of the target object through the depth image of the target object and then determine the breathing signal of the target object, or can determine the temperature change at the mouth and nose of the target object through the infrared image to obtain the breathing signal of the target object, or,
  • the mobile device can determine the position information of the target object through the depth image of the target object, or the mobile device can determine the facial expression information of the target object through the RGB image of the target object or the infrared image of the target object.
  • the target host determines whether there is abnormal information in the received characteristic information of the target object.
  • the feature information of the target object includes the position information of the target object, the facial expression of the target object, the breathing signal of the target object, and the like.
  • the target host can determine whether there is abnormal information in the characteristic information of the target object through the identification network, or can classify the characteristic information of the target object through a classifier to determine whether there is abnormal information in the characteristic information of the target object.
  • control the target operating device to perform an adjustment operation; the adjustment operation includes stopping transmitting the target signal to the area of interest of the target object, stopping adjusting the position of the self, and reducing the transmission of the target signal to the area of interest of the target object. at least one of the frequencies of the target signal.
  • the target host determines that there is abnormal information in the feature information of the target object, it controls the above-mentioned target operating device to perform an adjustment operation; wherein the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, and stopping adjusting the position of itself. and at least one of reducing the frequency of the target signal transmitted to the region of interest of the target object.
  • the target host determines that the position information of the target object has deviated from the preset position information, the target host controls the target operating device to stop adjusting its position and stop transmitting the target signal to the area of interest of the target object; If the host determines that the facial expression of the target object is abnormal or the breathing signal of the target object is relatively short, the target host can control the target operating device to stop transmitting the target signal to the area of interest of the target object or reduce the transmission to the area of interest of the target object. the frequency of the target signal.
  • the target host receives the feature information of the target object sent by the mobile device, determines whether there is abnormal information in the feature information of the target object, and controls the target operating device if there is abnormal information in the feature information of the target object. Performing at least one of stopping the transmission of the target signal to the region of interest of the target object, stopping adjusting the position of the target object, and reducing the frequency of the target signal transmitted to the region of interest of the target object, due to the control of the target operating device by the target host. The operation is performed based on the feature information of the target object, and the target operating device is controlled to perform the corresponding operation according to whether there is abnormal information in the feature information of the target object, which can ensure the accuracy of the operation performed by the target host to control the target operating device.
  • FIG. 12 is a schematic flowchart of medical scanning using the operation method of the present application
  • the operation flow provided in FIG. 12 can implement the above method embodiments, and the implementation principles and technical effects thereof are similar. The example will not be repeated here.
  • FIG. 13 is a schematic flowchart of the radiotherapy using the operation method of the present application, the operation flow provided in FIG. The example will not be repeated here.
  • FIG. 12 and FIG. 13 are respectively described by taking the above-mentioned mobile device as an example of a drone, the drone is only an example, and the drones in FIG. 12 and FIG. 13 can also be other drones.
  • the mobile device may further include at least one of a wall crawling robot, a ground walking robot, and a movable camera on the ceiling, which is not limited in this embodiment.
  • FIGS. 2-13 are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIGS. 2-13 may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution of these steps or stages The order is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or phases within the other steps.
  • an operating system for a medical device includes: a target operating device, a mobile device and a target host, wherein:
  • a target manipulation device for performing a first target manipulation to a region of interest of a target object, the first target manipulation including imaging and/or therapy; a mobile device for moving relative to the target manipulation device for presenting and/or acquiring and Information related to the target object; the target host is used to control the target operation device to perform the first target operation.
  • the above-mentioned operating system for a medical device includes a target operation device, a mobile device, and a target host.
  • the above-mentioned target operation device is used to perform a first target operation including imaging and/or therapy on a region of interest of the target object.
  • the first target operation in this embodiment may be to transmit a target signal to the region of interest of the target object.
  • an X-ray signal may be transmitted to the region of interest of the target object to perform CT or X-ray imaging.
  • a pulse sequence can also be sent to the region of interest of the target object to perform magnetron imaging, or, radiation can be sent to the region of interest of the target object to perform radiotherapy on the target object, and the radiation can be electrons, Photons, protons, heavy ions, etc., or, alternatively, surgical instruments can be operated to operate on the region of interest of the above-mentioned target object.
  • the first target operation in this embodiment may also be that the target operation device adjusts its own position. For example, adjusting the position of a hospital bed.
  • the mobile device may control the target operating device to perform the above-mentioned first target operation when the position information of the target object on the above-mentioned preset area meets the operation requirements.
  • the mobile device can control the target operation device to transmit the target signal to the area of interest of the target object under the condition that the area of interest of the target object matches the position of the transmitting site where the target operation device transmits the target signal.
  • the above-mentioned mobile device moves relative to the target operating device, and the mobile device is used for presenting and/or collecting information related to the target object.
  • the mobile device may present information that guides the target object to enter the preset area, or may present information that guides the target object to leave the operation room.
  • the mobile device may also collect the position information of the target object or collect the feature information of the target object during the process of the target operating device performing the first target operation on the target object, and then collect the position information of the target object or the target object according to the collected position information.
  • the feature information adjusts the execution of the first target operation.
  • the above mobile device includes at least one of a wall crawling robot, a ground walking robot, a movable camera on the ceiling, and an unmanned aerial vehicle.
  • the above mobile device further includes a main body and a driving device for driving the main body to move.
  • the target host is used to control the target operation device to perform the first target operation.
  • the target host may be integrated inside the mobile device, or may be a device that is respectively connected to the mobile device and the target operating device for communication.
  • the target host may control the target operating device to perform the first target operation according to the information related to the target object collected by the mobile device.
  • an operating system for a medical device includes a target operating device, a mobile device, and a target host, and the target operating device is configured to perform a first target operation including imaging and/or treatment on a region of interest of the target object, and move the The device, which moves relative to the target operating device, is used to present and/or collect information related to the target object, and the target host is used to control the target operating device to perform the first target operation. Since the mobile device moves relative to the target operating device, the information can be collected.
  • the three-dimensional position information of the target object on the target operating device, and the three-dimensional position information contains relatively rich information. Therefore, the target host can accurately control the target operating device to perform the first target operation in real time, and ensure the first target operation performed by the target operating device. The accuracy of a target operation.
  • the mobile device needs to perform projection, so the mobile device may include a projection device.
  • the mobile device includes a projection device, and the projection device uses A first picture for projecting and guiding the target object to position.
  • the above-mentioned mobile device includes a projection device, and the projection device is used for projecting a first picture for guiding the target object to position.
  • the first picture may be a picture for guiding the target object to enter the preset area, or a picture for guiding the target object to position on the hospital bed.
  • the first picture may be a virtual two-dimensional or three-dimensional picture.
  • the projection device is further used to project a second picture, and the second picture is used to guide the target object to adjust its own breathing. For example, by projecting the second picture, the target subject is instructed to perform a deep inspiration breath-hold technique (DIBH) operation, and then perform imaging or treatment during the breath-hold.
  • DIBH deep inspiration breath-hold technique
  • the mobile device instructing the target object to adjust its own breathing through the second screen may be that the target object adjusts its own breathing frequency, or it may be that the target object adjusts its own breathing action.
  • the second picture projected by the mobile device at the top of the above-mentioned preset position may be a breathing frequency signal, or may be a virtual three-dimensional breathing picture.
  • the mobile device while the mobile device projects a second picture on top of the above-mentioned preset position to instruct the target object to adjust its own breathing action, the mobile device can also play the corresponding guidance sound to further guide the target object to adjust its own breathing action. .
  • the projection device included in the mobile device can project a first picture for guiding the target object to position, and by projecting the first picture, the target object can be guided to accurately position, thereby improving the accuracy of the target object's positioning Spend.
  • the mobile device when the mobile device collects the location information of the target object, a corresponding collection device is required for collection.
  • the above-mentioned mobile device further includes a collection device, and the collection device is used to collect the position information of the target object in the first orientation and the second orientation respectively; the target host It is used to adjust the relative position of the target object and the target operation device and/or control the target operation device to perform the first target operation according to the position information of the first orientation and the position information of the second orientation.
  • the above-mentioned mobile device further includes a collection device, which is used to collect the position information of the target object in the first orientation and the second orientation respectively; the target host is used for the location information of the first orientation and the position information of the second orientation. Adjust the relative position of the target object and the target operating device and/or control the target operating device to perform the first target operation.
  • the above-mentioned first orientation and second orientation are two different acquisition angles respectively.
  • the first orientation and the second orientation may be relative orientations or adjacent orientations.
  • the first azimuth and the second azimuth are only descriptions of the collecting positions of the collecting device, and the collecting device can collect the position information of the target object at multiple positions, and the first and second azimuths are not limited thereto.
  • the collection device is further configured to collect the breathing signal of the target object in real time, and send the breathing signal to the target host, so that the target host performs the second target operation according to the breathing signal;
  • the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal, and adjusting a surgical instrument.
  • the above collection device includes at least one of an RGB camera, a depth camera, an infrared camera, a voice device, and a light emission device.
  • the above-mentioned mobile device also includes a trajectory generator, which is used to generate an action trajectory of the above-mentioned mobile device.
  • the action trajectory may be that the mobile device moves from the initial position to the target operating device, and runs through the operation process until the target is guided.
  • the position trajectory of the object leaving the operation room it can also be the position trajectory of a certain link in the whole workflow, for example, it can be the action trajectory used to instruct the mobile device to move from the above-mentioned first position to the above-mentioned second position.
  • the mobile device further includes a collection device, and the collection device can collect the position information of the target object in the first orientation and the second orientation respectively, because the position information of the target object is collected in the first orientation and the second orientation respectively. Therefore, the collected position information of the target object contains rich information, which enables the target host to accurately adjust the relative position of the target object and the target operating device according to the collected position information of the first azimuth and the position information of the second azimuth. And/or controlling the target operating device to perform the first target operation improves the accuracy with which the target host adjusts the relative position of the target object and the target operating device and/or controls the target operating device to perform the first target operation.
  • the mobile devices may collect the position information of the target object at the plurality of different positions.
  • the above mobile device includes a first mobile device and a second mobile device, the first mobile device collects the position information of the target object in the first orientation, and the second mobile device is in the second The orientation collects the location information of the target object.
  • the above mobile device includes a first mobile device and a second mobile device, the first mobile device collects the position information of the target object in the first orientation, and the second mobile device collects the position information of the target object in the second orientation.
  • the first orientation and the second orientation may be different acquisition angles relative to the target object. It should be noted that the mobile device described in this embodiment including the first mobile device and the second mobile device is only an illustration of the number of mobile devices, the above-mentioned mobile device may include multiple mobile devices, and this embodiment is here No restrictions.
  • the mobile device includes a first mobile device and a second mobile device, and the location information of the target object can be collected from multiple different angles, so the collected location information of the target object contains relatively rich information.
  • the target host can accurately adjust the relative position of the target object and the target operating device and/or control the target operating device to perform the first target operation according to the collected position information of the first azimuth and the position information of the second azimuth, thereby improving the target operation.
  • the host adjusts the relative position of the target object and the target operating device and/or controls the accuracy with which the target operating device performs the first target operation.
  • the mobile device may also guide the target to correspondingly move to the above-mentioned preset operation area or guide the target object to leave the operation room.
  • the above-mentioned mobile device is configured to provide a preset indication manner to guide the target object to move to a preset operation area and/or leave the operation room.
  • the above-mentioned mobile device is used to provide a preset instruction manner to guide the target object to move to a preset operation area and/or to leave the operation room.
  • the preset indication manner includes at least one indication manner among voice prompts and projection of indication signs on the ground to guide the target object to move to the preset operation area and/or leave the operation room.
  • an indication sign indicating to guide the target object to move to the above-mentioned operation area can also be set on the wall of the operation room, and the target object can be guided to move to the above-mentioned operation area through the indication sign, or an indication can be set on the wall of the operation room.
  • An indication mark for guiding the target object to leave the operation room, and the target object is guided to leave the operation room through the indication mark.
  • the mobile device can verify the identity information of the target object to ensure that the entered target object is consistent with the object information loaded by the technician, Specifically, the mobile device is also used for judging the identity information of the target object, and judging whether the identity information of the target object matches the target identity information; The target object is moved to the operation area; wherein, the target identity information is the identity information obtained from the target host.
  • the mobile device can also broadcast the identity information of the target object by voice, reminding the target object to verify its own identity information.
  • the mobile device may collect a wristband image of the target object, and analyze the wristband image of the target object to obtain the identity information of the target object.
  • the mobile device may also instruct the target object to report its own identity information by sending a voice command to the target object.
  • the target object when the mobile device detects that the target object enters the operation time, the target object can be quickly guided to move to the operation area by the preset instruction method, and the target object can also be guided to move to the operation area more accurately by the instruction method.
  • the operation area ensures the accuracy of the target object moving to the operation area.
  • the mobile device may also acquire position information of the moving part of the target object, and perform anti-collision monitoring on the moving part of the target object.
  • the mobile device is further configured to acquire position information of the moving part of the target object, and determine whether the target object collides with the target operating device according to the position information of the moving part, and if so, control the target operating device to stop executing the first A target operation.
  • the mobile device is also used to obtain the position information of the moving part of the target object in the process of the target operating device performing the above-mentioned first target operation, and determine whether the target object has occurred with the target operating device according to the position information of the moving part of the target object. Collision, if the target object collides with the target operating device, the target operating device is controlled to stop performing the first target operation.
  • the moving part of the target object may be the head of the target object, or the leg of the target object, or may be the hand of the target object.
  • the hospital bed can be rotated to different positions around the vertical axis. Exemplarily, as shown in FIG. 16, FIG.
  • the treatment system includes a base 1, a rotating frame 2, an arc guide 3, a treatment head module 4 and a treatment head frame 5.
  • the rotating frame 2 is mounted on the base 1 and can be rotated by a motor fixed on the base 1.
  • the inner side of the rotating gantry 2 is installed with an arc-shaped guide rail 3 with the rotation center of the rotating gantry 2 as the center of the circle along the axial direction of the rotating gantry 2
  • the treatment head module 4 is installed on the arc-shaped guide rail 3 through the treatment head frame 5, and It can swing back and forth along the arc guide 3 with the rotation center of the rotating gantry 2 as the center of the circle.
  • the treatment head module can swing back and forth along the arc guide with the rotation center of the rotating gantry as the center, the target The object may collide with the target operating device, and the mobile device can obtain the position information of the target object in the process, and monitor whether the target object collides with the target operating device through the mobile device.
  • the treatment head module 4 can be installed on the rotating gantry 2, and the patient bed can be rotated along a vertical axis in a horizontal plane, so as to realize non-coplanar treatment.
  • the position information of the moving part of the target object can be obtained, and whether the target object collides with the target operation device can be monitored through the mobile device.
  • the mobile device can obtain the image of the moving part of the target object through the above-mentioned acquisition device, and obtain the position information of the moving part of the target object according to the image of the moving part of the target object in the process of performing the first target operation by the target operating device. .
  • the mobile device may determine whether the target object collides with the target operating device according to the deviation value between the position information of the moving part of the target object and the position information of the target operating device.
  • the mobile device may also determine whether the target object collides with the target operating device according to the distance value between the position of the moving part of the target object and the position of the target operating device.
  • the mobile device can determine whether the head of the target object is in line with the medical device according to the position information of the head of the target object.
  • the electron linac collided.
  • the mobile device may send a control instruction to the target operating device, instructing the target operating device to stop performing the above-mentioned first target operation.
  • the mobile device when the target operating device performs the first target operation, can determine whether the target object is related to the target operating device according to the position information of the moving part of the target object by acquiring the position information of the moving part of the target object.
  • anti-collision monitoring can be performed on the target object in a timely manner, and when it is determined that the target object collides with the target operating device, the target operating device can be controlled in time to stop performing the first target operation, thereby avoiding the risk of the target object and ensuring The security of the target operating device to perform the first target operation is improved.
  • the mobile device can also perform an obstacle avoidance operation according to the image of the space environment where it is located.
  • the above-mentioned mobile device is further configured to acquire the space environment information collected by the collection device, and determine whether there is an obstacle on the driving path according to the space environment information, and if so, execute an avoidance operation; the avoidance operation includes the following operations: At least one: stop moving, re-plan the driving path according to the location of the obstacle and the destination address.
  • the above-mentioned mobile device is further configured to acquire the spatial environment information collected by the collecting device, and determine whether there is an obstacle on the driving path according to the acquired spatial environmental information, and execute an avoidance operation if the mobile device determines that there is an obstacle on the driving path , wherein the avoidance operation includes at least one of the following operations: stopping movement, re-planning the travel path according to the location of the obstacle and the destination address. That is to say, when the mobile device determines that there is an obstacle on the driving path, it will stop moving, or re-plan the driving path according to the location of the obstacle and its own destination address to avoid obstacles on the original driving path.
  • the collection device may be a camera installed on the mobile device, or may be a video camera, or may be a laser or a lidar, or the like.
  • the mobile device may receive the space environment information collected by the collection device in real time.
  • the above-mentioned space environment information may include obstacle information on the traveling path of the mobile device and obstacle information on the wall of the traveling path of the mobile device.
  • the above-mentioned collection device is a camera
  • the above-mentioned spatial environment information may be a space environment image
  • the above-mentioned collection device is a laser
  • the above-mentioned space environment information may be a space echo signal
  • the mobile device can use the space echo signal according to the space echo signal.
  • the above-mentioned space environment information is determined, that is, the laser emits a laser line, and the laser line is reflected back after encountering an obstacle, and the mobile device can determine the space environment information according to the reflected laser line.
  • the obstacle on the traveling path of the mobile device may be a medical device, a technician, or a probe connected to the medical device, or the like.
  • the mobile device can input the obtained space environment image into a pre-trained recognition network, identify the environment image through the recognition network, and determine whether there are obstacles on the driving path. thing.
  • the mobile device can determine that there is an obstacle on the driving path.
  • the travel path may be a travel path from the operation room to the operation area, or may be a travel path from the operation area to the operation room.
  • the mobile device can timely determine whether there is an obstacle on its own driving path according to the spatial environment image, and further determine whether there is an obstacle on the driving path. In the case of , stop moving or re-plan the driving path according to the location of the obstacle and the destination address, avoid the obstacles on the original driving path, and avoid the occurrence of collision.
  • an operating system for a medical device includes a mobile device, a target host and a target operating device, wherein,
  • a mobile device is configured to perform the embodiments of the above-mentioned first aspect
  • the target host is configured to execute the embodiment of the second aspect
  • the target operation device is used to perform a first target operation; wherein, the first target operation includes that the target operation device transmits a target signal to the region of interest of the target object, and/or the target operation device adjusts its own position.
  • the operating system provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again in this embodiment.
  • a mobile device is provided on which at least one of an RGB camera, a depth camera, an infrared camera, a voice device, and a light emission device is installed.
  • FIG. 18 is only an illustration of the device installed on the mobile device, and is not limited thereto.
  • the depth camera, the infrared camera and the RGB camera used for facial recognition of the target object can be arranged on the same side to facilitate imaging the target object; the camera arranged on the other side, And the light emitting device can be set to rotate at a certain angle to ensure imaging and projection in different positions and directions.
  • the above-mentioned light emitting device is used to emit structured light to the target object, and then the structured light is reflected by the target object and received by the depth camera, and then the depth information of the target object can be calculated through algorithm processing.
  • the mobile device provided in this embodiment may execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again in this embodiment.
  • an operating device for medical equipment comprising: a projection module, a first control module and a second control module, wherein:
  • the projection module is used for projecting a first picture in the operation area when it is detected that the target object has reached the operation area; the first picture is used to guide the target object to enter the preset area.
  • the first control module is configured to collect position information of the target object on the preset area when the target object enters the preset area, and control the target operation device to perform the first target operation according to the position information.
  • the second control module is configured to acquire feature information of the target object in real time during the process of the target operating device performing the first target operation, and control the target operating device to adjust the first target operation according to the feature information.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned first control module includes: a first acquisition unit and a fusion unit, wherein:
  • the first collection unit is configured to collect local position information of the target object in the preset area under at least one preset angle respectively.
  • the fusion unit is used to fuse the local position information under each preset angle to obtain the position information.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned first control module includes: a first determination unit and a first control unit, wherein:
  • the first determining unit is configured to determine the matching result between the position information and the preset reference position information.
  • the first control unit is configured to, based on the matching result, control the target operating device to transmit a target signal to the region of interest of the target object, or control the target operating device to adjust its own position.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned first control module includes: a second control unit, wherein:
  • the second control unit is configured to send the position information to the target host, so that the target host controls the target operating device to transmit the target signal to the region of interest of the target object according to the position information and the preset reference position information, or controls the target operating device to adjust own location.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing second control module includes: a second determination unit and a third control unit, wherein:
  • the second determining unit is configured to determine whether there is abnormal information in the characteristic information.
  • the third control unit is configured to control the target operating device to perform an adjustment operation if there is abnormal information in the feature information; the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, stopping adjusting the position of the target object, and reducing the position of the target object. At least one of the frequencies of the target signal emitted by the region of interest.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing second control module includes: a fourth control unit, wherein:
  • the fourth control unit is used for sending the feature information to the target host, so that the target host controls the target operating device to perform an adjustment operation according to the feature information; at least one of a location and reducing the frequency of a target signal transmitted to a region of interest of the target object.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned second control module includes: a second acquisition unit and an acquisition unit, wherein:
  • the second acquisition unit is used for real-time acquisition of characteristic images of the target object; the characteristic images include at least one of an RGB image of the target object, a depth image of the target object, and an infrared image of the target object.
  • the obtaining unit is used to obtain feature information according to the feature image.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing apparatus further includes: a guidance module, wherein:
  • the guidance module is used for instructing the target object to adjust its own breathing through a preset guidance mode during the process of the target operation device performing the first target operation; the preset guidance mode includes displaying a second screen and/or voice broadcast.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing device further includes: a collection module and a sending module, wherein:
  • the acquisition module is configured to acquire the breathing signal of the target object in real time during the process of the target operation device performing the first target operation.
  • the sending module is used for sending the breathing signal to the target host, so that the target host performs a second target operation according to the breathing signal; the second target operation includes imaging the target object, adjusting the emission dose of the target signal, and adjusting at least one of the surgical instruments A sort of.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing apparatus further includes: a guiding module, wherein:
  • the guiding module is used to guide the target object to move to the operation area through a preset instruction mode when it is detected that the target object enters the operation time.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned guiding module includes: a first guiding unit, wherein:
  • the first guiding unit is used for broadcasting the first voice prompt to guide the target object to move to the operation area.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned guiding module includes: a second guiding unit, wherein:
  • the second guiding unit is used for projecting the first indication mark on the ground to guide the target object to move to the operation area.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned apparatus further includes: a first obtaining module and a judging module, wherein:
  • the first acquisition module is used to acquire the identity information of the target object.
  • the judgment module is used for judging whether the identity information matches the target identity information; wherein, the target identity information is the identity information obtained from the target host.
  • the above-mentioned guidance module is used to guide the target object to move to the operation area through a preset instruction mode if the identity information matches the target identity information
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned apparatus further includes: a first voice broadcast module, wherein:
  • the first voice broadcast module is used to broadcast the identity information of the target object through voice.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned device further includes: a second voice broadcast module, wherein:
  • the second voice broadcast module is used to broadcast a second voice prompt when it is detected that the target operating device has completed the first target operation; the second voice prompt is used to remind the target object that the first target operation has been completed.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing device further includes: a third projection module, wherein:
  • the third projection module is used for projecting the second indication mark to the ground; the second indication mark is used for guiding the target object to leave the operation room.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing apparatus further includes: a second acquisition module, a first determination module and a third control module, wherein:
  • the second acquiring module is configured to acquire the position information of the moving part of the target object during the process of the target operating device performing the first target operation.
  • the first determining module is used for determining whether the target object collides with the target operating device according to the position information of the moving part.
  • the third control module is configured to control the target operating device to stop performing the first target operation if it is determined that the target object collides with the target operating device.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing apparatus further includes: a third obtaining module, a second determining module and an executing module, wherein:
  • the third acquisition module is used to acquire the space environment information collected by the collection device.
  • the second determination module is configured to determine whether there is an obstacle on the driving path according to the space environment information.
  • the execution module is configured to execute an avoidance operation if it is determined that there is an obstacle on the driving path; the avoidance operation includes at least one of the following operations: stop moving, and re-plan the travel path according to the location of the obstacle and the destination address.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • Each module in the above-mentioned operating device may be implemented in whole or in part by software, hardware, and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • an operating device comprising: a first receiving module and a control module, wherein:
  • the first receiving module is configured to receive the position information of the target object sent by the mobile device; the position information is the information collected by the mobile device when the target object enters the preset area.
  • the first control module is configured to control the target operation device to perform the first target operation according to the position information.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned first control module includes: a determination unit and a control unit, wherein:
  • the control unit is configured to, based on the matching result, control the target operating device to transmit a target signal to the region of interest of the target object, or control the target operating device to adjust its own position.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the foregoing apparatus further includes: a second receiving module and an executing module, wherein:
  • the second receiving module is configured to receive the breathing signal sent by the mobile device; the breathing signal is collected by the mobile device in real time during the process of the target operation device performing the first target operation.
  • the execution module is used for executing the second target operation according to the breathing signal; the second target operation includes at least one of imaging the target object, adjusting the emission dose of the target signal and adjusting the surgical instrument.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • the above-mentioned device further includes: a third receiving module, a determining module and a second control module, wherein:
  • the third receiving module is used to receive the feature information of the target object sent by the mobile device; the feature information is the information obtained by the mobile device collecting the feature image of the target object in real time when the target operating device performs the first target operation, and according to the feature image .
  • the determining module is used to determine whether there is abnormal information in the characteristic information.
  • the second control module is configured to control the target operating device to perform an adjustment operation if there is abnormal information in the feature information; the adjustment operation includes stopping transmitting the target signal to the region of interest of the target object, stopping adjusting the position of the target object, and reducing the position of the target object. At least one of the frequencies of the target signal emitted by the region of interest.
  • the operating device provided in this embodiment can execute the foregoing method embodiments, and the implementation principles and technical effects thereof are similar, and details are not described herein again.
  • Each module in the above-mentioned operating device may be implemented in whole or in part by software, hardware, and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • a target host including a memory and a processor
  • a computer program is stored in the memory
  • the processor implements the following steps when executing the computer program:
  • the location information is the information of the target object on the preset area collected by the mobile device when the target object enters the preset area;
  • the target operating device is controlled to perform the first target operation according to the position information.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
  • the target object When the target object enters the preset area, collect position information of the target object on the preset area, and control the target operation device to perform the first target operation according to the position information;
  • the feature information of the target object is acquired in real time, and the target operating device is controlled to adjust the first target operation according to the feature information.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:
  • the location information is the information of the target object on the preset area collected by the mobile device when the target object enters the preset area;
  • the target operating device is controlled to perform the first target operation according to the position information.
  • Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

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Abstract

一种用于医疗设备的操作方法、装置、***、移动设备，在检测到目标对象到达操作区域时，在操作区域中投影第一画面（S201）；第一画面用于引导目标对象进入预设区域，在目标对象进入预设区域的情况下，采集目标对象在预设区域上的位置信息，并根据位置信息控制目标操作设备执行第一目标操作（S202），在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，根据特征信息控制目标操作设备调整第一目标操作（S203）；确保了目标操作设备执行的第一目标操作的准确度。

Description

用于医疗设备的操作方法、装置、***、移动设备 技术领域
本申请涉及医学设备技术领域，更具体的说，涉及一种用于医疗设备的操作方法、装置、***、移动设备。
背景技术
目前，在医学成像扫描和放射治疗领域，被检测者在进行成像或者放射治疗前摆位的准确性以及成像或放射治疗过程中的运动监测反馈影响被检测者的成像质量和放射治疗的疗效。因此，如何提供一种操作方法，以使医学设备能够根据被检测者的位置、成像或放射治疗过程中的运动监测反馈进行实时地操作调整成为了本领域技术人员亟需解决的技术问题。
发明内容
有鉴于此，本申请公开一种用于医疗设备的操作方法、装置、***和移动设备，以实现医学设备能够根据被检测者的位置实时地执行对应的操作，并在医学设备执行对应操作的过程中根据被检测者的位置、操作过程中的运动监测反馈实时地进行调整医学设备的操作。
第一方面，一种操作方法，所述方法包括：
在检测到目标对象到达操作区域时，在所述操作区域中投影第一画面；所述第一画面用于引导所述目标对象进入预设区域；
在所述目标对象进入所述预设区域的情况下，采集所述目标对象在所述预设区域上的位置信息，并根据所述位置信息控制目标操作设备执行第一目标操作；
在所述目标操作设备执行所述第一目标操作的过程中，实时获取所述目标对象的特征信息，根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
优选的，所述采集所述目标对象在所述预设区域上的位置信息，包括：
分别在至少一个预设角度下，采集所述目标对象在所述预设区域中的局部位置信息；
对每一所述预设角度下的局部位置信息进行融合，得到所述位置信息。
优选的，所述根据所述位置信息控制目标操作设备执行第一目标操作，包括：
根据所述位置信息，控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
优选的，所述根据所述位置信息控制目标操作设备对所述目标对象执行第一目标操作，包括：
将所述位置信息发送给所述目标主机，以使所述目标主机根据所述位置信息和预设的参考位置信息控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
优选的，所述根据所述特征信息控制所述目标操作设备调整所述第一目标操作，包括：
确定所述特征信息中是否存在异常信息；
若所述特征信息中存在所述异常信息，控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
优选的，所述根据所述特征信息控制所述目标操作设备调整所述第一目标操作，包括：
将所述特征信息发送给目标主机，以使所述目标主机根据所述特征信息控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频 率中的至少一种。
优选的，所述实时获取所述目标对象的特征信息，包括：
实时采集所述目标对象的特征图像；所述特征图像包括所述目标对象的RGB图像、所述目标对象的深度图像和所述目标对象的红外图像中的至少一种；
根据所述特征图像，得到所述特征信息。
优选的，所述方法还包括：
在所述目标操作设备执行所述第一目标操作的过程中，通过预设的指导方式指导所述目标对象调整自身的呼吸；所述预设的指导方式包括显示第二画面和/或语音播报。
优选的，所述方法还包括：
在所述目标操作设备执行所述第一目标操作的过程中，实时采集所述目标对象的呼吸信号；
将所述呼吸信号发送给所述目标主机，以使所述目标主机根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
优选的，所述方法还包括：
在检测到所述目标对象进入操作间时，通过预设的指示方式引导所述目标对象移动到所述操作区域。
优选的，所述通过预设的指示方式引导所述目标对象移动到操作区域，包括：
播报第一语音提示引导所述目标对象移动到所述操作区域。
优选的，所述通过预设的指示方式引导所述目标对象移动到操作区域，包括：
向地面投影第一指示标识引导所述目标对象移动到所述操作区域。
优选的，所述通过预设的指示方式引导所述目标对象移动到操作区域之前，所述方法还包括：
获取所述目标对象的身份信息；
判断所述身份信息与目标身份信息是否匹配；其中，所述目标身份信息为从所述目标主机中获取的身份信息；
若所述身份信息与所述目标身份信息匹配，通过所述预设的指示方式引导所述目标对象移动到所述操作区域。
优选的，所述方法还包括：
通过语音播报所述目标对象的身份信息。
优选的，所述方法还包括：
在检测到所述目标操作设备完成所述第一目标操作的情况下，播报第二语音提示；所述第二语音提示用于提醒所述目标对象所述第一目标操作已完成。
优选的，所述方法还包括：
向所述地面投影第二指示标识；所述第二指示标识用于引导所述目标对象离开所述操作间。
优选的，所述方法还包括：
在所述目标操作设备执行所述第一目标操作的过程中，获取所述目标对象的运动部位的位置信息；
根据所述运动部位的位置信息，确定所述目标对象是否与所述目标操作设备发生碰撞；
若是，则控制所述目标操作设备停止执行所述第一目标操作。
优选的，所述方法还包括：
获取采集装置采集的空间环境信息；
根据所述空间环境信息，确定行驶路径上是否存在障碍物；
若是，则执行规避操作；所述规避操作包括以下操作中的至少一种：停止移动、根据 所述障碍物所在位置以及目的地址重新规划所述行驶路径。
第二方面，一种用于医疗设备的操作方法，所述操作方法包括：
接收移动设备发送的目标对象的位置信息；所述位置信息为所述移动设备在所述目标对象进入预设区域的情况下所采集的信息；
根据所述位置信息控制目标操作设备执行第一目标操作。
优选的，所述根据所述位置信息控制目标操作设备执行第一目标操作，包括：
根据所述位置信息，控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
优选的，所述方法还包括：
接收所述移动设备发送的所述目标对象的呼吸信号；所述呼吸信号为所述移动设备在所述目标操作设备执行所述第一目标操作的过程中实时采集的；
根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
优选的，所述方法还包括：
接收所述移动设备发送的目标对象的特征信息；所述特征信息为所述移动设备在所述目标操作设备执行所述第一目标操作的过程中实时采集所述目标对象的特征图像，根据所述特征图像所得到的信息；
确定所述特征信息中是否存在异常信息；
若所述特征信息中存在所述异常信息，控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
第三方面，一种用于医疗设备的操作***，所述操作***包括：目标操作设备、移动设备和目标主机，其中，
所述目标操作设备，用于向目标对象的感兴趣区域执行第一目标操作，所述第一目标操作包括成像和/或治疗；
所述移动设备，相对于所述目标操作设备移动，所述移动设备用于呈现和/或采集与所述目标对象相关的信息；
所述目标主机，用于控制所述目标操作设备执行第一目标操作。
优选地，所述移动设备包括投影装置，所述投影装置用于投影引导所述目标对象进行摆位的第一画面。
优选地，所述移动设备还包括采集装置，所述采集装置用于分别在第一方位和第二方位采集所述目标对象的位置信息；
所述目标主机用于根据所述第一方位的位置信息以及所述第二方位的位置信息调整所述目标对象与所述目标操作设备的相对位置和/或控制所述目标操作设备执行所述第一目标操作。
优选地，所述移动设备包括第一移动设备和第二移动设备，所述第一移动设备在第一方位采集所述目标对象的位置信息，所述第二移动设备在第二方位采集所述目标对象的位置信息。
优选地，所述投影装置还用于投影第二画面，所述第二画面用于引导所述目标对象调整自身的呼吸。
优选地，所述采集装置还用于实时采集所述目标对象的特征图像，根据特征图像获取特征信息，根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
优选地，所述移动设备用于提供预设的指示方式引导所述目标对象移动到预设操作区域和/或离开所述操作间。
优选地，所述采集装置还用于实时采集所述目标对象的呼吸信号，并将所述呼吸信号发送给所述目标主机，以使所述目标主机根据所述呼吸信号执行第二目标操作；所述第二 目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
优选地，所述移动设备还用于判断所述目标对象的身份信息，并判断所述身份信息与目标身份信息是否匹配；若所述身份信息与所述目标身份信息匹配，通过所述预设的指示方式引导所述目标对象移动到所述操作区域；其中，所述目标身份信息为从所述目标主机中获取的身份信息。
优选地，所述移动设备还用于获取所述目标对象的运动部位的位置信息，并根据所述运动部位的位置信息，确定所述目标对象是否与所述目标操作设备发生碰撞，若是，则控制所述目标操作设备停止执行所述第一目标操作。
优选地，所述移动设备还用于获取所述采集装置采集的空间环境信息，并根据所述空间环境信息，确定行驶路径上是否存在障碍物，若是，则执行规避操作；所述规避操作包括以下操作中的至少一种：停止移动、根据所述障碍物所在位置以及目的地址重新规划所述行驶路径。
优选地，所述移动设备包括墙壁爬行机器人、地面行走机器人、天花板上可动的摄像头以及无人机中的至少一种。
优选地，所述采集装置包括RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。
优选地，所述移动设备还包括：主体以及驱动所述主体移动的驱动装置。
优选地，所述移动设备还包括：轨迹生成器；
所述轨迹生成器，用于生成所述移动设备的行动轨迹。
第四方面，一种用于医疗设备的操作***，所述操作***包括移动设备、目标主机和目标操作设备，其中，
所述移动设备，用于执行如第一方面所述的用于医疗设备的操作方法；
所述目标主机，用于执行如第二方面所述的用于医疗设备的操作方法；
所述目标操作设备，用于执行第一目标操作；所述第一目标操作包括所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，和/或所述目标操作设备调整自身所在的位置。
第五方面，一种移动设备，其特征在于，所述移动设备应用于如第一方面所述的用于医疗设备的操作方法，所述移动设备包括上安装有RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。
第六方面，一种用于医疗设备的操作装置，所述装置包括：投影模块、第一控制模块和第二控制模块，其中：
投影模块，用于在检测到目标对象到达操作区域时，在所述操作区域中投影第一画面；所述第一画面用于引导所述目标对象进入预设区域；
第一控制模块，用于在所述目标对象进入所述预设区域的情况下，采集所述目标对象在所述预设区域上的位置信息，并根据所述位置信息控制目标操作设备执行第一目标操作；
第二控制模块，用于在所述目标操作设备执行所述第一目标操作的过程中，实时获取所述目标对象的特征信息，根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
第七方面，一种用于医疗设备的操作装置，所述装置包括：第一接收模块和控制模块，其中：
第一接收模块，用于接收移动设备发送的目标对象的位置信息；所述位置信息为所述移动设备在所述目标对象进入预设区域的情况下采集的所述目标对象在所述预设区域上的信息；
控制模块，用于根据所述位置信息控制目标操作设备执行第一目标操作。
第八方面，一种目标主机，所述目标用于执行如第二方面所述的用于医疗设备的操作方法。
第九方面，一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现第一方面、第二方面所述的用于医疗设备的操作方法的步骤。
从上述的技术方案可知，本申请公开了一种用于医疗设备的操作方法、***、移动设备、装置、目标主机和存储介质，移动设备在检测到目标对象到达操作区域时，通过在操作区域中投影引导目标对象进入预设区域的第一画面，能够引导目标对象准确地进入预设区域，从而可以在目标对象进入预设区域的情况下采集目标对象在该预设区域上的位置信息，由于移动设备采集的是目标对象在该预设区域上的三维位置信息，该三维位置信息包含的信息较为丰富，因此移动设备可以根据采集到的位置信息实时准确地控制目标操作设备执行第一目标操作，进而可以在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，由于目标对象的特征信息是实时获取的，因此移动设备能够根据目标对象的特征信息及时地控制目标操作设备调整第一目标操作，确保了目标操作设备执行的第一目标操作的准确度。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。
图1为一个实施例提供的用于医疗设备的操作方法的应用环境图；
图2为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图3为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图4为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图5为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图6为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图7为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图8为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图9为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图10为另一个实施例提供的用于医疗设备的操作方法的流程示意图；
图11为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图12为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图13为一个实施例提供的用于医疗设备的操作方法的流程示意图；
图14为一个实施例提供的用于医疗设备的操作***的示意图；
图15为一个实施例提供的用于医疗设备的操作***的示意图；
图16为一个实施例提供的非共面治疗***的示意图；
图17为一个实施例提供的用于医疗设备的操作***的示意图；
图18为一个实施例提供的移动设备的示意图；
图19为一个实施例提供的操作装置的结构示意图；
图20为一个实施例提供的操作装置的结构示意图；
图21为一个实施例提供的目标主机的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实 施例，都属于本申请保护的范围。
本申请实施例公开了一种用于医疗设备的操作方法、装置、***、移动设备及存储介质，以实现医学设备能够根据被检测者的摆位、操作过程中的运动监测反馈对医学设备的操作实时地进行调整。
本申请实施例提供的用于医疗设备的操作方法，可以适用于如图1所示的***。该***包括移动设备、目标主机和目标操作设备，其中，移动设备分别与目标主机和目标操作设备进行无线通讯，移动设备可以是无人机、移动机器人、可移动装置、墙面滑轨机器人等具有移动能力的设备，目标主机可以是服务器，也可以是个人计算机，还可以是其他终端设备，目标操作设备可以是数字X线摄影(Digital Radiography,DR)设备，计算机断层扫描(Computed Tomography,CT)设备，也可以是核磁共振(Magnetic Resonance Imaging,MRI)设备，正电子发射计算机断层扫描(Positron Emission Tomography,PET)设备，医用电子直线加速器(LINAC)设备、伽马刀，手术机器人等，在此不进行限定。需要说明的是，图1中的移动设备只是以无人机为例进行的说明并不以此为限。
第一方面，在一个实施例中，如图2所示，提供了一种用于医疗设备的操作方法的流程示意图，以该方法应用于图1中的移动设备为例进行说明，包括以下步骤：
S201、在检测到目标对象到达操作区域时，在操作区域中投影第一画面；第一画面用于引导目标对象进入预设区域。
其中，操作区域可以是目标操作设备的操作区域，该目标操作设备可以是数字X线摄影(Digital Radiography,DR)设备，也可以是计算机断层扫描(Computed Tomography,CT)设备，也可以是核磁共振(Magnetic Resonance Imaging,MRI)设备，正电子发射计算机断层扫描(Positron Emission Tomography,PET)，医用电子直线加速器，伽马刀，手术机器人等，预设区域可以是病床区域，例如目标操作设备的扫描床，也可以是目标操作设备的治疗床，也可以是手术机器人的操作区域。具体的，移动设备在检测到目标对象到达操作区域时，在该操作区域中投影第一画面，通过该第一画面引导目标对象进入预设区域。可选的，投影的第一画面可以为虚拟的二维或三维画面，示例性地，投影的第一画面可以为引导目标对象如何在病床上进行摆位的虚拟三维画面。可选的，移动设备可以采集目标对象的深度图像，通过目标对象的深度图像检测目标对象是否到达了上述操作区域。可选的，移动设备也可以在检测到目标对象到达操作区域时，向其他设备发送控制指令，触发其他设备显示画面引导目标对象进入预设区域。可选的，显示画面可以显示在上述操作区域，也可以显示在非操作区域内。可选的，显示画面可以是显示屏幕显示的，也可以是投影设备投影的。可选的，若上述操作区域内有多种操作设备(例如，DR设备、CT设备、MRI设备等)，则还可以通过获取与所述目标对象即将进行的操作相关的信息，确定显示多种指示画面中的哪种指示画面，引导上述目标对象到达对应的目标操作设备，其中，多种指示画面为与上述多种设备相对应的指示画面。例如，可以通过医生获取上述信息，也可以通过获取上述目标对象的扫描协议信息或者治疗计划相关的信息，从而为所述目标对象确定相对应的指示画面。
S202、在目标对象进入预设区域的情况下，采集目标对象在预设区域上的位置信息，并根据位置信息控制目标操作设备执行第一目标操作。
具体的，移动设备通过在上述操作区域中投影第一画面，引导目标对象进入预设区域后，采集目标对象在上述预设区域上的位置信息，并根据采集到的位置信息控制目标操作设备执行第一目标操作。可选的，本实施例中的第一目标操作可以为向上述目标对象的感兴趣区域发射目标信号，例如，可以向上述目标对象的感兴趣区域发射X光信号以进行CT或X光成像等，或者，也可以向上述目标对象的感兴趣区域发射脉冲序列进行磁控振成像，或者，可以向上述目标对象的感兴趣区域发射放射线以对目标对象进行放射治疗，所述放射线可以为电子、光子、质子或重离子等，或者，也可以操作手术器械对上述目标对象的感兴趣区域进行操作。可选的，本实施例中的第一目标操作也可以为目标操作设备 对自身所在的位置进行调整。可选的，移动设备可以在目标对象在上述预设区域上的位置信息满足操作要求时，控制目标操作设备执行上述第一目标操作，示例性地，以第一目标操作为向目标对象的感兴趣区域发射目标信号为例，移动设备可以在目标对象的感兴趣区域与目标操作设备发射目标信号的发射部位位置吻合的情况下，控制目标操作设备向目标对象的感兴趣区域发射目标信号。
S203、在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，根据特征信息控制目标操作设备调整第一目标操作。
具体地，移动设备在上述目标操作设备执行第一目标操作的过程中，实时获取上述目标对象的特征信息，根据目标对象的特征信息控制目标操作设备调整上述第一目标操作。可选的，本实施例中目标对象的特征信息可以为目标对象的位置信息，也可以为目标对象的面部表情信息，也可以为目标对象的呼吸信号。可选的，移动设备可以在目标操作设备执行上述第一目标操作的过程中采集目标对象的特征图像，例如，目标对象的面部图像，从采集到的目标对象的特征图像中获取目标对象的特征信息，也可以向目标操作设备发送获取指令，从目标操作设备中获取目标对象的特征信息。可选的，移动设备可以对获取的目标对象的特征信息进行分析，在确定目标对象的特征信息中存在异常信息时控制上述目标操作设备调整上述第一目标操作。可选的，移动设备控制目标操作设备调整第一目标操作可以是控制上述目标操作设备暂停执行上述第一目标操作。还需要说明的是，若目标操作设备为放射治疗设备，在放射治疗的应用中包括有非共面治疗，在该场景下，目标操作设备的治疗床处于非常规角度，例如治疗床可以绕竖直轴旋转至不同角度，移动设备可以跟踪治疗床角度在当前治疗床角度实时采集目标对象的当前***，计算目标对象的当前***与计划***的差值，并将该差值与设置好的阈值进行比较，其中，该阈值可由医生、物理师或者技师根据目标对象自身情况以及成像或治疗部位的不同进行调整，如果移动设备计算出的患者实时位置偏差超出了所设置的阈值，则控制目标操作设备终止治疗进程，待技师通过移动六维床重新确定位置准确后重新开始治疗进程。
进一步，除了采集目标对象的位置信息用于位置确认以及采集目标对象的特征信息用于监控目标操作设备执行的第一目标操作之外，移动设备还可以利用获取到的目标对象的特征信息，在目标操作设备执行第一目标操作的过程中对目标操作设备的运动部分进行防碰撞监控，移动设备还可以根据防碰撞的监控结果通过语音播报提示目标对象，以避免目标对象与目标操作设备的碰撞。示例性地，以目标对象的特征信息为目标对象的位置信息，执行的第一目标操作为放射治疗操作为例，移动设备可以对放射治疗中医用电子直线加速器的治疗头与目标对象的碰撞进行监控，或者，医用电子直线加速器的治疗头与治疗床的碰撞进行监控，或者，医用电子直线加速器的电子射野影像***(EPID)与目标对象的碰撞进行监控等。
在本实施例中，移动设备在检测到目标对象到达操作区域时，通过在操作区域中投影引导目标对象进入预设区域的第一画面，能够引导目标对象准确地进入预设区域，从而可以采集目标对象在该预设区域上的位置信息，由于移动设备采集的是目标对象在该预设区域上的三维位置信息，该三维位置信息包含的信息较为丰富，因此移动设备可以根据采集到的位置信息实时准确地控制目标操作设备执行第一目标操作，进而可以在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，由于目标对象的特征信息是实时获取的，因此移动设备能够根据目标对象的特征信息及时地控制目标操作设备调整第一目标操作，确保了目标操作设备执行的第一目标操作的准确度。
在上述移动设备采集目标对象在预设区域上的位置信息的场景中，移动设备可以从多角度采集目标对象在预设区域上的位置信息。在一个实施例中，如图3所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述S202中的采集目标对象在预设区域上的位置信息，包括：
S301，分别在至少一个预设角度下，采集目标对象在预设区域中的局部位置信息。
具体地，移动设备分别在至少一个预设角度下，采集目标对象在上述预设区域中的局部位置信息。示例性地，上述移动设备可以分别在上述目标操作设备的左侧、右侧、前侧采集上述目标对象在预设区域中的局部位置。这里需要说明的是，在利用移动设备在不同角度采集目标对象在预设区域中的局部位置信息时，可以利用同一个移动设备从不同角度采集对应角度下的目标对象在预设区域中的局部位置，也可以利用两个或以上的移动设备从不同角度同时采集目标对象在预设区域中的局部位置。例如，当移动设备从一个角度移动到另外一个角度时，会有一个时间差，此时，可以同时使用两台或三台移动设备同时采集不同角度下目标对象在上述预设区域中的局部位置信息，从而提高位置的准确度。
S302，对每一预设角度下的局部位置信息进行融合，得到位置信息。
具体地，移动设备对上述每一角度下的局部位置信息进行融合，得到目标对象在上述预设区域上的位置信息。可选的，移动设备可以采用融合算法对每一预设角度下的局部位置信息进行融合，得到目标对象在上述预设区域上的位置信息，也可以采用拼接的方法对每一预设角度下的局部位置信息进行融合，得到目标对象在上述预设区域上的位置信息。可选的，移动设备也可以将每一预设角度下的局部位置信息发送给与其能够进行通信的处理器，由该处理器对各局部位置信息进行融合，得到目标对象在上述预设区域上的位置信息，再由该处理器将目标对象在上述预设区域上的位置信息发送给移动设备，移动设备进行接收。
本实施例中，由于移动设备采集到的局部位置信息是从多个预设角度采集的目标对象在预设区域中的位置信息，由于不同角度采集到的局部位置信息是不同，因此，对各预设角度下的局部位置信息进行融合后，得到的位置信息为包含不同角度的位置信息，使得得到的位置信息较为完整，确保了得到的目标对象在预设区域上的位置信息的准确度。
在上述移动设备根据目标对象在预设区域上的位置信息控制目标操作设备执行上述第一目标操作的场景中，可以由移动设备自身根据目标对象在预设区域上的位置信息控制目标操作设备执行上述第一目标操作，也可以由移动设备将目标对象在预设区域上的位置信息发送给目标主机，由目标主机根据目标对象在预设区域上的位置信息控制目标操作设备执行上述第一目标操作，下边将分别对这两种场景对应的实施例进行描述。
场景一，移动设备自身根据目标对象在预设区域上的位置信息控制目标操作设备执行上述第一目标操作。在一个实施例中，在上述实施例的基础上，作为一种可选的实施方式，上述S202中的根据目标对象在预设区域上的位置信息控制目标操作设备执行第一目标操作，包括：根据位置信息，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置
具体地，移动设备根据上述目标对象在预设区域上的位置信息，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。可选的，移动设备可以确定上述目标对象在预设区域上的位置信息和预设的参考位置信息的匹配结果。可选的，移动设备可以预先获取上述目标操作设备对应的预设的参考位置信息，将该预设的参考位置信息存储在自身的存储器中，当采集到目标对象在上述预设区域上的位置信息后，确定采集到的位置信息和该预设的参考位置信息的匹配结果。可选的，移动设备可以将上述采集到的位置信息和上述预设的参考位置信息进行比较，确定采集到的位置信息和上述预设的参考位置信息的匹配结果，也可以将上述采集到的位置信息和上述预设的参考位置信息进行配准，确定采集到的位置信息和上述预设的参考位置信息的匹配结果。可选的，移动设备得到的匹配结果可以为上述采集到的位置信息和预设的参考位置信息相匹配，也可以为上述采集到的位置信息和预设的参考位置信息不匹配或者上述采集到的位置信息和预设的参考位置信息之间的偏差值。进一步地，移动设备基于上述得到的匹配结果，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置，即上述第一目标操作可以为向目标对象的感兴趣区域发射目标信号(例如，对目标对象的感兴趣区域进行成像或者放疗)，也可以为控制目标操作设备调整 自身所在的位置。也就是说，若移动设备得到的匹配结果为上述采集到的位置信息和预设的参考位置信息相匹配，则移动设备控制上述目标操作设备向目标对象的感兴趣区域发射目标信号；若移动设备得到的匹配结果为上述采集到的位置信息和预设的参考位置信息不匹配，则移动设备控制目标操作设备调整自身所在的位置，例如根据上述的偏差值调整病床的床板位置使得采集到的位置信息和预设的参考位置信息匹配。可选的，目标对象的感兴趣区域可以为目标对象的腹部，也可以为目标对象的胸部等。可选的，感兴趣区域可以包括肿瘤。可选的，目标操作设备向目标对象的感兴趣区域发射的目标信号可以为X光信号，也可以为脉冲序列，也可以为放射线。可以理解的是，不同类型的目标操作设备发射的目标信号也不同，若该目标操作设备为DR设备，则目标操作设备发射的目标信号为X光信号，若该目标操作设备为MRI设备，则目标操作设备发射的目标信号为MRI信号，若该目标操作设备为放射治疗设备，则目标操作设备发射的目标信号为放射线。需要说明的是，若目标操作设备为放射治疗设备，在放射治疗的应用中包括有非共面治疗，在该场景下，移动设备可以跟踪治疗床角度在当前治疗床角度实时采集目标对象的***，计算目标对象当前***与计划***的差值，并将该差值与设置好的阈值进行比较，其中，该阈值可由医生、物理师或者技师根据目标对象自身情况以及成像或治疗部位的不同进行调整，如果移动设备计算出的患者实时位置偏差超出了所设置的阈值，则控制目标操作设备终止治疗进程，待技师通过移动六维床重新确定位置准确后重新开始治疗进程。
在本实施例中，移动设备采集到目标对象在预设区域上的位置信息后，根据该位置信息，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置，由于移动设备控制目标操作设备所做的操作是根据目标对象在预设区域上的位置信息进行的，根据目标对象在预设区域上的位置信息控制目标操作设备执行对应的操作，能够确保移动设备控制目标操作设备所做的操作的准确度。
场景二，移动设备将目标对象在预设区域上的位置信息发送给目标主机，由目标主机根据目标对象在预设区域上的位置信息控制目标操作设备执行上述第一目标操作。在一个实施例中，在上述实施例的基础上，作为一种可选的实施方式，上述S202中的根据目标对象在预设区域上的位置信息控制目标操作设备执行第一目标操作，包括：将位置信息发送给目标主机，以使目标主机根据位置信息和预设的参考位置信息控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。
具体地，移动设备采集到目标对象在上述预设区域上的位置信息后，将采集到的目标对象在预设区域上的位置信息发送给目标主机，以使目标主机根据移动设备发送的位置信息和预设的参考位置信息控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。这里需要说明的是，移动设备将采集到的目标对象在预设区域上的位置信息发送给目标主机的过程是实时发送的过程。同样地，若目标主机确定上述移动设备采集到位置信息和预设的参考位置信息相匹配，则目标主机控制上述目标操作设备向目标对象的感兴趣区域发射目标信号；若目标主机确定上述移动设备采集到的位置信息和预设的参考位置信息不匹配，则目标主机控制目标操作设备调整自身所在的位置。可选的，目标对象的感兴趣区域可以为目标对象的腹部，也可以为目标对象的胸部等。可选的，目标操作设备向目标对象的感兴趣区域发射的目标信号可以为X光信号，也可以为磁共振信号，也可以为放射线，可以理解的是，不同类型的目标操作设备发射的目标信号也不同，若该目标操作设备为DR设备，则目标操作设备发射的目标信号为X光信号，若该目标操作设备为MRI设备，则目标操作设备发射的目标信号为MRI信号，若该目标操作设备为放射治疗设备，则目标操作设备发射的目标信号为放射线。需要说明的是，若目标操作设备为放射治疗设备，在放射治疗的应用中包括有非共面治疗，在该场景下，目标操作设备的治疗床处于非常规角度，例如治疗床可以绕竖直轴旋转至不同角度，移动设备可以跟踪治疗床角度在当前治疗床角度实时采集目标对象的***，将采集到的目标对象的***发送给目标主机，由目标主机计算目标对象当前***与计划***的差值，并将该 差值与设置好的阈值进行比较，其中，该阈值可由医生、物理师或者技师根据目标对象自身情况以及成像或治疗部位的不同进行调整，如果目标主机计算出的患者实时位置偏差超出了所设置的阈值，则控制目标操作设备终止治疗进程，待技师通过移动六维床重新确定位置准确后重新开始治疗进程。
在本实施例中，移动设备采集到目标对象在预设区域上的位置信息后，将目标对象在预设区域上的位置信息发送给目标主机，能够使目标主机根据采集到的位置信息和预设的参考位置信息控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置，由于目标主机控制目标操作设备所做的操作是基于移动设备采集到的目标对象在预设区域上的位置信息进行的，根据目标对象在预设区域上的位置信息控制目标操作设备执行对应的操作，能够确保目标主机控制目标操作设备所做的操作的准确度。
在上述移动设备根据目标对象的特征信息控制目标操作设备调整第一目标操作的场景中，可以由移动设备自身根据目标对象的特征信息控制目标操作设备调整上述第一目标操作，也可以由移动设备将目标对象的特征信息发送给目标主机，由目标主机根据目标对象的特征信息控制目标操作设备调整上述第一目标操作，下边将分别对这两种场景对应的实施例进行描述。
场景三，移动设备自身根据目标对象的特征信息控制目标操作设备调整上述第一目标操作。在一个实施例中，如图4所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述S203中的根据目标对象的特征信息控制目标操作设备调整第一目标操作，包括：
S401，确定特征信息中是否存在异常信息。
具体地，移动设备确定获取的目标对象的特征信息中是否存在异常信息。可选的，目标对象的特征信息包括目标对象的位置信息、目标对象的面部表情、目标对象的呼吸信号等。示例性地，目标对象的特征信息中若存在的异常信息可以为目标对象的位置信息偏离了预设的位置信息，目标对象的面部表情为异常的面部表情，目标对象的呼吸信号较为急促等。可选的，移动设备可以通过识别网络确定目标对象的特征信息中是否存在异常信息，也可以通过分类器对目标对象的特性信息进行分类，确定目标对象的特征信息中是否存在异常信息。可选的，该识别网络可以是机器学习模型或者深度学习模型。
S402，若特征信息中存在异常信息，控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
具体地，移动设备若确定目标对象的特征信息中存在异常信息，则控制上述目标操作设备执行调整操作；其中，调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。示例性地，若移动设备确定目标对象的位置信息已经偏离了预设的位置信息，则移动设备控制目标操作设备停止调整自身所在的位置并停止向目标对象的感兴趣区域发射目标信号；若移动设备确定目标对象的面部表情为异常的面部表情或者目标对象的呼吸信号较为急促，则移动设备可以控制目标操作设备停止向目标对象的感兴趣区域发射目标信号或者降低向目标对象的感兴趣区域发射的目标信号的频率。可选的，若移动设备确定上述特征信息中存在异常信息，则还可以提供报警信息进行报警，可选的，报警信息可以为声学信息，也可以为文字信息或者光学信息等。可选的，用户接收到报警信息，可以判断是否停机检查并对目标操作进行调整；或者同步提供报警信息并停机。可选的，可以由移动设备提供报警信息。
在本实施例中，移动设备通过确定目标对象的特征信息中是否存在异常信息，在目标对象的特征信息中存在异常信息的情况下，控制目标操作设备执行停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的 目标信号的频率中的至少一种，由于移动设备控制目标操作设备所做的操作是基于目标对象的特征信息进行的，根据目标对象的特征信息中是否存在异常信息控制目标操作设备执行对应的操作，能够确保移动设备控制目标操作设备所做的操作的准确度。
场景四，移动设备将目标对象的特征信息发送给目标主机，由目标主机根据目标对象的特征信息控制目标操作设备调整上述第一目标操作。在一个实施例中，在上述实施例的基础上，作为一种可选的实施方式，上述S203中的根据目标对象的特征信息控制目标操作设备调整第一目标操作，包括：将特征信息发送给目标主机，以使目标主机根据特征信息控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
具体地，移动设备将采集到的目标对象的特征信息发送给目标主机，以使目标主机根据目标对象的特征信息控制目标操作设备执行调整操作；其中，调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。示例性地，若目标主机确定目标对象的位置信息已经偏离了预设的位置信息，则目标主机控制目标操作设备停止调整自身所在的位置并停止向目标对象的感兴趣区域发射目标信号；若目标主机确定目标对象的面部表情为异常的面部表情或者目标对象的呼吸信号较为急促，则目标主机可以控制目标操作设备停止向目标对象的感兴趣区域发射目标信号或者降低向目标对象的感兴趣区域发射的目标信号的频率。可选的，若目标主机确定上述特征信息中存在异常信息，则还可以提供报警信息进行报警，可选的，报警信息可以为声学信息，也可以为文字信息或者光学信息等。可选的，用户接收到报警信息，可以判断是否停机检查并对目标操作进行调整；或者同步提供报警信息并停机。可选的，可以由目标主机提供报警信息。
在本实施例中，移动设备采集到目标对象的特征信息后，将目标对象的特征信息发送给目标主机，使得目标主机能够根据目标对象的特征信息控制目标操作设备执行停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种，由于移动设备控制目标操作设备所做的操作是基于目标对象的特征信息进行的，根据目标对象的特征信息中是否存在异常信息控制目标操作设备执行对应的操作，能够确保移动设备控制目标操作设备所做的操作的准确度。
在上述移动设备实时获取目标对象的特征信息的场景中，移动设备根据通过获取目标对象的特征图像得到目标对象的特征信息。在一个实施例中，如图5所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述S203中的实时获取目标对象的特征信息，包括：
S501，实时采集目标对象的特征图像；特征图像包括目标对象的RGB图像、目标对象的深度图像和目标对象的红外图像中的至少一种。
具体地，移动设备实时采集上述目标对象的特征图像，所采集的目标对象的特征图像包括目标对象的RGB图像、目标对象的深度图像和目标对象的红外图像中的至少一种。可选的，移动设备可以通过自身的光学相机获取目标对象的RGB图像，通过自身的深度相机获取目标对象的深度图像，通过自身的红外相机获取目标对象的红外图像。可选的，目标对象的特征图像可以是目标对象面部的特征图像，也可以是目标对象腹部的特征图像等等，本实施例在此不做限制。
S502，根据特征图像，得到特征信息。
具体地，移动设备根据上述采集的目标对象的特征图像，得到目标对象的特征信息。可选的，移动设备可以对上述目标对象的特征图像进行特征提取，得到目标对象的特征信息。例如，移动设备可以通过目标对象的深度图像确定出目标对象的轮廓信息进而确定出目标对象的呼吸信号，也可以通过红外图像确定目标对象口鼻处的温度变化得到目标对象的呼吸信号，或者，移动设备可以通过目标对象的深度图像确定出目标对象的位置信息， 或者，移动设备可以通过目标对象的RGB图像或目标对象的红外图像确定出目标对象的面部表情信息。可选的，移动设备可以将目标对象的RGB图像或目标对象的红外图像输入预先训练好的识别网络中，通过该识别网络确定出目标对象的面部表情信息。
本实施例中，移动设备通过对目标对象进行实时地采集，能够实时地得到目标对象的特征图像，从而移动设备可以根据目标对象的特征图像得到目标对象的特征信息，由于该过程计算量较小操作较为简单，因此，移动设备能够快速地得到目标对象的特征信息，提高了移动设备得到目标对象的特征信息的效率。
在上述目标操作设备执行第一目标操作的过程中，目标对象的呼吸动作带来的运动可能会对第一目标操作带来影响，因此需要指导目标对象对自身的呼吸动作进行调整。在一个实施例中，在上述实施例的基础上，作为一种可选的实施方式，上述方法还包括：在目标操作设备执行第一目标操作的过程中，通过预设的指导方式指导目标对象调整自身的呼吸；预设的指导方式包括显示第二画面和/或语音播报。
具体地，移动设备在上述目标操作设备执行上述第一目标操作的过程中，通过预设的指导方式指导目标对象调整自身的呼吸；其中，预设的指导方式包括显示第二画面和/或语音播报。可选的，可以在上述预设位置的顶部或与上述目标对象眼睛视角垂直的天花板上显示第二画面，通过该第二画面指导目标对象调整自身的呼吸。例如，通过投影第二画面，指导目标对象进行深吸气后屏气(Deep inspiration breath-hold technique，简称DIBH)操作，然后在屏气期间进行成像或治疗。需要说明的是，移动设备通过第二画面或语音播报指导目标对象调整自身的呼吸可以是目标对象调整自身的呼吸频率，也可以是目标对象调整自身的呼吸动作。可选的，第二画面可以为呼吸频率信号，也可以为虚拟的二维或三维呼吸画面。可选的，作为一种实施方式，在移动设备在上述预设位置的顶部投影第二画面指导目标对象调整自身的呼吸动作的同时，也可以由移动设备语音播放对应的指导声音更进一步地指导目标对象调整自身的呼吸动作。可选的，作为另一种可选的实施方式，移动设备也可以只通过显示第二画面指导目标对象调整自身的呼吸，或者，移动设备也可以只通过语音播报指导目标对象调整自身的呼吸。
在本实施例中，移动设备通过在目标操作设备执行第一目标操作的过程中，通过预设的指导方式能够指导目标对象调整自身的呼吸，降低目标对象的呼吸对执行第一目标操作的影响。
在上述目标操作设备执行第一目标操作的过程中，移动设备还可以实时采集目标对象的呼吸信号，并将采集到的目标对象的呼吸信号发送给目标主机，使得目标主机根据目标对象在上述第一目标操作的过程中的呼吸信号执行相应地操作。在一个实施例中，如图6所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述方法还包括：
S601，在目标操作设备执行第一目标操作的过程中，实时采集目标对象的呼吸信号。
具体地，移动设备在上述目标操作设备执行第一目标操作的过程中，对目标对象在该过程中的呼吸信号进行实时地采集。可选的，移动设备可以通过自身的深度相机和红外相机，采集目标对象的深度图像和目标对象的红外图像，通过目标对象的深度图像和目标对象的红外图像得到目标对象的呼吸信号，例如，移动设备可以通过目标对象的深度图像确定出目标对象的轮廓信息进而确定出目标对象的呼吸信号，也可以通过红外图像确定目标对象口鼻处的温度变化得到目标对象的呼吸信号。
S602，将呼吸信号发送给目标主机，以使目标主机根据呼吸信号执行第二目标操作；第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。
具体地，移动设备将目标对象的呼吸信号发送给目标主机，以使目标主机根据目标对象的呼吸信号执行第二目标操作，其中，目标主机执行的第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。可以理解的是，若目 标主机根据目标对象的呼吸信号执行的第二目标操作为根据目标对象的呼吸信号对目标对象进行成像，则对应的第一目标操作可以包括对目标对象执行X光扫描、CT扫描、MR扫描、PET扫描和超声扫描中的至少一种。可选的，本实施例中，若目标主机执行的第二目标操作为根据目标对象的呼吸信号对目标对象进行成像，该成像方法可以是前瞻式的成像法，也可以是回顾式的成像法。例如，在CT成像中，可以根据呼吸信号在特定的呼吸相位进行成像扫描，也可以是在多个呼吸周期采集成像扫描数据，然后提取不同呼吸相位的成像扫描数据重建得到对应的图像，能够有效减少运动伪影，提高成像质量。可选的，本实施例中，目标主机还可以根据目标对象的呼吸信号控制目标信号的发射，例如，在放射治疗中，当移动设备根据呼吸信号监测目标对象处于特定呼吸相位时，可以控制放射治疗装置输出，可以提高治疗效率、减少正常器官组织的辐射损伤。可选的，在放射治疗中，目标操作设备可以根据4D放射治疗计划对目标对象执行目标操作，在该情况下，目标主机还可以结合移动设备实时采集的目标对象的呼吸信号和4D放射治疗计划中的呼吸信号，监控放射治疗装置治疗束的输出，如实时采集的信号与4D放射治疗计划中的信号偏差超出阈值，则控制放射治疗设备停止治疗。
本实施例中，移动设备在目标操作设备执行第一目标操作的过程中，通过实时采集目标对象的呼吸信号，能够使目标主机根据该呼吸信号对目标对象进行成像或者根据该呼吸信号调整目标信号的发射剂量，能够灵活地对目标操作设备执行的第一目标操作进行调整或根据目标对象的呼吸信号对目标对象进行更加准确地成像。
在上述移动设备检测到目标对象到达操作区域的场景中，需要先引导该目标对象移动到该操作区域。在上述实施例的基础上，在一个实施例中，上述方法还包括：在检测到目标对象进入操作间时，通过预设的指示方式引导目标对象移动到操作区域。
具体地，移动设备在检测到目标对象进入操作间时，通过预设的指示方式引导目标对象移动到上述操作区域。可选的，移动设备可以通过播报第一语音提示引导目标对象移动到上述操作区域，或者，也可以向地面投影第一指示标识引导目标对象移动到操作区域。可选的，移动设备可以通过对目标对象手上的腕带图像进行采集，若采集到目标对象的腕带图像则确定目标对象进入了操作间。可选的，目标对象可以携带可以发送位置信息的定位设备，移动设备可以获取该位置信息从而判断目标对象是否进入操作间。可选的，移动设备也可以通过自身的红外感应装置确定目标对象是否进入了操作间。可以理解的是，也可以在操作间的墙上设置指示引导目标对象移动到上述操作区域的指示标识，通过该指示标识引导目标对象移动到上述操作区域。
进一步地，作为一种可选的实施方式，移动设备在引导该目标对象移动到上述操作区域之前，可以对目标对象的身份信息进行验证，确保进入的目标对象与技师加载的对象信息是一致的，具体地，移动设备获取上述目标对象的身份信息，判断上述目标对象的身份信息与目标身份信息是否匹配，若目标对象的身份信息与目标身份信息匹配，则通过上述指示方式引导目标对象移动到上述操作区域。可选的，移动设备还可以通过语音播报目标对象的身份信息，提醒目标对象核实自身的身份信息。可选的，移动设备可以采集目标对象的腕带图像，对目标对象的腕带图像进行分析，得到目标对象的身份信息。可选的，移动设备也可以通过向目标对象发送语音指令，指示目标对象上报自己的身份信息。
本实施例中，在移动设备检测到目标对象进入操作间时，通过预设的指示方式能够快速地引导目标对象移动到操作区域，另外，通过指示的方式也能够较为准确地引导目标对象移动到操作区域，确保了目标对象移动到操作区域过程中的准确性。
在目标操作设备对目标操作对象完成第一目标操作的情况下，移动设备可以通过语音提示，提示目标对象操作已完成。在上述实施例的基础上，在一个实施例中，上述方法还包括：在检测到目标操作设备完成第一目标操作的情况下，播报第二语音提示；第二语音提示用于提醒目标对象第一目标操作已完成。
具体地，移动设备在检测到目标操作设备完成上述第一目标操作的情况下，播报第二 语音提示，提醒目标对象目标操作设备执行的第一目标操作已完成。可选的，移动设备可以通过接收目标操作设备发送的反馈信号，检测目标操作设备是否完成了上述第一目标操作。可选的，移动设备也可以通过采集目标操作设备的图像，通过该图像确定目标操作设备是否完成了上述第一目标操作。
进一步地，移动设备还可以向地面投影第二指示标识，引导目标对象离开上述操作间。可选的，移动设备还可以通过播报语音提示引导目标对象离开上述操作间。可选的，作为一种可实现的实施方式，还可以在操作间的墙上设置引导目标对象离开操作间的指示标识，引导目标对象按照墙上的指示标识离开操作间。
本实施例中，在移动设备检测到目标操作设备完成第一目标操作的情况下，通过播报提醒目标对象第一目标操作已完成的第二语音提示，能够及时地提醒目标对象操作已完成。
在上述目标操作设备执行第一目标操作的过程中，移动设备还可以获取目标对象的运动部位的位置信息，对目标对象的运动部位进行防碰撞监控。在一个实施例中，如图7所示，上述方法还包括：
S701，在目标操作设备执行第一目标操作的过程中，获取目标对象的运动部位的位置信息。
具体地，移动设备在目标操作设备执行上述第一目标操作的过程中，获取目标对象的运动部位的位置信息。可选的，目标对象的运动部位可以是目标对象的头部，也可以是目标对象的腿部，又或者，可以是目标对象的手部。可选的，移动设备可以通过自身的RGB相机，在目标操作设备执行第一目标操作的过程中，获取目标对象的运动部位的图像，根据目标对象的运动部位的图像得到目标对象的运动部位的位置信息。
S702，根据运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞。
具体的，移动设备根据目标对象运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞。可选的，移动设备可以根据目标对象运动部位的位置信息与目标操作设备的位置信息的偏差值，确定目标对象是否与目标操作设备发生碰撞。可选的，移动设备也可以根据目标对象运动部位的位置与目标操作设备的位置之间的距离值，确定目标对象是否与目标操作设备发生碰撞。示例性地，以目标操作设备为医用电子直线加速器、目标对象的运动部位为目标对象的头部为例，移动设备可以根据目标对象的头部的位置信息，确定目标对象的头部是否与医用电子直线加速器发生碰撞。
S703，若是，则控制目标操作设备停止执行第一目标操作。
具体地，若移动设备确定目标对象与目标操作设备发生了碰撞，则移动设备控制目标操作设备停止执行上述第一目标操作。可选的，移动设备可以向目标操作设备发生控制指令，指示目标操作设备停止执行上述第一目标操作。
本实施例中，移动设备在目标操作设备执行第一目标操作的过程中，通过获取目标对象的运动部位的位置信息，能够根据目标对象的运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞，可以及时地对目标对象进行防碰撞监控，并在确定目标对象与目标操作设备发生碰撞的情况下，及时地控制目标操作设备停止执行第一目标操作，避免了目标对象发生风险，确保了目标操作设备执行第一目标操作的安全性。
在上述移动设备向目的地址移动的过程中，移动设备还可以根据自身所处的空间环境图像，进行障碍物规避操作。在一个实施例中，如图8所示，上述方法还包括：
S801，获取采集装置采集的空间环境信息。
具体地，移动设备获取采集装置采集的空间环境信息。可选的，采集装置可以是安装在移动设备上的相机，也可以是摄像机，也可以是激光器或者激光雷达等。可选的，移动设备可以实时地接收采集装置采集的空间环境信息。可选的，上述空间环境信息中可以包括移动设备行驶路径上的障碍物信息以及移动设备行驶路径的墙面上的障碍物信息。示例性地，若上述采集装置为相机，则上述空间环境信息可以为空间环境图像；若上述采集装 置为激光器，则上述空间环境信息可以为空间回波信号，移动设备可以根据该空间回波信号确定上述空间环境信息，即激光器发射激光线，激光线遇到障碍物后被反射回来，移动设备可以根据被反射回来的激光线，确定空间环境信息。
S802，根据空间环境信息，确定行驶路径上是否存在障碍物。
具体地，移动设备根据上述获取的空间环境信息，确定行驶路径上是否存在障碍物。可选的，移动设备行驶路径上的障碍物可以是医学设备，也可以是技师，又或者可以是医学设备的连接的探头等。可选的，若上述空间环境信息为空间环境图像，则移动设备可以将获取的空间环境图像输入预先训练好的识别网络，通过该识别网络对该环境图像进行识别，确定行驶路径上是否存在障碍物。可选的，若上述空间环境信息为空间回波信号，则移动设备接收到该空间回波信号后，就可以确定行驶路径上存在障碍物。可选的，上述行驶路径可以为从上述操作间到上述操作区域的行驶路径，也可以为从上述操作区域到上述操作间的行驶路径。
S803，若是，则执行规避操作；规避操作包括以下操作中的至少一种：停止移动、根据障碍物所在位置以及目的地址重新规划行驶路径。
具体地，若移动设备确定行驶路径上存在障碍物，则执行规避操作，其中，规避操作包括停止移动，或者，根据障碍物所在的位置以及自身的目的地址重新规划行驶路径。也就是说，移动设备确定出行驶路径上存在障碍物时，将停止移动，或者，根据障碍物所在的位置以及自身的目的地址重新规划行驶路径，规避原行驶路径上的障碍物。
在本实施例中，移动设备通过获取采集装置采集的空间环境图像，能够根据该空间环境图像，及时地确定出自身的行驶路径上是否存在障碍物，进一步地在确定出行驶路径上存在障碍物的情况下，停止移动或者根据障碍物所在的位置以及目的地址重新规划行驶路径，规避原行驶路径上的障碍物，避免碰撞的发生。
第二方面，在一个实施例中，如图9所示，提供了一种用于医疗设备的操作方法的流程示意图，以该方法应用于图1中的目标主机为例进行说明，包括以下步骤：
S901，接收移动设备发送的目标对象的位置信息；位置信息为移动设备在目标对象进入预设区域的情况下采集的目标对象在预设区域上的信息。
其中，预设区域可以是病床区域，例如目标操作设备的扫描床，也可以是目标操作设备的治疗床，目标操作设备可以是数字X线摄影(Digital Radiography,DR)设备，也可以是计算机断层扫描(Computed Tomography,CT)设备，也可以是核磁共振(Magnetic Resonance Imaging,MRI)设备，正电子发射计算机断层扫描(Positron Emission Tomography,PET)，医用电子直线加速器，伽马刀，手术机器人等。具体地，目标主机接收移动设备发送的目标对象的位置信息，其中，该目标对象的位置信息为移动设备在目标对象进入上述预设区域的情况下采集的目标对象在上述预设区域上的信息。可选的，目标对象的位置信息可以为移动设备从多角度采集的目标对象在上述预设区域上的局部位置信息，对各局部位置信息进行融合后所得到的。这里需要说明的是，移动设备将采集到的目标对象在预设区域上的位置信息发送给目标主机的过程是实时发送的过程。可选的，移动设备可以是无人机、也可以是移动机器人、可移动装置、墙面滑轨机器人等具有移动能力的设备，本实施例对移动设备的具体设备不做限制，只要具有移动能力即可。可选的，可以将移动设备的充电桩和停泊架安装在操作间的门口位置。
S902，根据位置信息控制目标操作设备执行第一目标操作。
具体地，目标主机根据目标对象在上述预设区域上的位置信息控制目标操作设备执行第一目标操作。可选的，本实施例中的第一目标操作可以为向上述目标对象的感兴趣区域发射目标信号(例如，对目标对象的感兴趣区域进行成像或者放疗)，例如，可以向上述目标对象的感兴趣区域发射X光信号，或者，可以向上述目标对象的感兴趣区域发射放射线。可选的，本实施例中的第一目标操作也可以为目标操作设备对自身所在的位置进行调整。需要说明的是，若目标操作设备为放射治疗设备，在放射治疗的应用中包括有非共面 治疗，在该场景下，目标操作设备的治疗床处于非常规角度，移动设备可以跟踪治疗床角度在当前治疗床角度实时采集目标对象的***，将采集到的目标对象的***发送给目标主机，由目标主机计算目标对象当前***与计划***的差值，并将该差值与设置好的阈值进行比较，其中，该阈值可由医生、物理师或者技师根据目标对象自身情况以及成像或治疗部位的不同进行调整，如果目标主机计算出的患者实时位置偏差超出了所设置的阈值，则控制目标操作设备终止治疗进程，待技师通过移动治疗床(例如，六维床)重新确定位置准确后重新开始治疗进程。
在本实施例中，由于目标主机控制目标操作设备执行第一目标操作是基于移动设备采集到的目标对象在预设区域上的位置信息进行的，能够根据目标对象在预设区域上的位置信息对目标操作设备进行准确地控制，确保了目标主机控制目标操作设备所做的操作的准确度。
在上述目标主机根据位置信息控制目标操作设备执行第一目标操作的场景中，在上述实施例的基础上，在一个实施例中，上述S902，包括：根据位置信息，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。
具体地，目标主机根据目标对象在预设区域上的位置信息，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。这里需要说明的是，移动设备将采集到的目标对象在预设区域上的位置信息发送给目标主机的过程是实时发送的过程。可选的，目标主机可以将目标对象在上述预设区域上的位置信息和上述预设的参考位置信息进行比较，确定采集到的位置信息和上述预设的参考位置信息的匹配结果，也可以将上述采集到的位置信息和上述预设的参考位置信息进行配准，确定采集到的位置信息和上述预设的参考位置信息的匹配结果。可选的，目标主机得到的匹配结果可以为上述采集到的位置信息和预设的参考位置信息相匹配，也可以为上述采集到的位置信息和预设的参考位置信息不匹配。进一步可选地，若目标主机得到的匹配结果为上述采集到的位置信息和预设的参考位置信息相匹配，则目标主机控制上述目标操作设备向目标对象的感兴趣区域发射目标信号；若目标主机得到的匹配结果为上述采集到的位置信息和预设的参考位置信息不匹配，则目标主机控制目标操作设备调整自身所在的位置。可选的，目标对象的感兴趣区域可以为目标对象的腹部，也可以为目标对象的胸部等。可选的，目标操作设备向目标对象的感兴趣区域发射的目标信号可以为X光信号，也可以为脉冲序列，也可以为放射线，可以理解的是，不同类型的目标操作设备发射的目标信号也不同，若该目标操作设备为DR设备，则目标操作设备发射的目标信号为X光信号，若该目标操作设备为MRI设备，则目标操作设备发射的目标信号为脉冲序列，若该目标操作设备为放射治疗设备，则目标操作设备发射的目标信号为放射线。
在本实施例中，目标主机通过确定目标对象在预设区域上的位置信息和预设的参考位置信息的匹配结果，基于确定的匹配结果，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置，由于目标主机控制目标操作设备所做的操作是基于确定的匹配结果进行的，根据目标对象在预设区域上的位置信息控制目标操作设备执行对应的操作，能够确保目标主机控制目标操作设备所做的操作的准确度。
在一些场景中，移动设备还可以实时采集目标对象的呼吸信号，并将采集到的目标对象的呼吸信号发送给目标主机，使得目标主机根据目标对象在上述第一目标操作的过程中的呼吸信号执行相应地操作。在一个实施例中，如图10所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述方法还包括：
S1001，接收移动设备发送的呼吸信号；呼吸信号为目标操作设备在执行第一目标操作的过程中实时采集的。
具体地，目标主机接收移动设备发送的呼吸信号。其中，该呼吸信号为上述目标操作设备在执行上述第一目标操作的过程中，上述移动设备实时采集的目标对象的呼吸信号。可选的，移动设备实时采集的目标对象的呼吸信号可以为通过自身的深度相机和红外相 机，采集目标对象的深度图像和目标对象的红外图像，通过目标对象的深度图像和目标对象的红外图像所得到的。
S1002，根据呼吸信号执行第二目标操作；第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。
具体地，目标主机根据上述目标对象的呼吸信号执行第二目标操作，其中，目标主机执行的第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。可以理解的是，若目标主机根据目标对象的呼吸信号执行的第二目标操作为对目标对象进行成像，则对应的第一目标操作可以包括对目标对象执行X光扫描、CT扫描、MR扫描、PET扫描和超声扫描中的至少一种。可选的，本实施例中，若目标主机执行的第二目标操作为对目标对象进行成像，该成像方法可以是前瞻式的成像法，也可以是回顾式的成像法。例如，在CT成像中，可以根据呼吸信号在特定的呼吸相位进行成像扫描，也可以是在多个呼吸周期采集成像扫描数据，然后提取不同呼吸相位的成像扫描数据重建得到对应的图像。可选的，本实施例中，目标主机根据目标对象的呼吸信号控制目标信号的发射，例如，在放射治疗中，当根据呼吸信号监测目标对象处于特定呼吸相位时，控制放射治疗装置输出治疗束，当目标对象不处于特定呼吸相位时，控制放射治疗装置关闭治疗束。可选的，在放射治疗中，目标操作设备根据4D放射治疗计划对目标对象执行目标操作。在该情况下，目标主机还可以结合移动设备实时采集的目标对象的呼吸信号和4D放射治疗计划中的呼吸信号，监控放射治疗装置治疗束的输出，如实时采集的信号与4D放射治疗计划中的信号偏差超出阈值，则控制放射治疗设备停止治疗。
本实施例中，目标主机接收移动设备在目标操作设备执行第一目标操作的过程中，通过实时采集目标对象的呼吸信号，能够根据该呼吸信号对目标对象进行成像或者根据该呼吸信号调整目标信号的发射剂量，能够灵活地对目标操作设备执行的第一目标操作进行调整或根据目标对象的呼吸信号对目标对象进行更加准确地成像。
在一些场景中，目标主机还可以接收移动设备发送的目标对象的特征信息，根据目标对象的特征信息控制目标操作设备调整上述第一目标操作。在一个实施例中，如图11所示，提供了另一种操作方法的流程示意图，在上述实施例的基础上，作为一种可选的实施方式，上述方法还包括：
S1101，接收移动设备发送的目标对象的特征信息；特征信息为移动设备在目标操作设备执行第一目标操作的过程中实时采集目标对象的特征图像，根据特征图像所得到的信息。
具体地，目标主机接收上述移动设备发送的目标对象的特征信息，其中，目标对象的特征信息为上述移动设备在目标操作设备执行第一目标操作的过程中实时采集目标对象的特征图像，根据目标对象的特征图像所得到的信息。可选的，移动设备采集的目标对象的特征图像包括目标对象的RGB图像、目标对象的深度图像和目标对象的红外图像中的至少一种。可选的，移动设备可以通过自身的光学相机获取目标对象的RGB图像，通过自身的深度相机获取目标对象的深度图像，通过自身的红外相机获取目标对象的红外图像。可选的，移动设备可以对上述目标对象的特征图像进行特征提取，得到目标对象的特征信息。例如，移动设备可以通过目标对象的深度图像确定出目标对象的轮廓信息进而确定出目标对象的呼吸信号，也可以通过红外图像确定目标对象口鼻处的温度变化得到目标对象的呼吸信号，或者，移动设备可以通过目标对象的深度图像确定出目标对象的位置信息，或者，移动设备可以通过目标对象的RGB图像或目标对象的红外图像确定出目标对象的面部表情信息。
S1102，确定特征信息中是否存在异常信息。
具体地，目标主机确定接收的目标对象的特征信息中是否存在异常信息。可选的，目标对象的特征信息包括目标对象的位置信息、目标对象的面部表情、目标对象的呼吸信号等。示例性地，目标对象的特征信息中若存在异常信息可以为目标对象的位置信息偏离了 预设的位置信息，目标对象的面部表情为异常的面部表情，目标对象的呼吸信号较为急促等。可选的，目标主机可以通过识别网络确定目标对象的特征信息中是否存在异常信息，也可以通过分类器对目标对象的特性信息进行分类，确定目标对象的特征信息中是否存在异常信息。
S1103，若特征信息中存在异常信息，控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
具体地，目标主机若确定目标对象的特征信息中存在异常信息，则控制上述目标操作设备执行调整操作；其中，调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。示例性地，若目标主机确定目标对象的位置信息已经偏离了预设的位置信息，则目标主机控制目标操作设备停止调整自身所在的位置并停止向目标对象的感兴趣区域发射目标信号；若目标主机确定目标对象的面部表情为异常的面部表情或者目标对象的呼吸信号较为急促，则目标主机可以控制目标操作设备停止向目标对象的感兴趣区域发射目标信号或者降低向目标对象的感兴趣区域发射的目标信号的频率。
在本实施例中，目标主机接收移动设备发送的目标对象的特征信息，通过确定目标对象的特征信息中是否存在异常信息，在目标对象的特征信息中存在异常信息的情况下，控制目标操作设备执行停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种，由于目标主机控制目标操作设备所做的操作是基于目标对象的特征信息进行的，根据目标对象的特征信息中是否存在异常信息控制目标操作设备执行对应的操作，能够确保目标主机控制目标操作设备所做的操作的准确度。
下边将以医学扫描和放射治疗两个具体场景对本申请提供的操作方法进行说明：
针对于医学扫描场景，如图12所示，为采用本申请的操作方法进行医学扫描的流程示意图，图12提供的操作流程，可以执行上述方法实施例，其实现原理和技术效果类似，本实施例在此不再赘述。
针对于放射治疗场景，如图13所示，为采用本申请的操作方法进行放射治疗的流程示意图，图13提供的操作流程，可以执行上述方法实施例，其实现原理和技术效果类似，本实施例在此不再赘述。
需要说明的是，图12和图13分别是以上述移动设备为无人机为例进行的描述，无人机仅为一种示例，图12和图13中的无人机也可以为其他的移动设备。可选的，移动设备还可以包括墙壁爬行机器人、地面行走机器人、天花板上可动的摄像头中的至少一种，本实施例并不以此为限。
应该理解的是，虽然图2-13的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2-13中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
第三方面，在一个实施例中，如图14所示，提供了一种用于医疗设备的操作***，该操作***包括：目标操作设备、移动设备和目标主机，其中：
目标操作设备，用于向目标对象的感兴趣区域执行第一目标操作，第一目标操作包括成像和/或治疗；移动设备，相对于目标操作设备移动，移动设备用于呈现和/或采集与目标对象相关的信息；目标主机，用于控制目标操作设备执行第一目标操作。
具体地，上述用于医疗设备的操作***包括目标操作设备、移动设备和目标主机，上述目标操作设备，用于向目标对象的感兴趣区域执行包括成像和/或治疗的第一目标操作。 可选的，本实施例中的第一目标操作可以为向上述目标对象的感兴趣区域发射目标信号，例如，可以向上述目标对象的感兴趣区域发射X光信号以进行CT或X光成像等，或者，也可以向上述目标对象的感兴趣区域发射脉冲序列进行磁控振成像，或者，可以向上述目标对象的感兴趣区域发射放射线以对目标对象进行放射治疗，所述放射线可以为电子、光子、质子或重离子等，或者，也可以操作手术器械对上述目标对象的感兴趣区域进行操作。可选的，本实施例中的第一目标操作也可以为目标操作设备对自身所在的位置进行调整。例如调整病床的位置。可选的，移动设备可以在目标对象在上述预设区域上的位置信息满足操作要求时，控制目标操作设备执行上述第一目标操作，示例性地，以第一目标操作为向目标对象的感兴趣区域发射目标信号为例，移动设备可以在目标对象的感兴趣区域与目标操作设备发射目标信号的发射部位位置吻合的情况下，控制目标操作设备向目标对象的感兴趣区域发射目标信号。
上述移动设备，相对于目标操作设备移动，移动设备用于呈现和/或采集与目标对象相关的信息。可选的，移动设备可以呈现引导目标对象进入预设区域的信息，也可以呈现引导目标对象离开操作间的信息。可选的，移动设备也可以在目标操作设备向目标对象执行第一目标操作的过程中，采集目标对象的位置信息或者采集目标对象的特征信息，进而根据采集的目标对象的位置信息或者目标对象的特征信息调整执行的第一目标操作。可选的，上述移动设备包括墙壁爬行机器人、地面行走机器人、天花板上可动的摄像头以及无人机中的至少一种。可选的，上述移动设备还包括主体以及驱动主体移动的驱动装置。
目标主机，用于控制目标操作设备执行第一目标操作。可选的，目标主机可以集成在移动设备内部，也可以为分别与移动设备和目标操作设备通信连接的设备。可选的，目标主机可以根据移动设备采集的与目标对象相关的信息控制目标操作设备执行第一目标操作。
在本实施例中，用于医疗设备的操作***包括目标操作设备、移动设备和目标主机，目标操作设备用于向目标对象的感兴趣区域执行包括成像和/或治疗的第一目标操作，移动设备，相对于目标操作设备移动，用于呈现和/或采集与目标对象相关的信息，目标主机，用于控制目标操作设备执行第一目标操作，由于移动设备相对于目标操作设备移动能够采集到目标对象在该目标操作设备上的三维位置信息，而三维位置信息包含的信息较为丰富，因此，能够使目标主机实时准确地控制目标操作设备执行第一目标操作，确保了目标操作设备执行的第一目标操作的准确度。
在一些场景中，移动设备需要进行投影，因此移动设备可以包括投影装置，在上述实施例的基础上，在一个实施例中，如图15所示，上述移动设备包括投影装置，该投影装置用于投影引导目标对象进行摆位的第一画面。
具体地，上述移动设备包括投影装置，该投影装置用于投影引导目标对象进行摆位的第一画面。可选的，该第一画面可以为引导目标对象进入预设区域的画面，也可以引导目标对象如何在病床上进行摆位的画面。可选的，该第一画面可以为虚拟的二维或三维画面。可选的，投影装置还用于投影第二画面，第二画面用于引导目标对象调整自身的呼吸。例如，通过投影第二画面，指导目标对象进行深吸气后屏气(Deep inspiration breath-hold technique，简称DIBH)操作，然后在屏气期间进行成像或治疗。需要说明的是，移动设备通过第二画面指导目标对象调整自身的呼吸可以是目标对象调整自身的呼吸频率，也可以是目标对象调整自身的呼吸动作。可选的，移动设备在上述预设位置的顶部投影的第二画面可以为呼吸频率信号，也可以为虚拟的三维呼吸画面。可选的，在移动设备在上述预设位置的顶部投影第二画面指导目标对象调整自身的呼吸动作的同时，也可以由移动设备播放对应的指导声音更进一步地指导目标对象调整自身的呼吸动作。
在本实施例中，移动设备包括的投影装置能够投影引导目标对象进行摆位的第一画面，通过投影该第一画面能够引导目标对象进行准确地摆位，从而提高了目标对象摆位的准确度。
在一些场景中，移动设备采集目标对象的位置信息时需要对应的采集装置进行采集。在上述实施例的基础上，在一个实施例中，请继续参见图15，上述移动设备还包括采集装置，采集装置用于分别在第一方位和第二方位采集目标对象的位置信息；目标主机用于根据第一方位的位置信息以及第二方位的位置信息调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作。
具体地，上述移动设备还包括采集装置，该采集装置用于分别在第一方位和第二方位采集目标对象的位置信息；目标主机用于根据第一方位的位置信息以及第二方位的位置信息调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作。需要说明的是，上述第一方位和第二方位分别为两个不同的采集角度，例如，第一方位和第二方位可以为相对的方位，也可以为相邻的方位，可以理解的是，该第一方位、第二方位只是对采集装置的采集位置进行的说明，采集装置可以在多个位置上采集目标对象的位置信息，并不以此第一方位和第二方位为限。可选的，该采集装置还用于实时采集所述目标对象的呼吸信号，并将所述呼吸信号发送给所述目标主机，以使所述目标主机根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。可选的，上述采集装置包括RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。可选的，上述移动设备还包括轨迹生成器，该轨迹生成器用于生成上述移动设备的行动轨迹，例如，行动轨迹可以是移动设备从初始位置移动至目标操作设备，并贯穿操作过程直至引导目标对象离开操作间的位置轨迹；也可以是整个工作流中某个环节的位置轨迹，例如可以是用于指示移动设备从上述第一方位移动至上述第二方位的行动轨迹。
在本实施例中，移动设备还包括采集装置，采集装置能够分别在第一方位和第二方位采集目标对象的位置信息，由于是分别在第一方位和第二方位采集的目标对象的位置信息，因而采集到的目标对象的位置信息包含的信息较为丰富，进而可以使目标主机根据采集到的第一方位的位置信息和第二方位的位置信息准确地调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作，提高了目标主机调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作的准确度。
在一些场景中，上述移动设备可以为多个，分别设置在多个不同的位置上，移动设备可以在这多个不同的位置上对目标对象的位置信息进行采集。在上述实施例的基础上，在一个实施例中，上述移动设备包括第一移动设备和第二移动设备，第一移动设备在第一方位采集目标对象的位置信息，第二移动设备在第二方位采集目标对象的位置信息。
具体地，上述移动设备包括第一移动设备和第二移动设备，第一移动设备在第一方位采集目标对象的位置信息，第二移动设备在第二方位采集目标对象的位置信息。可选的，在本实施例中，第一方位和第二方位可以为相对目标对象不同的采集角度。需要说明的是，本实施例中所描述的移动设备包括第一移动设备和第二移动设备仅仅是对移动设备的数量进行的说明，上述移动设备可以包括多个移动设备，本实施例在此不做限制。
在本实施例中，移动设备包括第一移动设备和第二移动设备，可以从多个不同的角度对目标对象的位置信息进行采集，因而采集到的目标对象的位置信息包含的信息较为丰富，进而可以使目标主机根据采集到的第一方位的位置信息和第二方位的位置信息准确地调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作，提高了目标主机调整目标对象与目标操作设备的相对位置和/或控制目标操作设备执行第一目标操作的准确度。
在一些场景中，移动设备还可以引导目标对应移动到上述预设操作区域或引导目标对象离开操作间。在一个实施例中，上述移动设备用于提供预设的指示方式引导目标对象移动到预设操作区域和/或离开操作间。
具体地，上述移动设备用于提供预设的指示方式引导目标对象移动到预设操作区域和/或离开操作间。可选的，预设的指示方式包括语音提示、向地面投影指示标识中的至少一 种指示方式引导目标对象移动到预设操作区域和/或离开操作间。可以理解的是，也可以在操作间的墙上设置指示引导目标对象移动到上述操作区域的指示标识，通过该指示标识引导目标对象移动到上述操作区域，也可以在操作间的墙上设置指示引导目标对象离开操作间的指示标识，通过该指示标识引导目标对象离开操作间。
进一步地，作为一种可选的实施方式，移动设备在引导目标对象移动到上述操作区域之前，可以对目标对象的身份信息进行验证，确保进入的目标对象与技师加载的对象信息是一致的，具体地，移动设备还用于判断目标对象的身份信息，并判断目标对象的身份信息与目标身份信息是否匹配；若目标对象的身份信息与目标身份信息匹配，则通过上述预设的指示方式引导目标对象移动到所述操作区域；其中，目标身份信息为从目标主机中获取的身份信息。可选的，移动设备还可以通过语音播报目标对象的身份信息，提醒目标对象核实自身的身份信息。可选的，移动设备可以采集目标对象的腕带图像，对目标对象的腕带图像进行分析，得到目标对象的身份信息。可选的，移动设备也可以通过向目标对象发送语音指令，指示目标对象上报自己的身份信息。
本实施例中，在移动设备检测到目标对象进入操作间时，通过预设的指示方式能够快速地引导目标对象移动到操作区域，另外，通过指示的方式也能够较为准确地引导目标对象移动到操作区域，确保了目标对象移动到操作区域过程中的准确性。
在上述目标操作设备执行第一目标操作的过程中，移动设备还可以获取目标对象的运动部位的位置信息，对目标对象的运动部位进行防碰撞监控。在一个实施例中，移动设备还用于获取目标对象的运动部位的位置信息，并根据运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞，若是，则控制目标操作设备停止执行第一目标操作。
具体地，移动设备在目标操作设备执行上述第一目标操作的过程中，还用于获取目标对象的运动部位的位置信息，根据目标对象运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞，若目标对象与目标操作设备发生碰撞，则控制目标操作设备停止执行第一目标操作。可选的，目标对象的运动部位可以是目标对象的头部，也可以是目标对象的腿部，又或者，可以是目标对象的手部。可选的，在非共面治疗的情境下，病床绕竖直轴可以旋转到不同的位置，示例性地，如图16所示，图16为非共面治疗***的示意图，该非共面治疗***包括底座1、旋转机架2、弧形导轨3、治疗头模块4和治疗头机架5，旋转机架2安装在底座1上，且能通过固定在底座1上的马达驱动进行旋转，旋转机架2内侧沿旋转机架2轴向方向安装有以旋转机架2旋转中心为圆心的弧形导轨3，治疗头模块4通过治疗头机架5安装在弧形导轨3上，且能沿着弧形导轨3以旋转机架2旋转中心为圆心进行前后摆动，在该非共面治疗***中由于治疗头模块能够沿弧形导轨以旋转机架旋转中心为圆心进行前后摆动，目标对象可能会与目标操作设备发生碰撞，移动设备可以在该过程中获取目标对象的位置信息，通过移动设备监控目标对象是否与目标操作设备发生碰撞。在另一实施例中，治疗头模块4可以安装于旋转机架2，病床可以沿竖直轴在水平面内旋转，从而实现非共面治疗。当目标对象运动至不同位置时，可以获取目标对象的运动部位的位置信息，通过移动设备监控目标对象是否与目标操作设备发生碰撞。可选的，移动设备可以通过上述采集装置，在目标操作设备执行第一目标操作的过程中，获取目标对象的运动部位图像，根据目标对象的运动部位的图像得到目标对象的运动部位的位置信息。可选的，移动设备可以根据目标对象运动部位的位置信息与目标操作设备的位置信息的偏差值，确定目标对象是否与目标操作设备发生碰撞。可选的，移动设备也可以根据目标对象运动部位的位置与目标操作设备的位置之间的距离值，确定目标对象是否与目标操作设备发生碰撞。示例性地，以目标操作设备为医用电子直线加速器、目标对象的运动部位为目标对象的头部为例，移动设备可以根据目标对象的头部的位置信息，确定目标对象的头部是否与医用电子直线加速器发生碰撞。可选的，移动设备可以向目标操作设备发生控制指令，指示目标操作设备停止执行上述第一目标操作。
本实施例中，移动设备在目标操作设备执行第一目标操作的过程中，通过获取目标对 象的运动部位的位置信息，能够根据目标对象的运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞，可以及时地对目标对象进行防碰撞监控，并在确定目标对象与目标操作设备发生碰撞的情况下，及时地控制目标操作设备停止执行第一目标操作，避免了目标对象发生风险，确保了目标操作设备执行第一目标操作的安全性。
在上述移动设备向目的地址移动的过程中，移动设备还可以根据自身所处的空间环境图像，进行障碍物规避操作。在一个实施例中，上述移动设备还用于获取采集装置采集的空间环境信息，并根据空间环境信息，确定行驶路径上是否存在障碍物，若是，则执行规避操作；规避操作包括以下操作中的至少一种：停止移动、根据障碍物所在位置以及目的地址重新规划行驶路径。
具体地，上述移动设备还用于获取采集装置采集的空间环境信息，并根据获取的空间环境信息，确定行驶路径上是否存在障碍物，若移动设备确定行驶路径上存在障碍物，则执行规避操作，其中，规避操作包括以下操作中的至少一种：停止移动、根据障碍物所在位置以及目的地址重新规划行驶路径。也就是说，移动设备确定出行驶路径上存在障碍物时，将停止移动，或者，根据障碍物所在的位置以及自身的目的地址重新规划行驶路径，规避原行驶路径上的障碍物。可选的，采集装置可以是安装在移动设备上的相机，也可以是摄像机，也可以是激光器或者激光雷达等。可选的，移动设备可以实时地接收采集装置采集的空间环境信息。可选的，上述空间环境信息中可以包括移动设备行驶路径上的障碍物信息以及移动设备行驶路径的墙面上的障碍物信息。示例性地，若上述采集装置为相机，则上述空间环境信息可以为空间环境图像；若上述采集装置为激光器，则上述空间环境信息可以为空间回波信号，移动设备可以根据该空间回波信号确定上述空间环境信息，即激光器发射激光线，激光线遇到障碍物后被反射回来，移动设备可以根据被反射回来的激光线，确定空间环境信息。可选的，移动设备行驶路径上的障碍物可以是医学设备，也可以是技师，又或者可以是医学设备的连接的探头等。可选的，若上述空间环境信息为空间环境图像，则移动设备可以将获取的空间环境图像输入预先训练好的识别网络，通过该识别网络对该环境图像进行识别，确定行驶路径上是否存在障碍物。可选的，若上述空间环境信息为空间回波信号，则移动设备接收到该空间回波信号后，就可以确定行驶路径上存在障碍物。可选的，上述行驶路径可以为从上述操作间到上述操作区域的行驶路径，也可以为从上述操作区域到上述操作间的行驶路径。
在本实施例中，移动设备通过获取采集装置采集的空间环境图像，能够根据该空间环境图像，及时地确定出自身的行驶路径上是否存在障碍物，进一步地在确定出行驶路径上存在障碍物的情况下，停止移动或者根据障碍物所在的位置以及目的地址重新规划行驶路径，规避原行驶路径上的障碍物，避免碰撞的发生。
第四方面，在一个实施例中，如图17所示，提供了一种用于医疗设备的操作***，该操作***包括移动设备、目标主机和目标操作设备，其中，
移动设备用于执行上述第一方面的实施例；
目标主机用于执行上述第二方面的实施例；
目标操作设备，用于执行第一目标操作；其中，第一目标操作包括目标操作设备向目标对象的感兴趣区域发射目标信号，和/或目标操作设备调整自身所在的位置。
本实施例提供的操作***，可以执行上述方法实施例，其实现原理和技术效果类似，本实施例在此不再赘述。
第四方面，在一个实施例中，如图18所示，提供了一种移动设备，该移动设备上安装有RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。
需要说明的是，图18只是对移动设备安装的设备的一种示意，并不以此为限。可选的，作为一种可以实现的实施方式，可以将深度相机和红外相机以及用于目标对象面部识别的RGB相机可以设置在同一面以便于对目标对象进行成像；设置在另一面的相机、以及光发射装置等可以设置的有一定角度旋转，以保证在不同位置和不同方向上的成像和投 影。需要说明的是，上述光发射装置用于发射结构光到目标对象上，然后结构光被目标对象反射回来后由深度相机接收，再经过算法处理就能够计算出目标对象的深度信息。
本实施例提供的移动设备，可以执行上述方法实施例，其实现原理和技术效果类似，本实施例在此不再赘述。
在一个实施例中，如图19所示，提供了一种用于医疗设备的操作装置，包括：投影模块、第一控制模块和第二控制模块，其中：
投影模块，用于在检测到目标对象到达操作区域时，在操作区域中投影第一画面；第一画面用于引导目标对象进入预设区域。
第一控制模块，用于在目标对象进入预设区域的情况下，采集目标对象在预设区域上的位置信息，并根据位置信息控制目标操作设备执行第一目标操作。
第二控制模块，用于在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，根据特征信息控制目标操作设备调整第一目标操作。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第一控制模块，包括：第一采集单元和融合单元，其中：
第一采集单元，用于分别在至少一个预设角度下，采集目标对象在预设区域中的局部位置信息。
融合单元，用于对每一预设角度下的局部位置信息进行融合，得到位置信息。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第一控制模块，包括：第一确定单元和第一控制单元，其中：
第一确定单元，用于确定位置信息和预设的参考位置信息的匹配结果。
第一控制单元，用于基于匹配结果，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第一控制模块，包括：第二控制单元，其中：
第二控制单元，用于将位置信息发送给目标主机，以使目标主机根据位置信息和预设的参考位置信息控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第二控制模块，包括：第二确定单元和第三控制单元，其中：
第二确定单元，用于确定特征信息中是否存在异常信息。
第三控制单元，用于若特征信息中存在异常信息，控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第二控制模块，包括：第四控制单元，其中：
第四控制单元，用于将特征信息发送给目标主机，以使目标主机根据特征信息控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至 少一种。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第二控制模块，包括：第二采集单元和获取单元，其中：
第二采集单元，用于实时采集目标对象的特征图像；特征图像包括目标对象的RGB图像、目标对象的深度图像和目标对象的红外图像中的至少一种。
获取单元，用于根据特征图像，得到特征信息。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：指导模块，其中：
指导模块，用于在目标操作设备执行第一目标操作的过程中，通过预设的指导方式指导目标对象调整自身的呼吸；预设的指导方式包括显示第二画面和/或语音播报。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：采集模块和发送模块，其中：
采集模块，用于在目标操作设备执行第一目标操作的过程中，实时采集目标对象的呼吸信号。
发送模块，用于将呼吸信号发送给目标主机，以使目标主机根据呼吸信号执行第二目标操作；第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：引导模块，其中：
引导模块，用于在检测到目标对象进入操作间时，通过预设的指示方式引导目标对象移动到操作区域。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述引导模块，包括：第一引导单元，其中：
第一引导单元，用于播报第一语音提示引导目标对象移动到操作区域。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述引导模块，包括：第二引导单元，其中：
第二引导单元，用于向地面投影第一指示标识引导目标对象移动到操作区域。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第一获取模块和判断模块，其中：
第一获取模块，用于获取目标对象的身份信息。
判断模块，用于判断身份信息与目标身份信息是否匹配；其中，目标身份信息为从目标主机中获取的身份信息。
上述引导模块，用于若身份信息与目标身份信息匹配，通过预设的指示方式引导目标对象移动到操作区域
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第一语音播报模块，其中：
第一语音播报模块，用于通过语音播报目标对象的身份信息。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第二语音播报模块，其中：
第二语音播报模块，用于在检测到目标操作设备完成第一目标操作的情况下，播报第二语音提示；第二语音提示用于提醒目标对象第一目标操作已完成。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第三投影模块，其中：
第三投影模块，用于向地面投影第二指示标识；第二指示标识用于引导目标对象离开操作间。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第二获取模块、第一确定模块和第三控制模块，其中：
第二获取模块，用于在目标操作设备执行第一目标操作的过程中，获取目标对象的运动部位的位置信息。
第一确定模块，用于根据运动部位的位置信息，确定目标对象是否与目标操作设备发生碰撞。
第三控制模块，用于若确定目标对象与目标操作设备发生碰撞，则控制目标操作设备停止执行第一目标操作。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第三获取模块、第二确定模块和执行模块，其中：
第三获取模块，用于获取采集设备采集的空间环境信息。
第二确定模块，用于根据空间环境信息，确定行驶路径上是否存在障碍物。
执行模块，用于若确定行驶路径上存在障碍物，则执行规避操作；规避操作包括以下操作中的至少一种：停止移动、根据障碍物所在位置以及目的地址重新规划行驶路径。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
关于操作装置的具体限定可以参见上文中对于操作方法的限定，在此不再赘述。上述操作装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，如图20所示，提供了一种操作装置，包括：第一接收模块和控制模块，其中：
第一接收模块，用于接收移动设备发送的目标对象的位置信息；位置信息为移动设备在目标对象进入预设区域的情况下所采集的信息。
第一控制模块，用于根据位置信息控制目标操作设备执行第一目标操作。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述第一控制模块，包括：确定单元和控制单元，其中：
确定单元，用于确定位置信息和预设的参考位置信息的匹配结果
控制单元，用于基于匹配结果，控制目标操作设备向目标对象的感兴趣区域发射目标信号，或控制目标操作设备调整自身所在的位置。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第二接收模块和执行模块，其中：
第二接收模块，用于接收移动设备发送的呼吸信号；呼吸信号为移动设备在目标操作设备在执行第一目标操作的过程中实时采集的。
执行模块，用于根据呼吸信号执行第二目标操作；第二目标操作包括对目标对象进行成像、调整目标信号的发射剂量以及调整手术器械中的至少一种。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
在上述实施例的基础上，可选的，上述装置还包括：第三接收模块、确定模块和第二控制模块，其中：
第三接收模块，用于接收移动设备发送的目标对象的特征信息；特征信息为移动设备在目标操作设备执行第一目标操作的过程中实时采集目标对象的特征图像，根据特征图像所得到的信息。
确定模块，用于确定特征信息中是否存在异常信息。
第二控制模块，用于若特征信息中存在异常信息，控制目标操作设备执行调整操作；调整操作包括停止向目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
本实施例提供的操作装置，可以执行上述方法实施例，其实现原理和技术效果类似，在此不再赘述。
关于操作装置的具体限定可以参见上文中对于操作方法的限定，在此不再赘述。上述操作装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
在一个实施例中，如图21所示，提供了一种目标主机，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
接收移动设备发送的目标对象的位置信息；位置信息为移动设备在目标对象进入预设区域的情况下采集的目标对象在预设区域上的信息；
根据位置信息控制目标操作设备执行第一目标操作。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
在检测到目标对象到达操作区域时，在操作区域中投影第一画面；第一画面用于引导目标对象进入预设区域；
在目标对象进入所述预设区域的情况下，采集目标对象在预设区域上的位置信息，并根据位置信息控制目标操作设备执行第一目标操作；
在目标操作设备执行第一目标操作的过程中，实时获取目标对象的特征信息，根据特征信息控制目标操作设备调整第一目标操作。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现以下步骤：
接收移动设备发送的目标对象的位置信息；位置信息为移动设备在目标对象进入预设区域的情况下采集的目标对象在预设区域上的信息；
根据位置信息控制目标操作设备执行第一目标操作。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可 包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (42)

  1. 一种用于医疗设备的操作方法，其特征在于，所述方法包括：
    在检测到目标对象到达操作区域时，在所述操作区域中投影第一画面；所述第一画面用于引导所述目标对象进入预设区域；
    在所述目标对象进入所述预设区域的情况下，采集所述目标对象在所述预设区域上的位置信息，并根据所述位置信息控制目标操作设备执行第一目标操作；
    在所述目标操作设备执行所述第一目标操作的过程中，实时获取所述目标对象的特征信息，根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
  2. 根据权利要求1所述的操作方法，其特征在于，所述采集所述目标对象在所述预设区域上的位置信息，包括：
    分别在至少一个预设角度下，采集所述目标对象在所述预设区域中的局部位置信息；
    对每一所述预设角度下的局部位置信息进行融合，得到所述位置信息。
  3. 根据权利要求1或2所述的操作方法，其特征在于，所述根据所述位置信息控制目标操作设备执行第一目标操作，包括：
    根据所述位置信息，控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
  4. 根据权利要求1或2所述的操作方法，其特征在于，所述根据所述位置信息控制目标操作设备对所述目标对象执行第一目标操作，包括：
    将所述位置信息发送给所述目标主机，以使所述目标主机根据所述位置信息控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
  5. 根据权利要求1所述的操作方法，其特征在于，所述根据所述特征信息控制所述目标操作设备调整所述第一目标操作，包括：
    确定所述特征信息中是否存在异常信息；
    若所述特征信息中存在所述异常信息，控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
  6. 根据权利要求1所述的操作方法，其特征在于，所述根据所述特征信息控制所述目标操作设备调整所述第一目标操作，包括：
    将所述特征信息发送给目标主机，以使所述目标主机根据所述特征信息控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
  7. 根据权利要求1所述的操作方法，其特征在于，所述实时获取所述目标对象的特征信息，包括：
    实时采集所述目标对象的特征图像；所述特征图像包括所述目标对象的RGB图像、所述目标对象的深度图像和所述目标对象的红外图像中的至少一种；
    根据所述特征图像，得到所述特征信息。
  8. 根据权利要求1所述的操作方法，其特征在于，所述方法还包括：
    在所述目标操作设备执行所述第一目标操作的过程中，通过预设的指导方式指导所述目标对象调整自身的呼吸；所述预设的指导方式包括显示第二画面和/或语音播报。
  9. 根据权利要求8所述的操作方法，其特征在于，所述方法还包括：
    在所述目标操作设备执行所述第一目标操作的过程中，实时采集所述目标对象的呼吸信号；
    将所述呼吸信号发送给所述目标主机，以使所述目标主机根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
  10. 根据权利要求1所述的操作方法，其特征在于，所述方法还包括：
    在检测到所述目标对象进入操作间时，通过预设的指示方式引导所述目标对象移动到所述操作区域。
  11. 根据权利要求10所述的操作方法，其特征在于，所述通过预设的指示方式引导所述目标对象移动到所述操作区域，包括：
    播报第一语音提示引导所述目标对象移动到所述操作区域。
  12. 根据权利要求10所述的操作方法，其特征在于，所述通过预设的指示方式引导所述目标对象移动到所述操作区域，包括：
    向地面投影第一指示标识引导所述目标对象移动到所述操作区域。
  13. 根据权利要求11或12所述的操作方法，其特征在于，所述通过预设的指示方式引导所述目标对象移动到操作区域之前，所述方法还包括：
    获取所述目标对象的身份信息；
    判断所述身份信息与目标身份信息是否匹配；其中，所述目标身份信息为从所述目标主机中获取的身份信息；
    若所述身份信息与所述目标身份信息匹配，通过所述预设的指示方式引导所述目标对象移动到所述操作区域。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    通过语音播报所述目标对象的身份信息。
  15. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在检测到所述目标操作设备完成所述第一目标操作的情况下，播报第二语音提示；所述第二语音提示用于提醒所述目标对象所述第一目标操作已完成。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    向所述地面投影第二指示标识；所述第二指示标识用于引导所述目标对象离开所述操作间。
  17. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述目标操作设备执行所述第一目标操作的过程中，获取所述目标对象的运动部位的位置信息；
    根据所述运动部位的位置信息，确定所述目标对象是否与所述目标操作设备发生碰撞；
    若是，则控制所述目标操作设备停止执行所述第一目标操作。
  18. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取采集装置采集的空间环境信息；
    根据所述空间环境信息，确定行驶路径上是否存在障碍物；
    若是，则执行规避操作；所述规避操作包括以下操作中的至少一种：停止移动、根据所述障碍物所在位置以及目的地址重新规划所述行驶路径。
  19. 一种用于医疗设备的操作方法，其特征在于，所述操作方法包括：
    接收移动设备发送的目标对象的位置信息；所述位置信息为所述移动设备在所述目标对象进入预设区域的情况下所采集的信息；
    根据所述位置信息控制目标操作设备执行第一目标操作。
  20. 根据权利要求19所述的操作方法，其特征在于，所述根据所述位置信息控制目标操作设备执行第一目标操作，包括：
    根据所述位置信息，控制所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，或控制所述目标操作设备调整自身所在的位置。
  21. 根据权利要求20所述的操作方法，其特征在于，所述方法还包括：
    接收所述移动设备发送的所述目标对象的呼吸信号；所述呼吸信号为所述移动设备在所述目标操作设备执行所述第一目标操作的过程中实时采集的；
    根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
  22. 根据权利要求18所述的操作方法，其特征在于，所述方法还包括：
    接收所述移动设备发送的目标对象的特征信息；所述特征信息为所述移动设备在所述目标操作设备执行所述第一目标操作的过程中实时采集所述目标对象的特征图像，根据所述特征图像所得到的信息；
    确定所述特征信息中是否存在异常信息；
    若所述特征信息中存在所述异常信息，控制所述目标操作设备执行调整操作；所述调整操作包括停止向所述目标对象的感兴趣区域发射目标信号、停止调整自身所在的位置以及降低向所述目标对象的感兴趣区域发射的目标信号的频率中的至少一种。
  23. 一种用于医疗设备的操作***，其特征在于，所述操作***包括：目标操作设备、移动设备和目标主机，其中：
    所述目标操作设备，用于向目标对象的感兴趣区域执行第一目标操作，所述第一目标操作包括成像和/或治疗；
    所述移动设备，相对于所述目标操作设备移动，所述移动设备用于呈现和/或采集与所述目标对象相关的信息；
    所述目标主机，用于控制所述目标操作设备执行第一目标操作。
  24. 根据权利要求23所述的操作***，其特征在于，所述移动设备包括投影装置，所述投影装置用于投影引导所述目标对象进行摆位的第一画面。
  25. 根据权利要求24所述的操作***，其特征在于，所述移动设备还包括采集装置，所述采集装置用于分别在第一方位和第二方位采集所述目标对象的位置信息；
    所述目标主机用于根据所述第一方位的位置信息以及所述第二方位的位置信息调整所述目标对象与所述目标操作设备的相对位置和/或控制所述目标操作设备执行所述第一目标操作。
  26. 根据权利要求23所述的操作***，其特征在于，所述移动设备包括第一移动设备和第二移动设备，所述第一移动设备在第一方位采集所述目标对象的位置信息，所述第二移动设备在第二方位采集所述目标对象的位置信息。
  27. 根据权利要求24所述的操作***，其特征在于，所述投影装置还用于投影第二画面，所述第二画面用于引导所述目标对象调整自身的呼吸。
  28. 根据权利要求25所述的操作***，其特征在于，所述采集装置还用于实时采集所述目标对象的特征图像，所述目标主机根据所述特征图像确定所述目标对象的特征信息，并根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
  29. 根据权利要求25所述的操作***，其特征在于，所述采集装置还用于实时采集所述目标对象的呼吸信号，并将所述呼吸信号发送给所述目标主机，以使所述目标主机根据所述呼吸信号执行第二目标操作；所述第二目标操作包括对所述目标对象进行成像、调整所述目标信号的发射剂量以及调整手术器械中的至少一种。
  30. 根据权利要求28所述的操作***，其特征在于，所述移动设备还用于判断所述目标对象的身份信息，并判断所述身份信息与目标身份信息是否匹配；若所述身份信息与所述目标身份信息匹配，通过所述预设的指示方式引导所述目标对象移动到所述操作区域；其中，所述目标身份信息为从所述目标主机中获取的身份信息。
  31. 根据权利要求23所述的操作***，其特征在于，所述移动设备还用于获取所述目标对象的运动部位的位置信息，并根据所述运动部位的位置信息，确定所述目标对象是否与所述目标操作设备发生碰撞，若是，则控制所述目标操作设备停止执行所述第一目标 操作。
  32. 根据权利要求25所述的操作***，其特征在于，所述移动设备还用于获取所述采集装置采集的空间环境信息，并根据所述空间环境信息，确定行驶路径上是否存在障碍物，若是，则执行规避操作；所述规避操作包括以下操作中的至少一种：停止移动、根据所述障碍物所在位置以及目的地址重新规划所述行驶路径。
  33. 根据权利要求23所述的操作***，其特征在于，所述移动设备包括墙壁爬行机器人、地面行走机器人、天花板上可动的摄像头以及无人机中的至少一种。
  34. 根据权利要求25所述的移动设备，其特征在于，所述采集装置包括RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。
  35. 根据权利要求23-34任一项所述的移动设备，其特征在于，所述移动设备还包括：主体以及驱动所述主体移动的驱动装置。
  36. 根据权利要求35所述的移动设备，其特征在于，所述移动设备还包括：轨迹生成器；
    所述轨迹生成器，用于生成所述移动设备的行动轨迹。
  37. 一种用于医疗设备的操作***，其特征在于，所述操作***包括移动设备、目标主机和目标操作设备，其中，
    所述移动设备，用于执行如权利要求1-18任一项所述的操作方法；
    所述目标主机，用于执行如权利要求19-22任一项所述的操作方法；
    所述目标操作设备，用于执行第一目标操作；所述第一目标操作包括所述目标操作设备向所述目标对象的感兴趣区域发射目标信号，和/或所述目标操作设备调整自身所在的位置。
  38. 一种移动设备，其特征在于，所述移动设备应用于如权利要求1-18任一项所述的操作方法，所述移动设备包括上安装有RGB相机、深度相机、红外相机、语音装置和光发射装置中的至少一种。
  39. 一种用于医疗设备的操作装置，其特征在于，所述装置包括：投影模块、第一控制模块和第二控制模块，其中：
    投影模块，用于在检测到目标对象到达操作区域时，在所述操作区域中投影第一画面；所述第一画面用于引导所述目标对象进入预设区域；
    第一控制模块，用于在所述目标对象进入所述预设区域的情况下，采集所述目标对象在所述预设区域上的位置信息，并根据所述位置信息控制目标操作设备执行第一目标操作；
    第二控制模块，用于在所述目标操作设备执行所述第一目标操作的过程中，实时获取所述目标对象的特征信息，根据所述特征信息控制所述目标操作设备调整所述第一目标操作。
  40. 一种用于医疗设备的操作装置，其特征在于，所述装置包括：接收模块和控制模块，其中：
    接收模块，用于接收移动设备发送的目标对象的位置信息；所述位置信息为所述移动设备在所述目标对象进入预设区域的情况下所采集的信息；
    控制模块，用于根据所述位置信息控制目标操作设备执行第一目标操作。
  41. 一种目标主机，其特征在于，所述目标主机用于执行如权利要求19-22任一项所述的操作方法。
  42. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至22中任一项所述的操作方法的步骤。
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