Anti-collision method and system, storage medium and electronic equipment

Abstract

The invention discloses an anti-collision method and system, a storage medium and electronic equipment, and the method comprises the steps: firstly obtaining a depth image collected by image collection equipment, and then determining the distance between a target object and a C-shaped arm according to the depth image. And finally, the motion state of the C-shaped arm is adjusted according to the distance and a preset threshold value. Namely, according to the method, the distance between the target object and the C-shaped arm is determined, the motion state of the C-shaped arm is adjusted, and collision with a user and the like is avoided.

Description

Technical Field

[0001] This specification relates to the medical field, and more particularly to a collision avoidance method, system, storage medium, and electronic device. Background Technology

[0002] A C-arm is a medical device primarily used for X-ray imaging and precise localization. By moving and rotating the C-arm, images of various parts of the patient's body are acquired, allowing doctors to observe lesions and other abnormalities. Functionally, C-arms can be categorized into mobile C-arms and angiography machines. Angiography machines are mainly used for vascular imaging, while mobile C-arms can be used in orthopedic surgery. Doctors can move the C-arm of angiography machines to obtain images of blood vessels in various parts of the patient's body, observing the morphology and blood flow of the vessels to help determine the location and severity of lesions. In orthopedic surgery, doctors can use the real-time bone images generated by a mobile C-arm to determine the location of fractures, ensuring proper alignment and fixation.

[0003] However, since the C-arm may move at high speeds during operation, this manual provides a collision prevention method to ensure the safety of doctors, users and other equipment and to prevent collisions between the C-arm and users. Summary of the Invention

[0004] This specification provides an anti-collision method, system, storage medium, and electronic device to at least partially solve the aforementioned problems existing in the prior art.

[0005] The embodiments in this specification adopt the following technical solutions:

[0006] This specification provides a collision avoidance method in which an image acquisition device is mounted on a C-arm, the method comprising:

[0007] Acquire depth images captured by the image acquisition device;

[0008] Based on the depth image, determine the distance between the target object and the C-arm;

[0009] The movement state of the C-arm is adjusted according to the distance and the preset threshold.

[0010] Optionally, determining the distance between the target object and the C-arm based on the depth image specifically includes:

[0011] Based on the depth image, determine the three-dimensional point cloud model of the target object;

[0012] Based on the 3D point cloud model and the device parameters of the image acquisition device, the distance between the target object and the C-arm is determined.

[0013] Optionally, the preset threshold includes a stop threshold and a deceleration threshold;

[0014] Adjusting the movement state of the C-arm based on the distance and a preset threshold specifically includes:

[0015] Determine the motion path of the C-arm;

[0016] The movement state of the C-arm is adjusted according to the movement path, the distance, and the preset threshold.

[0017] Optionally, the motion state of the C-arm is adjusted according to the motion path, the distance, and a preset threshold, specifically including:

[0018] Determine whether the direction of motion in the next moment after the current moment of obtaining the distance in the motion path is the direction of motion that reduces the distance;

[0019] If so, when the distance is not greater than the stop threshold, the movement state of the C-arm is adjusted to a stopped movement state; if the distance is greater than the stop threshold and less than the deceleration threshold, the movement state of the C-arm is adjusted to a deceleration movement state.

[0020] Optionally, the method further includes:

[0021] When the motion state is a stopped motion state, a first collision warning message is displayed;

[0022] When the motion state is decelerating, a second collision warning message is displayed.

[0023] Optionally, the image acquisition device includes a structured light depth camera.

[0024] This specification provides a collision avoidance system, which includes an image acquisition device, an image processing device, and a motion control device; the system is mounted on a C-arm, wherein:

[0025] The image acquisition device is used to acquire depth images and send the depth images to the image processing device;

[0026] The image processing device is used to receive the depth image sent by the image, determine the distance between the target object and the C-arm based on the depth image, and send the distance to the motion control device;

[0027] The motion control device is used to receive the distance sent by the image processing device, and adjust the motion state of the C-arm according to the distance and a preset threshold.

[0028] Optionally, the image processing device is used to determine a three-dimensional point cloud model of the target object based on the depth image; and to determine the distance between the target object and the C-arm based on the three-dimensional point cloud model and the device parameters of the image acquisition device.

[0029] Optionally, the motion control device is used to determine the motion path of the C-arm; and adjust the motion state of the C-arm according to the motion path, the distance, and a preset threshold.

[0030] Optionally, the preset threshold includes a stop threshold and a deceleration threshold;

[0031] The motion control device is used to determine whether the motion direction of the next moment after the current moment of obtaining the distance in the motion path is a motion direction that reduces the distance; if so, when the distance is not greater than the stop threshold, the motion state of the C-arm is adjusted to a stop motion state; if the distance is greater than the stop threshold and less than the deceleration threshold, the motion state of the C-arm is adjusted to a deceleration motion state.

[0032] Optionally, the system further includes a warning information display device, which is used to display a first collision warning message when the motion state is a stopped motion state, and to display a second collision warning message when the motion state is a decelerated motion state.

[0033] Optionally, the image acquisition device includes a structured light depth camera.

[0034] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described anti-collision method.

[0035] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-described anti-collision method when executing the program.

[0036] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0037] In one collision avoidance method provided in this specification, the method determines the distance between the target object and the C-arm, adjusts the movement state of the C-arm, and avoids collisions with users, etc. Attached Figure Description

[0038] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and their descriptions, serving to explain this specification and do not constitute an undue limitation thereof.

[0039] In the picture:

[0040] Figure 1 This is a flowchart illustrating a collision avoidance method provided in this specification.

[0041] Figure 2 This is an installation diagram of the image acquisition equipment provided in this manual;

[0042] Figure 3 This is a schematic diagram of the installation plan of the image acquisition device provided in this manual;

[0043] Figure 4 The corresponding information provided in this specification Figure 1 A schematic diagram of an electronic device. Detailed Implementation

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0045] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0047] The technical solutions provided by the various embodiments of this specification are described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0048] Figure 1 This is a flowchart illustrating a collision avoidance method provided in this specification, such as... Figure 1 As shown, the specific steps include:

[0049] S100: Acquire depth images captured by the image acquisition device.

[0050] During operation, the C-arm typically rotates in a specific manner, determining its movement path based on the area to be examined. To protect the safety of the user and other equipment during surgery or scanning, and to prevent collisions with the C-arm, pressure sensors are usually installed on the C-arm and its upper and lower outer shell surfaces. When the pressure on the sensor exceeds a preset value, the C-arm stops moving. However, this anti-collision method only takes effect after contact, and the preset value is not dynamically adjusted. Therefore, a constant force may be too large or too small for different objects, potentially causing the user to be crushed or other equipment to be damaged upon contact with the C-arm. Therefore, this manual provides an anti-collision method. The implementing entity of this manual can be an anti-collision system for determining the distance between objects, including image acquisition equipment, image processing equipment, and motion control equipment. This system can be installed on the C-arm and can communicate with other electronic devices, as well as with other devices within the system.

[0051] Taking the C-arm of an angiography machine as an example, the angiography machine is usually placed in the interventional operating room. The doctor plans the movement path of the C-arm of the angiography machine according to the area to be scanned by the user, and the host controls the C-arm to scan according to the movement path.

[0052] Figure 2 This manual provides an installation diagram of the image acquisition device, such as... Figure 2 As shown, the image acquisition device is mounted on the C-arm of the angiography machine. 101 is the C-arm, which can slide and rotate bidirectionally; 102 is the patient; and 103 is the interventional operating table. 201 is a detector used to capture and record the flow of contrast agent within the blood vessel, then converting it into a digital image. 202 is an X-ray tube used to emit X-rays; and 301 is the image acquisition device, which can be installed on the X-ray tube, detector, etc. It should be noted that the image acquisition device described in this manual can be mounted on other types of medical devices, including C-arms, and is not limited to the C-arm of an angiography machine. For example, the image acquisition device can be mounted on a portable C-arm.

[0053] Figure 3 This is a schematic diagram of the installation plan of the image acquisition device provided in this manual, such as... Figure 3As shown. This manual does not limit the number of image acquisition devices that can be installed, but the image acquisition devices must be installed on a C-arm. The specific positions of the image acquisition devices on the C-arm are not limited. Taking an installation quantity of 8 as an example, the image acquisition devices can be installed on the X-ray tube, detector, etc., respectively in the four corresponding positions of the X-ray tube and the four corresponding positions of the detector.

[0054] The system's image acquisition devices can acquire depth images in real time. This means the system captures all objects in the space within the image acquisition device's field of view, including patients (users), doctors, and various medical instruments used in surgery, such as medical carts. Image acquisition devices include structured light depth cameras, time-of-flight (ToF) cameras, and binocular cameras, all capable of acquiring depth information. The acquired depth images are then sent to the system's image processing device, which receives and processes the depth images acquired by the image acquisition devices.

[0055] S102: Determine the distance between the target object and the C-arm based on the depth image.

[0056] The image processing device can directly determine the distance between each pixel in the depth image and the C-arm based on the device information of the image acquisition device, such as camera intrinsic parameters, camera extrinsic parameters, and focal length. Then, the target object is identified. The target object can be any object captured by the image acquisition device other than the C-arm, such as medical personnel, patients, or interventional operating tables. Based on the target object and the determined distances between each pixel in the depth image and the C-arm, the distance between the target object and the C-arm is determined. Based on the depth image, the distance between the image acquisition device and the target object can be determined. Since the image acquisition device is mounted on the C-arm, the distance between the image acquisition device and the target object can be used as the distance between the target object and the C-arm. Determining the distance between the target object and the image acquisition device in the depth image using the device information of the image acquisition device is a process well-known to those skilled in the art, and will not be elaborated upon here. For example, the image processing device first determines the pixel coordinates of the target object in the depth image, and then converts the pixel coordinates of the target object into camera coordinates in the camera coordinate system based on the intrinsic parameters of the image acquisition device. Afterwards, the camera coordinates are converted into coordinates in the world coordinate system using the extrinsic parameters of the image acquisition device. Finally, based on the transformation relationship between camera coordinates and world coordinates, the distance between the target object and the image acquisition device is calculated.

[0057] Of course, the image processing device can also determine a 3D point cloud model of the target object based on the depth image. That is, first, a 3D point cloud model of the depth image is constructed; then, based on this 3D point cloud model and the device parameters of the image acquisition equipment, the distance between the target object and the C-arm is determined. Constructing a 3D point cloud improves the accuracy of the distance between the acquired target object and the C-arm. Simultaneously, by constructing a 3D point cloud model, complete geometric information of the surface of the photographed object can be obtained, not just depth information of a single point. This provides more comprehensive and detailed visual information, facilitating more accurate analysis and processing.

[0058] S104: Adjust the motion state of the C-arm according to the distance and the preset threshold.

[0059] Specifically, the image processing device sends the distance information to the motion control device, which then receives the distance information sent by the image processing device. If the distance between the C-arm and the target object at the current moment is within a preset threshold, but the direction of the C-arm's movement is inconsistent with the direction of the target object, then even if the distance between the C-arm and the target object exceeds the preset threshold at the next moment, a collision will not occur. The preset threshold includes a stopping threshold and a deceleration threshold.

[0060] For example, suppose the first threshold is 1cm, the current distance is 1cm, the C-arm is due east, and the target object is due west. If, at the next moment, the C-arm moves due east, it means that at the next moment, the C-arm will move away from the target object. Therefore, even without adjusting the C-arm's motion state, the C-arm and the target object will not collide. Thus, the motion control device can maintain the current motion state of the C-arm.

[0061] In other words, when adjusting the motion state of the C-arm, the motion control device can first determine the motion path of the C-arm and judge whether the motion direction of the next moment after obtaining the current distance in the motion path is the motion direction that reduces the distance. If so, when the distance is not greater than the stopping threshold, the motion state of the C-arm is adjusted to a stopped motion state, that is, the movement of the C-arm is stopped. If the distance is greater than the stopping threshold but less than the deceleration threshold, the motion state of the C-arm is adjusted to a deceleration motion state, that is, the current movement speed of the C-arm is reduced to avoid collision.

[0062] based on Figure 1 The method shown is a collision avoidance method. This method determines the distance between the target object and the C-arm and adjusts the movement state of the C-arm to avoid collisions with users, etc.

[0063] Regarding step S102, when constructing the 3D point cloud model, a 3D point cloud model based on the depth image acquired by only one image acquisition device can be constructed. Alternatively, depth images acquired by all image acquisition devices can be obtained, and a 3D point cloud model of the interventional operating room can be constructed using these depth images. This requires registration and fusion steps for the point clouds corresponding to the depth images from each image acquisition device. Point cloud registration and fusion are techniques well-known to those skilled in the art, and will not be elaborated upon in this specification.

[0064] In step S104, to avoid collisions, the motion control device can also change the direction of movement of the C-arm after the C-arm stops moving.

[0065] Furthermore, the motion control device can adjust the distance between the target object and the C-arm in real time during the scanning process, ensuring that the distance is at a preset safe distance. For example, if the preset safe distance is 1cm, the C-arm will maintain a distance of 1cm from the target object throughout the scanning process. It should be noted that the distance acquired by the image processing device is usually the distance between the target object and the image acquisition device itself. However, since the image acquisition device is mounted on the C-arm, when it is installed at the detector, X-ray tube, or other positions on the C-arm, this distance can be approximated as the distance between the target object and the C-arm. Therefore, by adjusting the position of the detector in real time, the distance between the target object and the C-arm can be adjusted.

[0066] Following step S104, to alert doctors and other medical personnel of a potential collision, when the movement state is stopped, a first collision warning message is displayed, such as playing an audio message stating that the C-arm has stopped moving for safety reasons. When the movement state is decelerating, a second collision warning message is displayed, such as playing an audio message stating that a collision is imminent and the current C-arm's movement speed has been reduced. Of course, other forms of warning messages are also possible, and this manual does not limit this.

[0067] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The provided collision avoidance method.

[0068] This instruction manual also provides Figure 4 The diagram shows the structure of the electronic device. Figure 4 As shown, at the hardware level, this autonomous driving device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for other operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 1The described anti-collision method. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. In other words, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0069] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0070] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, ASICs, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0071] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0072] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0073] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0078] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0079] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0080] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0081] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0083] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0084] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this application.

Claims

1. A collision avoidance method, characterized in that, The image acquisition device is mounted on a C-arm, and the method includes: Acquire depth images captured by the image acquisition device; Based on the depth image, determine the distance between the target object and the C-arm; The movement state of the C-arm is adjusted according to the distance and the preset threshold.

2. The method as described in claim 1, characterized in that, Based on the depth image, the distance between the target object and the C-arm is determined, specifically including: Based on the depth image, determine the three-dimensional point cloud model of the target object; Based on the 3D point cloud model and the device parameters of the image acquisition device, the distance between the target object and the C-arm is determined.

3. The method as described in claim 1, characterized in that, Adjusting the movement state of the C-arm based on the distance and a preset threshold specifically includes: Determine the motion path of the C-arm; The movement state of the C-arm is adjusted according to the movement path, the distance, and the preset threshold.

4. The method as described in claim 3, characterized in that, The preset thresholds include a stop threshold and a deceleration threshold; Adjusting the motion state of the C-arm based on the motion path, the distance, and the preset threshold specifically includes: Determine whether the direction of motion in the next moment after the current moment of obtaining the distance in the motion path is the direction of motion that reduces the distance; If so, when the distance is not greater than the stop threshold, the movement state of the C-arm is adjusted to a stopped movement state; if the distance is greater than the stop threshold and less than the deceleration threshold, the movement state of the C-arm is adjusted to a deceleration movement state.

5. The method as described in claim 4, characterized in that, The method further includes: When the motion state is a stopped motion state, a first collision warning message is displayed; When the motion state is decelerating, a second collision warning message is displayed.

6. The method as described in claim 1, characterized in that, The image acquisition device includes a structured light depth camera.

7. A collision avoidance system, characterized in that, The system includes: an image acquisition device, an image processing device, and a motion control device; the system is mounted on a C-arm, wherein: The image acquisition device is used to acquire depth images and send the depth images to the image processing device; The image processing device is used to receive the depth image sent by the image, determine the distance between the target object and the C-arm based on the depth image, and send the distance to the motion control device; The motion control device is used to receive the distance sent by the image processing device, and adjust the motion state of the C-arm according to the distance and a preset threshold.

8. The system as described in claim 7, characterized in that, The image processing device is used to determine a three-dimensional point cloud model of the target object based on the depth image; and to determine the distance between the target object and the C-arm based on the three-dimensional point cloud model and the device parameters of the image acquisition device.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 6.

10. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in any one of claims 1 to 6.

Images