Method and device for realizing double image cooperation in operating room

Abstract

The disclosure provides a method and device for realizing double-image cooperation in an operating room, comprising: acquiring surgery type information, selecting a target digital subtraction angiography (DSA) mode from multiple DSA modes based on the surgery type information, controlling a suspension type DSA sub-device to be placed at a main scanning position above an operating table after determining that the target DSA mode is a double-board cooperation mode, and simultaneously controlling a mobile DSA sub-device to be moved to an auxiliary scanning position beside the operating table through a drive base to enter a cooperative positioning state; in the cooperative positioning state, controlling the suspension type DSA sub-device and the mobile DSA sub-device to synchronously collect surgery region image data, acquiring main field of view image data and auxiliary field of view image data; and performing image display based on the main field of view image data and the auxiliary field of view image data. The embodiment of the disclosure can support double-board cooperation and single-board mode switching, and adapt to different surgery scenes.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and in particular to a method and apparatus for realizing dual-image collaboration in an operating room. Background Technology

[0002] In complex surgeries such as cardiovascular interventional procedures (e.g., coronary artery stenting) and neurointerventional procedures (e.g., cerebral aneurysm embolization), doctors need to use digital subtraction angiography (DSA) equipment to acquire vascular images in real time and accurately locate lesions and surgical instruments.

[0003] The DSA equipment used in surgery is mainly a suspended DSA device. Currently, some surgical scenarios (such as simultaneous treatment of bilateral blood vessels or multi-site intervention) require two DSA devices to work together: one for primary field scanning (such as cardiac vessels) and the other for auxiliary field monitoring (such as peripheral vessels) to reduce the time spent on frequent device adjustments and lower surgical risks. While using dual suspended DSA devices can meet the need for dual-panel collaboration, the procurement cost of a single suspended DSA device is high, making a dual-device configuration difficult for small and medium-sized hospitals to afford; moreover, once the equipment is fixed in place, it only serves a single operating room, resulting in insufficient equipment utilization. Summary of the Invention

[0004] In view of this, the present disclosure provides a method and apparatus for realizing dual-image collaboration in an operating room, so as to reduce the difficulty and cost of equipping the operating room with dual DSA equipment and increase the flexibility of dual DSA usage schemes.

[0005] Firstly, a method for achieving dual-image collaboration within an operating room is provided, including: Obtain surgery type information, and select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgery type information. The multiple DSA modes include dual-plate collaborative mode and single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography. After determining that the target DSA mode is the dual-plate collaborative mode, the suspended DSA sub-device is positioned above the operating table as the main scanning position, while the mobile DSA sub-device is moved to the auxiliary scanning position on the side of the operating table via the drive base, entering the collaborative positioning state. In the cooperative positioning state, the suspended DSA sub-device and the mobile DSA sub-device are controlled to synchronously acquire surgical area image data to obtain main field image data and auxiliary field image data; Image display is performed based on the main field-of-view image data and the auxiliary field-of-view image data.

[0006] In one implementation, after acquiring the main field-of-view image data and the auxiliary field-of-view image data, the method further includes: The main field-of-view image data and the auxiliary field-of-view image data are fused to generate fused image data; The image display based on the main field-of-view image data and the auxiliary field-of-view image data includes: The fused image data, the main field-of-view image data, and the auxiliary field-of-view image data are output to a dual-screen display. The fused image corresponding to the fused image data is displayed on the main screen, and the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data are displayed on the secondary screen. The secondary screen supports the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image.

[0007] In one implementation, the main field-of-view image data and the auxiliary field-of-view image data are fused to generate fused image data, including: Based on the main field-of-view image data and the auxiliary field-of-view image data, the spatial transformation matrix is ​​calculated using the least squares method. Based on the spatial transformation matrix, the auxiliary field-of-view image data is mapped to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data.

[0008] In one implementation, the spatial transformation matrix is ​​calculated using the least squares method based on the main field-of-view image data and the auxiliary field-of-view image data, including: Based on the main field of view image data and the auxiliary field of view image data, vascular feature points in the main field of view image data and the auxiliary field of view image data are extracted by an edge detection algorithm; The vascular feature points in the main field of view image data and the auxiliary field of view image data are matched to determine feature point pairs, and abnormal feature point pairs with matching errors greater than a set threshold are removed to obtain a set of effective feature point pairs. Based on the set of effective feature point pairs, a least squares objective function is constructed. Based on the least squares objective function, the rotation matrix and translation vector are iteratively calculated to minimize the sum of squared Euclidean distances between the feature points corresponding to the auxiliary field of view image data and the feature points corresponding to the main field of view image data after rotation and translation transformation, thus obtaining the spatial transformation matrix.

[0009] In one implementation, based on the spatial transformation matrix, the auxiliary field-of-view image data is mapped to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data, including: Based on the spatial transformation matrix, coordinate transformation is performed on the coordinates of each pixel in the auxiliary field of view image data. The transformed auxiliary field of view image data is then superimposed with the main field of view image data at the pixel level to generate the fused image data. The pixel-level superposition is performed using a weighted fusion method, where the weight of the main field of view image data in the fused image data is greater than the weight of the auxiliary field of view image data.

[0010] In one embodiment, the mobile DSA sub-device is equipped with a laser positioning sensor; The control of the mobile DSA sub-device to move to an auxiliary scanning position on the side of the operating table via a drive base includes: The current position coordinates of the mobile DSA sub-device are collected in real time by the laser positioning sensor, and the three-dimensional deviation between the current position and the target position is calculated to obtain the position deviation parameter. When the position deviation parameter indicates that any dimension deviation is greater than the first deviation threshold, the servo motor is controlled to drive the universal wheel group of the drive base to move closer. When the position deviation parameter indicates that all dimension deviations are less than or equal to the first deviation threshold and at least one dimension deviation is greater than the second deviation threshold, the proportional-integral-derivative (PID) control mode is switched to perform fine adjustment of the movement. After positioning is completed, lock the base wheel assembly of the mobile DSA sub-device.

[0011] In one embodiment, the method further includes: In response to the single-board mode switching command, the mobile DSA sub-device is controlled to unlock the universal wheel assembly of the drive base and move out of the operating room along a preset movement path; After confirming that the mobile DSA sub-device has moved out of the operating room, the suspended DSA sub-device is controlled to independently perform the image acquisition task.

[0012] Secondly, a device for realizing dual-image collaboration in an operating room is provided, comprising: The collaborative control terminal is used to acquire surgical type information, select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgical type information, and control the suspended DSA sub-device and the mobile DSA sub-device based on the target DSA mode. The suspended DSA sub-device includes a suspended C-arm, which is placed above the operating table at the main scanning position and acquires main field-of-view image data under the control of the collaborative control terminal. The mobile DSA sub-device includes a drive base and a mobile C-arm, which is used to move to an auxiliary scanning position on the side of the operating table under the control of the collaborative control terminal, and to acquire auxiliary visual field image data.

[0013] In one embodiment, the suspended DSA sub-device further includes a laser positioning sensor; The laser positioning sensor is used to collect the current position coordinates of the mobile DSA sub-device in real time for positioning purposes.

[0014] In one embodiment, the device further includes: A dual-screen display, including a main screen and a secondary screen, is used to receive fused image data as well as the main field-of-view image data and the auxiliary field-of-view image data, display the fused image data on the main screen, display the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data on the secondary screen, and support the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image on the secondary screen.

[0015] Thirdly, embodiments of this disclosure also provide a control device for realizing dual-image collaboration in an operating room, comprising: The acquisition module is used to acquire surgery type information and select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgery type information. The multiple DSA modes include a dual-plate collaborative mode and a single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography. The control module is used to, after determining that the target DSA mode is the dual-plate collaborative mode, control the suspended DSA sub-device to be placed in the main scanning position above the operating table, and simultaneously control the mobile DSA sub-device to move to the auxiliary scanning position on the side of the operating table via the drive base, entering a collaborative positioning state; in the collaborative positioning state, control the suspended DSA sub-device and the mobile DSA sub-device to synchronously acquire surgical area image data, and obtain main field image data and auxiliary field image data; The display module is used to display images based on the main field-of-view image data and the auxiliary field-of-view image data.

[0016] Fourthly, embodiments of this disclosure also provide an electronic device, including a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory, wherein when the machine-readable instructions are executed by the processor, the processor executes the method for realizing dual-image collaboration in an operating room as described in any of the preceding claims.

[0017] Fifthly, embodiments of this disclosure also provide a computer-readable storage medium including instructions stored thereon, wherein, when executed by a processor, the method for implementing dual-image collaboration in an operating room as described in any of the preceding claims is executed.

[0018] The method and apparatus for dual-image collaboration in the operating room provided in this disclosure can support switching between dual-panel collaboration and single-panel mode, adapting to different surgical scenarios and effectively avoiding the space waste of fixed dual-panel solutions. Furthermore, the two devices can separately acquire primary and secondary field-of-view images, reducing equipment adjustment time and surgical risks. In addition, mobile DSA sub-devices can be shared across rooms, thereby improving equipment utilization and reducing hospital procurement and maintenance costs.

[0019] Furthermore, the embodiments disclosed herein can support dual-screen display of fused images of the main field of view and auxiliary field of view, along with the original images. The main screen focuses on the fusion result, while the secondary screen supports switching. This reduces the number of steps doctors need to take to switch between screens, and can intuitively present the correlation between blood vessels in multiple locations, helping doctors to accurately determine the location of lesions and instruments, thereby improving the accuracy of surgery.

[0020] In terms of hardware, the collaborative control terminal of this embodiment can uniformly schedule dual DSA sub-devices, solving the problem of dual DSA devices lacking a unified control interface. By controlling the suspended DSA sub-device and the mobile DSA sub-device to perform their respective tasks, it can meet the needs of large field of view acquisition and flexible movement, adapting to both complex and routine surgeries. Attached Figure Description

[0021] Figure 1 A flowchart illustrating a method for implementing dual-image collaboration within an operating room, as provided in this embodiment of the disclosure; Figure 2 A schematic diagram of the deployment of the device for realizing dual-image collaboration in the operating room according to the embodiments of this disclosure; Figure 3 An apparatus for enabling dual-image collaboration in an operating room, provided as an embodiment of this disclosure; Figure 4 This is a schematic diagram of a control device for realizing dual-image collaboration in an operating room, provided by an embodiment of the present disclosure. Figure 5 This is a schematic diagram of the structure of an electronic device shown as an exemplary embodiment of the present disclosure. Detailed Implementation

[0022] 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 disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0023] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure 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.

[0024] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, 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."

[0025] Furthermore, the symbol “ / ” in this disclosure indicates that there is an “or” relationship between the related objects before and after the symbol, or that the related objects have an exemplary relationship that can coexist.

[0026] To address the issue of the high cost of dual-suspension DSA equipment, a combination of floor-standing and suspended DSA equipment can be used. However, fixed floor-standing DSA equipment occupies operating room floor space, reducing the operating space around the operating table, which affects the positioning of medical staff and the transfer of instruments. Furthermore, 80% of routine surgeries (such as single-vascular intervention) only require a single-plate DSA. In such scenarios, the idle equipment in a dual-suspension or fixed dual-plate solution can obstruct surgical lights, occupy track or floor space, and increase the complexity of the surgical environment.

[0027] Based on this, this disclosure proposes a collaborative solution combining a suspended DSA sub-device and a mobile DSA sub-device. It supports multiple DSA modes, including a dual-plate collaborative mode and a single-plate mode. In the dual-plate collaborative mode, the suspended and mobile DSA sub-devices can be integrated into a single unit for collaborative use. In the single-plate mode, they can be used independently, meeting the needs of both routine surgeries requiring a single-plate mode and complex surgeries requiring a dual-plate collaborative mode. The mobile DSA sub-device can be flexibly moved and shared across operating rooms. This not only fulfills the need to move it out of the operating room when not in use, freeing up operating room space, but also improves equipment utilization, thereby saving costs. Specifically, the mobile DSA sub-device can be electrically controlled, enabling intelligent and automated control via a collaborative control terminal. This reduces operator time costs, allowing surgical personnel to focus more on the surgical procedure.

[0028] The following description of the specific implementation process further introduces the ideas of the embodiments of this disclosure.

[0029] like Figure 1 The diagram shown is a flowchart of a method for implementing dual-image collaboration in an operating room according to an embodiment of this disclosure. This method can be executed via a collaborative control terminal and includes: S101: Obtain surgery type information, and select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgery type information. The multiple DSA modes include dual-plate collaborative mode and single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography.

[0030] In practice, the collaborative control terminal can first obtain the surgical type information, which is usually manually selected by medical staff through the collaborative control terminal (such as checking "cardiac + peripheral vascular interventional surgery" or "single coronary angiography surgery" on the terminal before the operation). It can also be combined with the electronic medical record system to automatically read the surgical plan (such as obtaining the surgical name and expected operation site from the hospital information system). Then, based on the surgical type information, the target DSA mode is automatically selected from multiple DSA modes.

[0031] When selecting a mode, the choice can be based on whether the surgery requires simultaneous imaging monitoring of two sites. The correspondence between the surgical type and the simultaneous imaging monitoring of two sites can be preset. For example, complex surgeries such as combined cardiac and peripheral vascular treatment or cerebral aneurysm and cerebral vascular branch embolization require simultaneous observation of blood vessels in two regions, which is a dual-site requirement. For routine surgeries such as single coronary angiography or lower extremity vascular intervention, only one region needs to be focused, which is a single-site requirement.

[0032] S102: After determining that the target DSA mode is the dual-plate collaborative mode, control the suspended DSA sub-device to be placed in the main scanning position above the operating table, and at the same time control the mobile DSA sub-device to move to the auxiliary scanning position on the side of the operating table via the drive base, and enter the collaborative positioning state.

[0033] Here, because the suspended DSA sub-device occupies no ground space and has a large scanning coverage area, it is suitable for focusing on the core area, while the mobile DSA sub-device is flexible and controllable, suitable for covering supplementary areas around the core area. Combining the two achieves complete global and local image monitoring. Therefore, the suspended DSA sub-device is generally selected as the main scanning device, and the mobile DSA sub-device is selected as the auxiliary scanning device. Thus, after selecting the dual-plate collaborative mode as the current target DSA mode based on the surgical type, the suspended DSA sub-device can be controlled to be placed in the main scanning position above the operating table, while the mobile DSA sub-device is moved to the auxiliary scanning position to the side of the operating table.

[0034] Optionally, the suspended DSA sub-device can also be movable within a certain range along a track, such as a ring, to allow for more flexible movement. For example, the suspended DSA sub-device can be controlled to move along the ring track to the main scanning position above the operating table. For a mobile DSA sub-device, its drive base can be controlled to move it to the corresponding auxiliary scanning position.

[0035] In this step, the suspended DSA sub-device and the mobile DSA sub-device can be synchronously scheduled and precisely positioned, enabling them to enter a collaborative positioning state. This transforms them from independent devices into collaborative working units. In practice, a first movement control signal and a second movement control signal can be simultaneously sent to the suspended DSA sub-device and the mobile DSA sub-device, respectively. The suspended DSA sub-device moves along a circular track to the main scanning position indicated by the first movement control signal, while the mobile DSA sub-device autonomously moves to the auxiliary scanning position indicated by the second movement control signal via a drive base.

[0036] In practice, the touchscreen of the collaborative control terminal can receive operation instructions from medical staff, such as device start instructions, position adjustment instructions, and parameter setting instructions, and generate the first motion control signal and the second motion control signal; the wireless communication module can simultaneously send the respective motion control signals to the suspended DSA sub-device and the mobile DSA sub-device.

[0037] To achieve precise positioning, in one embodiment, a laser positioning sensor can be configured in the mobile DSA sub-device. In this case, controlling the mobile DSA sub-device to move to an auxiliary scanning position on the side of the operating table via a drive base includes: real-time acquisition of the current position coordinates of the mobile DSA sub-device using the laser positioning sensor; calculation of the three-dimensional deviation between the current position and the target position to obtain a position deviation parameter; when the position deviation parameter indicates that any dimension deviation is greater than a first deviation threshold (e.g., 5mm), controlling the servo motor to drive the universal wheel assembly (e.g., 4 sets of universal wheels) of the drive base for approach movement; when the position deviation parameter indicates that all dimension deviations are less than or equal to the first deviation threshold and at least one dimension deviation is greater than a second deviation threshold (e.g., 1mm), switching to a proportional-integral-derivative (PID) control mode for fine-tuning the movement; after positioning is completed, locking the base wheel assembly of the mobile DSA sub-device.

[0038] Here, the laser positioning sensor can scan the pre-set positioning marks on the operating room floor by emitting a laser beam to collect the current three-dimensional spatial coordinates of the equipment in real time. The positioning accuracy can reach ±0.1mm, which can break through the bottleneck of traditional manual mobile DSA positioning. The automatic locking wheel group ensures the stability of the equipment and reduces the risk of collision and physical exertion of manual pushing.

[0039] The aforementioned positional deviation parameters include X-axis deviation Δx, Y-axis deviation Δy, and rotation angle deviation Δθ.

[0040] In practice, when the deviation in any dimension exceeds the first threshold (e.g., ΔX > 5mm or ΔY > 5mm), the collaborative control terminal sends high-speed commands to the four sets of servo motors (corresponding to the four casters), driving the equipment to move rapidly along the deviation direction (e.g., at a speed of approximately 0.3-0.5m / s). Furthermore, the diagonal movement of the casters (without turning) allows the equipment to directly align with the target direction, reducing path detours. The purpose of this stage is to quickly reduce large deviations and shorten positioning time (avoiding slow movement of the equipment from a distance, thus improving efficiency).

[0041] When all dimensional deviations are ≤ the first threshold (ΔX, ΔY ≤ 5mm), and at least one dimensional deviation is > the second threshold (e.g., ΔX = 3mm > 1mm or ΔY = 2mm > 1mm), the PID control algorithm is switched to: Proportional term (P): Outputs the corresponding rotational speed according to the current deviation (e.g., ΔX = 3mm) (the larger the deviation, the slightly higher the rotational speed, quickly closing the gap); Integral term (I): Eliminates long-term small deviations (e.g., movement lag caused by slight unevenness of the ground); Derivative term (D): Predicts the trend of deviation changes (e.g., decelerates in advance when approaching the target to avoid overshoot); Finally, the servo motor is controlled to fine-tune at a low speed (approximately 50-200 rpm) to ensure that the deviation is gradually reduced to ≤ 1mm. The purpose of this stage is to accurately eliminate small deviations and ensure positioning accuracy (avoiding overshoot caused by rapid movement, achieving millimeter-level stopping).

[0042] When the laser positioning sensor detects that all dimensional deviations are ≤ the second threshold (ΔX, ΔY ≤ 1mm), and this state lasts for 0.5 seconds (to avoid misjudgment caused by slight vibrations of the equipment), positioning is considered complete. At this time, a command is sent to the electromagnetic locking mechanism of the drive base, which uses an electromagnet to engage the brake pads and firmly lock the four casters (the equipment cannot move after locking) to prevent the equipment from shifting due to collisions, ground vibrations, or other factors during the operation, ensuring the stability of subsequent image acquisition and registration (if the equipment shifts, it will cause misalignment of the dual-plate images, affecting the accuracy of the operation).

[0043] In one implementation, fine-tuning based on PID control mode can be performed as follows: Based on the position deviation parameters, the PID controller calculates the proportional, integral, and derivative terms, and generates a motor speed correction command according to the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd. This controls the servo motor speed to be dynamically adjusted within a preset range (e.g., 50-200 rpm), resulting in a real-time speed control signal. Based on this real-time speed control signal, the electric drive base is moved. The encoder monitors the rotation angle of the caster wheels in real time at a target resolution (e.g., 1000 lines / revolution). Combined with the ±0.1mm accuracy position feedback from the laser positioning sensor, the residual position deviation is calculated to obtain position error data. When all dimensions of the position error data are less than or equal to a second threshold and the duration exceeds a target duration (e.g., 0.5 seconds), a spring damper is triggered to dampen the vibration, causing the electric mobile DSA sub-device to stop stably and generating a positioning completion signal.

[0044] S103: In the collaborative positioning state, control the suspended DSA sub-device and the mobile DSA sub-device to synchronously acquire surgical area image data and obtain main field image data and auxiliary field image data.

[0045] Here, in collaborative positioning mode, the core X-ray parameters of the two devices (such as tube voltage (kV), tube current (mA), exposure time, and detector resolution) have been uniformly calibrated through the collaborative control terminal to ensure consistent image brightness and clarity. Simply put, collaborative positioning mode means that the two sub-devices are aligned with the target, parameters are adjusted, and signals are connected, possessing all the conditions for synchronous operation. During collaborative operation, both sub-devices start acquisition simultaneously, avoiding image time differences. In implementation, the collaborative control terminal can synchronously send acquisition start commands to both DSA sub-devices, employing a millisecond-level synchronous triggering design. The commands are simultaneously delivered to both sub-devices via a unified communication link, ensuring that the X-ray tubes are exposed simultaneously, the detectors begin receiving image signals simultaneously, and the start time difference is less than the target value (e.g., ≤50ms, far below the frame interval of surgical images, and will not affect the doctor's judgment of real-time dynamic images).

[0046] In one implementation, after acquiring the main field-of-view image data and the auxiliary field-of-view image data, the main field-of-view image data and the auxiliary field-of-view image data can be fused to generate fused image data.

[0047] Here, when fusing the main field-of-view image data and the auxiliary field-of-view image data, the auxiliary field-of-view image data can be mapped to the main field-of-view image coordinate system of the suspended DSA sub-device, so that the fused image has both the key features of the main field-of-view image and the key features of the auxiliary field-of-view image.

[0048] Through this implementation method, the present invention can support dual-screen display of fused images of the main field of view and auxiliary field of view, as well as the original images. The main screen focuses on the fusion result, while the secondary screen supports switching. This reduces the number of steps doctors need to take to switch between screens, and can intuitively present the correlation of blood vessels in multiple locations, helping doctors to accurately determine the location of lesions and instruments, and improve the accuracy of surgery.

[0049] In one embodiment, fusing the main field-of-view image data and the auxiliary field-of-view image data to generate fused image data includes: calculating a spatial transformation matrix using the least squares method based on the main field-of-view image data and the auxiliary field-of-view image data; and mapping the auxiliary field-of-view image data to the main field-of-view image coordinate system of the suspended DSA sub-device based on the spatial transformation matrix to achieve image registration and obtain fused image data.

[0050] Here, by using a spatial transformation matrix to map the auxiliary field of view to the main field of view coordinate system, image registration with a registration error of ≤2mm can be achieved, meeting the accuracy requirements of dual-plate collaborative surgery, and solving the problem of image misalignment in traditional dual-device surgery, thus avoiding surgical errors caused by image deviation.

[0051] In specific implementation, based on the main field-of-view image data and the auxiliary field-of-view image data, the spatial transformation matrix is ​​calculated using the least squares method, including: extracting vascular feature points in the main field-of-view image data and the auxiliary field-of-view image data using an edge detection algorithm; matching the vascular feature points in the main field-of-view image data and the auxiliary field-of-view image data to determine feature point pairs, and removing abnormal feature point pairs with matching errors greater than a set threshold (e.g., 5mm) to obtain a set of effective feature point pairs; constructing a least squares objective function based on the set of effective feature point pairs, and iteratively calculating and solving the rotation matrix and translation vector based on the least squares objective function to minimize the sum of the squared Euclidean distances between the feature points corresponding to the auxiliary field-of-view image data and the feature points corresponding to the main field-of-view image data after rotation and translation transformation, thereby obtaining the spatial transformation matrix.

[0052] Here, edge detection combined with outlier removal improves the effectiveness of feature point matching and ensures accurate calculation of the spatial transformation matrix. Iteratively solving for the rotation and translation vectors further reduces registration errors, providing reliable image support for high-precision surgery.

[0053] Here, based on the spatial transformation matrix, the auxiliary field-of-view image data is mapped to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data. This includes: based on the spatial transformation matrix, performing coordinate transformation on the coordinates of each pixel coordinate of the auxiliary field-of-view image data, and performing pixel-level superposition of the transformed auxiliary field-of-view image data and the main field-of-view image data to generate the fused image data; wherein, a weighted fusion method is used when performing the pixel-level superposition, and the weight of the main field-of-view image data in the fused image data is greater than the weight of the auxiliary field-of-view image data.

[0054] Here, a pixel-level fusion scheme employs a weighted fusion method to highlight the importance of the primary field of view image, balancing the clarity of the core area with the reference value of auxiliary areas. Pixel-level overlay enables seamless image fusion, eliminating the need for surgeons to switch between multiple images and mentally fill in the gaps, thus improving surgical efficiency.

[0055] In one embodiment, the specific implementation process of extracting vascular feature points from the main field-of-view image data and the auxiliary field-of-view image data using an edge detection algorithm may include: performing grayscale processing on the main field-of-view image data and noise suppression using a Gaussian filter to obtain a preprocessed main field-of-view image; applying the Canny operator to the preprocessed main field-of-view image for edge detection, performing dual-threshold edge extraction by setting high and low thresholds, identifying vascular edge contours, and extracting vascular bifurcation points and vascular inflection points as feature points on the vascular edge contours to obtain the main field-of-view image feature point set, wherein the main field-of-view image feature point set contains the two-dimensional pixel coordinates of the feature points; performing the same grayscale processing, Gaussian filtering, and Canny edge detection process on the auxiliary field-of-view image data acquired by the mobile DSA sub-device to extract vascular bifurcation points and vascular inflection points in the auxiliary field of view to obtain the auxiliary field-of-view image feature point set.

[0056] S104: Display images based on the main field-of-view image data and the auxiliary field-of-view image data.

[0057] In practical implementation, the fused image data, along with the primary and secondary field-of-view image data, can be output to a dual-screen display. For example, the fused image corresponding to the fused image data can be displayed on the primary screen, while the primary field-of-view image corresponding to the primary field-of-view image data and / or the secondary field-of-view image corresponding to the secondary field-of-view image data can be displayed on the secondary screen. Here, the secondary screen can support switching and synchronous display of the primary and secondary field-of-view images. For instance, surgical personnel can switch between displaying the primary field-of-view image or the secondary field-of-view image, or both simultaneously, as needed. When only the primary or secondary field-of-view image is displayed on the secondary screen, it is displayed in full screen. When both are displayed simultaneously on the secondary screen, they can be displayed separately in a left-right or top-bottom arrangement.

[0058] In one implementation, the surgical procedure can switch between dual-panel and single-panel modes. When the surgical staff confirms that dual-panel mode is no longer needed and the operating room space currently occupied by the mobile DSA sub-device needs to be freed up, a single-panel mode switching command can be triggered via the collaborative control terminal. In response to this command, the mobile DSA sub-device unlocks the omnidirectional wheels of its drive base and moves out of the operating room along a preset path. After confirming that the mobile DSA sub-device has moved out of the operating room, the suspended DSA sub-device independently performs image acquisition tasks.

[0059] Here, in single-board mode, the mobile DSA sub-device is automatically moved out of the operating room, freeing up floor space and improving surgical safety. Furthermore, this embodiment eliminates the need for manual equipment handling, shortening mode switching time and increasing operating room turnover efficiency.

[0060] Optionally, when entering single-board mode, the suspended DSA sub-device is controlled to independently perform the image acquisition task for single-board surgery. In this mode, images of the surgical area are acquired in real time and output to the main screen of the dual-screen display for display. That is, in single-board mode, images independently acquired by the suspended DSA sub-device can be switched to the main screen of the dual-screen display for display.

[0061] In one embodiment, a cross-operating room transfer command can also be issued to the mobile DSA sub-device. When the cross-operating room transfer command is received, the process can further include: obtaining preset movement path data from the current operating room to the target operating room from the path planning server based on the target operating room number in the cross-operating room transfer command. The preset movement path data includes a sequence of path node coordinates and turning angle parameters to obtain navigation path information; based on the navigation path information, controlling the mobile DSA sub-device to unlock its base wheels and move autonomously along the preset movement path at a preset movement speed (e.g., 0.3 m / s). The device uses a corridor obstacle avoidance sensor to detect obstacles in front in real time. When a pedestrian or obstacle is detected to be less than a set distance (e.g., 2 meters), the device automatically decelerates to the minimum speed (e.g., 0.1 m / s) or stops and waits to obtain an obstacle avoidance movement trajectory; when the mobile DSA sub-device reaches the door of the target operating room based on the obstacle avoidance movement trajectory, it sends an arrival notification signal to the medical staff in the target operating room through the collaborative control terminal and locks the base wheels to complete the cross-room transfer.

[0062] like Figure 2 The diagram shown is a schematic diagram of the deployment of a device for realizing dual-image collaboration in an operating room, as provided in an embodiment of this disclosure. Figure 3 As shown, an apparatus for realizing dual-image collaboration in an operating room, provided in an embodiment of this disclosure, includes: The collaborative control terminal 21 is used to acquire surgical type information, select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgical type information, and control the suspended DSA sub-device and the mobile DSA sub-device based on the target DSA mode. The suspended DSA sub-device 22 includes a suspended C-arm 221, which is placed above the operating table at the main scanning position and acquires main field of view image data under the control of the collaborative control terminal. The mobile DSA sub-device 23 includes a drive base 231 and a mobile C-arm 232, which is used to move to an auxiliary scanning position on the side of the operating table under the control of the collaborative control terminal, and to acquire auxiliary visual field image data.

[0063] Optionally, the suspended DSA sub-device also includes a laser positioning sensor 222; the laser positioning sensor 222 is used to collect the current position coordinates of the mobile DSA sub-device in real time for positioning purposes.

[0064] Optionally, it also includes: a dual-screen display 24, including a main screen 241 and a secondary screen 242, for receiving fused image data as well as the main field-of-view image data and the auxiliary field-of-view image data, displaying the fused image data on the main screen, displaying the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data on the secondary screen, and supporting the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image on the secondary screen.

[0065] Optionally, it may also include a ring track mounting structure, allowing the suspended DSA sub-device to move along the ring track to the main scanning position.

[0066] Optionally, the drive base includes: The base frame is used to support the movable C-arm; Four sets of casters are fixed to the bottom of the four corners of the base frame. Each set of casters includes a rubber wheel body and an electromagnetic locking mechanism. After receiving a locking command, the electromagnetic locking mechanism locks the wheel set by attracting the brake pad with an electromagnet. The servo motor assembly includes four independently controlled servo motors. Each servo motor is connected to a corresponding omnidirectional wheel through a gear transmission mechanism. It is used to receive the speed correction command output by the PID-fuzzy composite control module and drive the omnidirectional wheel to rotate dynamically at a speed of 50-200 rpm, thereby realizing the precise movement of the electric mobile DSA sub-device. A spring damper is disposed between the base frame and the movable C-arm, and is used to dampen and reduce vibration when the electrically movable DSA sub-equipment reaches the target position, thereby suppressing inertial vibration.

[0067] like Figure 4 As shown, this disclosure also provides a control device 400 for realizing dual-image collaboration in an operating room. This control device can be deployed on a collaborative control terminal and includes: The acquisition module 41 is used to acquire surgery type information and select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgery type information. The multiple DSA modes include a dual-plate collaborative mode and a single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography. Control module 42 is used to, after determining that the target DSA mode is the dual-plate collaborative mode, control the suspended DSA sub-device to be placed in the main scanning position above the operating table, and simultaneously control the mobile DSA sub-device to move to the auxiliary scanning position on the side of the operating table via the drive base, entering a collaborative positioning state; in the collaborative positioning state, control the suspended DSA sub-device and the mobile DSA sub-device to synchronously acquire surgical area image data, and obtain main field image data and auxiliary field image data; Display module 43 is used to display images based on the main field-of-view image data and the auxiliary field-of-view image data.

[0068] Optionally, after acquiring the main field-of-view image data and the auxiliary field-of-view image data, the control module 42 is further configured to: fuse the main field-of-view image data and the auxiliary field-of-view image data to generate fused image data; output the fused image data, the main field-of-view image data, and the auxiliary field-of-view image data to a dual-screen display; the display module 43 is specifically configured to: display the fused image corresponding to the fused image data on the main screen, display the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data on the secondary screen, and support the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image on the secondary screen.

[0069] Optionally, when the control module 42 fuses the main field-of-view image data and the auxiliary field-of-view image data to generate fused image data, it specifically performs the following steps: based on the main field-of-view image data and the auxiliary field-of-view image data, it calculates a spatial transformation matrix using the least squares method; based on the spatial transformation matrix, it maps the auxiliary field-of-view image data to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data.

[0070] Optionally, when the control module 42 calculates the spatial transformation matrix using the least squares method based on the main field-of-view image data and the auxiliary field-of-view image data, it specifically performs the following steps: Based on the main field-of-view image data and the auxiliary field-of-view image data, it extracts vascular feature points from the main field-of-view image data and the auxiliary field-of-view image data using an edge detection algorithm; it matches the vascular feature points in the main field-of-view image data and the auxiliary field-of-view image data to determine feature point pairs, and removes abnormal feature point pairs with matching errors greater than a set threshold, obtaining a set of effective feature point pairs; based on the set of effective feature point pairs, it constructs a least squares objective function, and iteratively calculates and solves the rotation matrix and translation vector based on the least squares objective function, minimizing the sum of the squared Euclidean distances between the feature points corresponding to the auxiliary field-of-view image data and the feature points corresponding to the main field-of-view image data after rotation and translation transformation, thus obtaining the spatial transformation matrix.

[0071] Optionally, when the control module 42 maps the auxiliary field-of-view image data to the main field-of-view image coordinate system of the suspended DSA sub-device based on the spatial transformation matrix to achieve image registration and obtain fused image data, it specifically performs the following: based on the spatial transformation matrix, it performs coordinate transformation on the coordinates of each pixel coordinate of the auxiliary field-of-view image data, and performs pixel-level superposition of the transformed auxiliary field-of-view image data and the main field-of-view image data to generate the fused image data; wherein, a weighted fusion method is used when performing the pixel-level superposition, and the weight of the main field-of-view image data in the fused image data is greater than the weight of the auxiliary field-of-view image data.

[0072] Optionally, the mobile DSA sub-device is equipped with a laser positioning sensor; when the control module 42 controls the mobile DSA sub-device to move to the auxiliary scanning position on the side of the operating table via the drive base, it is specifically used to: collect the current position coordinates of the mobile DSA sub-device in real time through the laser positioning sensor, calculate the three-dimensional deviation between the current position and the target position, and obtain the position deviation parameter; when the position deviation parameter indicates that any dimension deviation is greater than a first deviation threshold, control the servo motor to drive the universal wheel assembly of the drive base to move closer; when the position deviation parameter indicates that all dimension deviations are less than or equal to the first deviation threshold and at least one dimension deviation is greater than a second deviation threshold, switch to the proportional-integral-derivative (PID) control mode for fine adjustment of the movement; after positioning is completed, lock the base wheel assembly of the mobile DSA sub-device.

[0073] Optionally, the control module 42 is further configured to: in response to a single-board mode switching command, control the mobile DSA sub-device to unlock the universal wheel assembly of the drive base and move out of the operating room along a preset movement path; after confirming that the mobile DSA sub-device has moved out of the operating room, control the suspended DSA sub-device to independently perform image acquisition tasks.

[0074] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0075] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0076] Based on the same technical concept, this disclosure also provides an electronic device 500, referring to... Figure 5 The diagram shown is a schematic representation of the structure of an electronic device according to an exemplary embodiment of this disclosure, comprising: The processor 510, memory 520, and bus 530 are included. The memory 520 is used to store execution instructions and includes main memory 521 and external memory 522. The main memory 521, also known as internal memory, is used to temporarily store the operation data in the processor 510 and the data exchanged with external memory 522 such as hard disk. The processor 510 exchanges data with external memory 522 through main memory 521.

[0077] In this embodiment, the memory 520 is specifically used to store application code that executes the scheme of this disclosure, and its execution is controlled by the processor 510. That is, when the electronic device 500 is running, the processor 510 communicates with the memory 520 through the bus 530, or the processor 510 communicates with the memory 520 through other means, so that the processor 510 executes the application code stored in the memory 520, and then executes the steps of the method for realizing dual-image collaboration in the operating room as described in any of the foregoing embodiments.

[0078] The memory 520 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0079] Processor 510 may be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0080] It is understood that the structures illustrated in the embodiments of this disclosure do not constitute a specific limitation on the electronic device 500. In other embodiments of this disclosure, the electronic device 500 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0081] This disclosure also provides a computer-readable storage medium including instructions stored thereon, wherein, when executed by a processor, the instructions perform the method for implementing dual-image collaboration in an operating room as described in any of the preceding embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0082] This disclosure also provides a computer program product storing a computer program. When the computer program is run by a processor, it executes the steps of the method for realizing dual-image collaboration in the operating room provided in any of the above embodiments of this disclosure. For details, please refer to the above method embodiments, which will not be repeated here.

[0083] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium, which can be a volatile or non-volatile computer-readable storage medium. In another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0084] Furthermore, embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0085] The processing and logic flows described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flows can also be executed by dedicated logic circuits—such as field-programmable gate arrays (FPGAs) or application-specific integrated circuits (ASICs), and the device can also be implemented as dedicated logic circuits.

[0086] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device such as a Universal Serial Bus (USB) flash drive, to name a few.

[0087] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0088] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0089] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0090] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0091] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for achieving dual-image collaboration in an operating room, characterized in that, include: Obtain surgery type information, and select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgery type information. The multiple DSA modes include dual-plate collaborative mode and single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography. The mobile DSA sub-device is equipped with a laser positioning sensor. After determining that the target DSA mode is the dual-plate collaborative mode, the suspended DSA sub-device is positioned above the operating table as the main scanning position, while the mobile DSA sub-device is moved to the auxiliary scanning position on the side of the operating table via the drive base, entering the collaborative positioning state. In the cooperative positioning state, the X-ray parameters of the suspended DSA sub-device and the mobile DSA sub-device are calibrated, and the suspended DSA sub-device and the mobile DSA sub-device are controlled to synchronously acquire surgical area image data to obtain main field image data and auxiliary field image data; Image display is performed based on the main field-of-view image data and the auxiliary field-of-view image data; The control of the mobile DSA sub-device to move to an auxiliary scanning position on the side of the operating table via a drive base includes: The current position coordinates of the mobile DSA sub-device are collected in real time by the laser positioning sensor, and the three-dimensional deviation between the current position and the target position is calculated to obtain the position deviation parameter. When the position deviation parameter indicates that any dimension deviation is greater than the first deviation threshold, the servo motor is controlled to drive the universal wheel group of the drive base to move closer. When the position deviation parameter indicates that all dimension deviations are less than or equal to the first deviation threshold and at least one dimension deviation is greater than the second deviation threshold, the proportional-integral-derivative (PID) control mode is switched to perform fine adjustment of the movement. After positioning is completed, lock the base wheel assembly of the mobile DSA sub-device.

2. The method according to claim 1, characterized in that, After acquiring the primary field-of-view image data and the secondary field-of-view image data, the following is also included: The main field-of-view image data and the auxiliary field-of-view image data are fused to generate fused image data; The image display based on the main field-of-view image data and the auxiliary field-of-view image data includes: The fused image data, the main field-of-view image data, and the auxiliary field-of-view image data are output to a dual-screen display. The fused image corresponding to the fused image data is displayed on the main screen, and the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data are displayed on the secondary screen. The secondary screen supports the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image.

3. The method according to claim 2, characterized in that, The primary field-of-view image data and the secondary field-of-view image data are fused to generate fused image data, including: Based on the main field-of-view image data and the auxiliary field-of-view image data, the spatial transformation matrix is ​​calculated using the least squares method; Based on the spatial transformation matrix, the auxiliary field-of-view image data is mapped to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data.

4. The method according to claim 3, characterized in that, Based on the primary field-of-view image data and the secondary field-of-view image data, the spatial transformation matrix is ​​calculated using the least squares method, including: Based on the main field of view image data and the auxiliary field of view image data, vascular feature points in the main field of view image data and the auxiliary field of view image data are extracted by an edge detection algorithm; The vascular feature points in the main field of view image data and the auxiliary field of view image data are matched to determine feature point pairs, and abnormal feature point pairs with matching errors greater than a set threshold are removed to obtain a set of effective feature point pairs. Based on the set of effective feature point pairs, a least squares objective function is constructed. Based on the least squares objective function, the rotation matrix and translation vector are iteratively calculated to minimize the sum of squared Euclidean distances between the feature points corresponding to the auxiliary field of view image data and the feature points corresponding to the main field of view image data after rotation and translation transformation, thus obtaining the spatial transformation matrix.

5. The method according to claim 4, characterized in that, Based on the spatial transformation matrix, the auxiliary field-of-view image data is mapped to the main field-of-view image coordinate system of the suspended DSA sub-device to achieve image registration and obtain fused image data, including: Based on the spatial transformation matrix, coordinate transformation is performed on the coordinates of each pixel in the auxiliary field of view image data. The transformed auxiliary field of view image data is then superimposed with the main field of view image data at the pixel level to generate the fused image data. The pixel-level superposition is performed using a weighted fusion method, where the weight of the main field of view image data in the fused image data is greater than the weight of the auxiliary field of view image data.

6. The method according to claim 1, characterized in that, The method further includes: In response to the single-board mode switching command, the mobile DSA sub-device is controlled to unlock the universal wheel assembly of the drive base and move out of the operating room along a preset movement path; After confirming that the mobile DSA sub-device has moved out of the operating room, the suspended DSA sub-device is controlled to independently perform the image acquisition task.

7. A device for realizing dual-image collaboration in an operating room, characterized in that, include: A collaborative control terminal is used to acquire surgical type information, select a target DSA mode from multiple digital subtraction angiography (DSA) modes based on the surgical type information, and control a suspended DSA sub-device and a mobile DSA sub-device based on the target DSA mode. The multiple DSA modes include a dual-plate collaborative mode and a single-plate mode. The dual-plate collaborative mode uses a suspended DSA sub-device and a mobile DSA sub-device for collaborative angiography. The suspended DSA sub-device includes a suspended C-arm, which is placed above the operating table in the main scanning position and calibrates X-ray parameters and acquires main field-of-view image data under the control of the collaborative control terminal. The mobile DSA sub-device includes a drive base, a laser positioning sensor, and a mobile C-arm, which is used to move to an auxiliary scanning position on the side of the operating table under the control of the collaborative control terminal, calibrate X-ray parameters, and acquire auxiliary field-of-view image data. The auxiliary scanning position, which is moved to the side of the operating table via a drive base, includes: The current position coordinates of the mobile DSA sub-device are collected in real time by the laser positioning sensor, and the three-dimensional deviation between the current position and the target position is calculated to obtain the position deviation parameter. When the position deviation parameter indicates that any dimension deviation is greater than the first deviation threshold, the servo motor is controlled to drive the universal wheel group of the drive base to move closer. When the position deviation parameter indicates that all dimension deviations are less than or equal to the first deviation threshold and at least one dimension deviation is greater than the second deviation threshold, the proportional-integral-derivative (PID) control mode is switched to perform fine adjustment of the movement. After positioning is completed, lock the base wheel assembly of the mobile DSA sub-device.

8. The apparatus according to claim 7, characterized in that, The suspended DSA sub-equipment also includes a laser positioning sensor; The laser positioning sensor is used to collect the current position coordinates of the mobile DSA sub-device in real time for positioning purposes.

9. The apparatus according to claim 7, characterized in that, Also includes: A dual-screen display, including a main screen and a secondary screen, is used to receive fused image data as well as the main field-of-view image data and the auxiliary field-of-view image data, display the fused image data on the main screen, display the main field-of-view image corresponding to the main field-of-view image data and / or the auxiliary field-of-view image corresponding to the auxiliary field-of-view image data on the secondary screen, and support the switching and synchronous display of the main field-of-view image and the auxiliary field-of-view image on the secondary screen.

Images