An imaging device for dynamic motion tracking

Abstract

The present invention relates to the field of medical imaging technology, and discloses an imaging device for dynamic motion tracking, comprising: a motion capture mechanism, a motion control mechanism, and an imaging mechanism; the motion capture mechanism is used to capture the real-time motion coordinates of a moving part in a three-dimensional coordinate system; the motion control mechanism is used to control the imaging mechanism to follow the moving part in a synchronous back-and-forth motion based on the real-time motion coordinates captured by the motion capture mechanism, so that the imaging mechanism can capture the moving part; and the imaging mechanism is used to capture the moving part in real time. The imaging device has the advantage of being able to continuously track and capture movements with large amplitudes, capture the real-time position of the movement, and thus capture the entire dynamic motion process.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and in particular to the field of motion tracking medical imaging technology, and specifically to an imaging device used for dynamic motion tracking. Background Art

[0002] Medical imaging devices are increasingly used in outpatient clinics and surgeries to image the human body and identify lesions. However, existing medical imaging devices generally only capture images of stationary subjects. This makes it difficult to capture images of subjects with motion disorders.

[0003] For example, when a knee joint experiences a movement disorder, existing medical imaging equipment can only capture a momentary, static image. Because the knee joint's movement disorder can only be detected when it's in constant motion, static images are inadequate. In this case, the doctor's sole reliance on observation and judgment is the doctor's experience, which requires a high level of expertise, is time-consuming and labor-intensive, and is highly likely to result in inaccurate judgments.

[0004] "CN102065770B—X-ray CT apparatus" discloses an X-ray CT apparatus that can effectively set imaging conditions when imaging periodically moving organs such as the heart. Specifically, the apparatus comprises: an X-ray source that irradiates X-rays; an X-ray detector that is arranged opposite to the X-ray source across a subject and detects the amount of X-rays that have passed through the subject; a stand that carries the X-ray source and the X-ray detector and can rotate around the subject; a bed that can move while carrying the subject; a control device that controls the X-ray source, the X-ray detector, the stand, and the bed; and a periodic motion measuring device. It measures the periodic motion of the subject; an image processing device, which generates a reconstructed image of the subject at any phase of the periodic motion based on the data of the X-ray amount and the data of the periodic motion; a display device, which displays the reconstructed image; and an imaging condition calculation mechanism, which calculates the period of the periodic motion based on the data of the periodic motion, and calculates the imaging conditions using the ratio of the time resolution of the reconstructed image to the period, that is, the time resolution ratio, as an indicator. The solution disclosed in the above-mentioned prior art is mainly used for the periodic motion of the heart beat, and cannot be used for capturing movements with relatively large amplitudes, such as the knee joint in the above-mentioned example.

[0005] In summary, in the imaging devices of the prior art, it is impossible to continuously track and shoot movements with large amplitudes to quickly discover movement disorders. Summary of the Invention

[0006] In response to the above problems, the purpose of the present invention is to provide an imaging device for dynamic motion tracking, which has the advantage of being able to continuously track and shoot movements with large amplitudes, capture the real-time position of the movement, and capture the entire dynamic motion process.

[0007] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0008] An imaging device for dynamic motion tracking, comprising: a motion capture mechanism, a motion control mechanism, and an imaging mechanism;

[0009] The motion capture mechanism is used to capture the real-time motion coordinates of the moving part in a three-dimensional coordinate system;

[0010] The motion control mechanism is used to control the imaging mechanism to follow the moving part to perform synchronous reciprocating motion according to the real-time motion coordinates captured by the motion capture mechanism, so that the imaging mechanism can capture the moving part;

[0011] The imaging mechanism is used to take real-time photos of the moving parts.

[0012] Furthermore, the motion capture mechanism specifically includes: a tracking tag, a tag camera;

[0013] The tracking tag is used to be attached to the exercise part to mark the position of the exercise part;

[0014] The tag camera is used to capture the position of the tracking tag in real time, and then derive the real-time motion coordinates of the moving part in the three-dimensional coordinate system.

[0015] Furthermore, the tracking tag is specifically: an infrared tag;

[0016] Furthermore, the tag camera is specifically an infrared camera.

[0017] Furthermore, the motion control mechanism is specifically: a motion motor;

[0018] The motion motor is used to control the imaging mechanism to perform reciprocating motion on the X-axis, the Y-axis, and the Z-axis, so that the imaging mechanism performs synchronous reciprocating motion following the motion part.

[0019] Furthermore, the imaging mechanism specifically includes: a front imaging unit and a side imaging unit;

[0020] The front imaging unit and the side imaging unit are in an orthogonal state, and simultaneously capture dynamic images of the front and side surfaces of the moving part.

[0021] Furthermore, the front imaging unit includes a front transmitting end and a front receiving end, wherein the front transmitting end and the front receiving end are arranged opposite to each other, and the front transmitting end and the front receiving end are kept horizontal during movement to ensure that the rays emitted by the front transmitting end are received by the front receiving end;

[0022] Furthermore, the side imaging unit includes a side emitting end and a side receiving end. The side emitting end and the side receiving end are arranged opposite to each other. During movement, the side emitting end and the side receiving end are kept horizontal to ensure that the rays emitted by the side emitting end are received by the side receiving end.

[0023] Furthermore, the motion motor specifically includes: an X-axis motion motor, a Y-axis motion motor and a Z-axis motion motor;

[0024] The X-axis moving motor is used to control the side transmitting end and the side receiving end to move back and forth on the X-axis;

[0025] The Y-axis moving motor is used to control the front transmitting end and the front receiving end to move back and forth on the Y-axis;

[0026] The Z-axis moving motor is used to control the front transmitting end and the front receiving end, as well as the side transmitting end and the side receiving end to perform reciprocating motion on the Z-axis.

[0027] Furthermore, the transmitting end including the front transmitting end and the side transmitting end has a pulse mode; the receiving end including the front receiving end and the side receiving end is compatible with a dynamic mode.

[0028] Furthermore, a dynamic image acquisition mechanism is used to acquire dynamic images of the moving parts captured by the imaging mechanism.

[0029] Furthermore, the three-dimensional reconstruction mechanism is used to obtain the three-dimensional motion image of the moving part based on the front and side dynamic images collected by the dynamic image collection mechanism in combination with the three-dimensional reconstruction technology.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) An imaging device for dynamic motion tracking is provided, comprising: a motion capture mechanism, a motion control mechanism, and an imaging mechanism; the motion capture mechanism is used to capture the real-time motion coordinates of a moving part in a three-dimensional coordinate system; the motion control mechanism is used to control the imaging mechanism to follow the moving part to perform synchronous back-and-forth motion according to the real-time motion coordinates captured by the motion capture mechanism, so that the imaging mechanism can capture the moving part; the imaging mechanism is used to capture the moving part in real time. The above technical solution can capture the image of the dynamic and continuous transformation of the moving part, capture the real-time position of the moving part, and feed it back to the imaging mechanism. The transmitting end and the receiving end of the imaging mechanism move in real time with the moving part, so as to facilitate capturing the entire dynamic process.

[0032] (2) By setting up two imaging units, including a front imaging unit and a side imaging unit, it is possible to simultaneously obtain front and side images of the moving part. Furthermore, a three-dimensional reconstruction technology can be used to reconstruct a three-dimensional image of the moving part. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is an overall structural diagram of an imaging device used for dynamic motion tracking according to the present invention. DETAILED DESCRIPTION

[0034] Unless otherwise defined, technical or scientific terms used in this specification and claims shall have the same general meaning as understood by persons having ordinary skills in the technical field to which the present invention belongs.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0036] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that in the specific description of these embodiments, for the sake of brevity, this specification cannot provide a detailed description of all features of the actual embodiments.

[0039] Example

[0040] like Figure 1 As shown, the present invention provides an imaging device for dynamic motion tracking, comprising: a motion capture mechanism, a motion control mechanism, and an imaging mechanism;

[0041] The motion capture mechanism is used to capture the real-time motion coordinates of the moving part in a three-dimensional coordinate system; the motion control mechanism is used to control the imaging mechanism to follow the moving part to perform synchronous back-and-forth motion based on the real-time motion coordinates captured by the motion capture mechanism, so that the imaging mechanism can capture the moving part; the imaging mechanism is used to capture the moving part in real time.

[0042] Specifically, in this embodiment, first, a motion capture mechanism captures the specific position of the moving part in real time. This specific position is then used to calculate the position of each coordinate in a three-dimensional coordinate system, representing the coordinate information of the moving part relative to the imaging device. Secondly, after acquiring the coordinate information of the moving part, a motion control mechanism controls the imaging mechanism to follow the moving part based on this coordinate information, ensuring that the imaging mechanism can always capture the moving part. Finally, the imaging mechanism continuously captures the moving part while it is in motion.

[0043] The moving part can be any moving part of a human body or even an animal. A typical example is the movement of a human joint, and the imaging device of the present invention can track the movement of the joint.

[0044] In one embodiment, the motion capture mechanism specifically includes: a tracking tag and a tag camera; the tracking tag is used to be attached to the moving part to mark the position of the moving part; the tag camera is used to capture the position of the tracking tag in real time, and then derive the real-time motion coordinates of the moving part in the three-dimensional coordinate system.

[0045] By attaching a tracking tag to the moving part, when the position of the tracking tag is captured, the position of the moving part is also captured. The tracking tag can be captured by using a camera.

[0046] In a preferred embodiment, the tracking tag is specifically an infrared tag, and the tag camera is specifically an infrared camera. Of course, other optical imaging devices can also be used to track the moving parts.

[0047] In one embodiment, the motion control mechanism is specifically: a motion motor; the motion motor is used to control the imaging mechanism to perform reciprocating motion on the X-axis, Y-axis, and Z-axis, so that the imaging mechanism performs synchronous reciprocating motion following the moving part.

[0048] Furthermore, the imaging mechanism specifically includes: a front imaging unit and a side imaging unit;

[0049] The front imaging unit and the side imaging unit are in an orthogonal state, and simultaneously capture dynamic images of the front and side of the moving part, so as to facilitate subsequent calculation of the three-dimensional image of the moving part through three-dimensional reconstruction technology based on the front and side images.

[0050] Furthermore, the front imaging unit includes a front transmitting end and a front receiving end, and the front transmitting end is arranged relative to the front receiving end. The front transmitting end and the front receiving end are kept horizontal during movement to ensure that the rays emitted by the front transmitting end are received by the front receiving end; the side imaging unit includes a side transmitting end and a side receiving end, and the side transmitting end is arranged relative to the side receiving end. The side transmitting end and the side receiving end are kept horizontal during movement to ensure that the rays emitted by the side transmitting end are received by the side receiving end.

[0051] Furthermore, in order to realize arbitrary movement of the imaging mechanism in the three directions of X, Y, and Z, the motion motor specifically includes: an X-axis moving motor, a Y-axis moving motor, and a Z-axis moving motor; the X-axis moving motor is used to control the side transmitting end and the side receiving end to move back and forth on the X-axis; the Y-axis moving motor is used to control the front transmitting end and the front receiving end to move back and forth on the Y-axis; the Z-axis moving motor is used to control the front transmitting end and the front receiving end, as well as the side transmitting end and the side receiving end to move back and forth on the Z-axis.

[0052] Furthermore, the transmitting end including the front transmitting end and the side transmitting end has a pulse mode; the receiving end including the front receiving end and the side receiving end is compatible with a dynamic mode.

[0053] Furthermore, the present invention also includes a dynamic image acquisition mechanism for acquiring dynamic images of the moving parts captured by the imaging mechanism, so as to facilitate subsequent output display and three-dimensional imaging.

[0054] Furthermore, the present invention also includes a three-dimensional reconstruction mechanism for acquiring a three-dimensional motion image of the moving part based on the front and side dynamic images collected by the dynamic image collection mechanism in combination with three-dimensional reconstruction technology.

[0055] Taking joints as an example, the specific workflow of the present invention is as follows:

[0056] (1) Attach infrared tracking tags near the joints;

[0057] (2) Using an infrared camera to capture the location of the tracking tag in real time;

[0058] (3) Use the real-time position of the tracking tag to calculate the position of the joint;

[0059] (4) Using the joint position, calculate the position of each coordinate of the joint in the three-dimensional coordinate axis (the position of the X, Y, and Z axes);

[0060] (5) controlling the motion motor on each coordinate axis in real time according to the coordinate position; wherein the X-axis motion motor is used to control the side transmitting end and the side receiving end to move back and forth on the X-axis; the Y-axis motion motor is used to control the front transmitting end and the front receiving end to move back and forth on the Y-axis; the Z-axis motion motor is used to control the front transmitting end and the front receiving end, as well as the side transmitting end and the side receiving end to move back and forth on the Z-axis;

[0061] (6) The motion motor controls the transmitter and receiver to move back and forth, tracking the joint position in real time;

[0062] (7) Using an orthogonal imaging mechanism and dynamic image acquisition equipment to simultaneously obtain dynamic images of the joint in the anteroposterior and lateral positions;

[0063] (8) The three-dimensional motion of the joint can be obtained by combining it with three-dimensional reconstruction technology.

[0064] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An imaging device for dynamic motion tracking, characterized in that: include: Motion capture mechanisms, motion control mechanisms, and imaging mechanisms; The motion capture mechanism is used to capture the real-time motion coordinates of the moving part in a three-dimensional coordinate system; The motion control mechanism is used to control the imaging mechanism to follow the moving part to perform synchronous reciprocating motion according to the real-time motion coordinates captured by the motion capture mechanism, so that the imaging mechanism can capture the moving part; The imaging mechanism is used to take real-time photos of the moving parts; The motion control mechanism is specifically a motion motor; the motion motor is used to control the imaging mechanism to perform reciprocating motion on the X-axis, Y-axis, and Z-axis, so that the imaging mechanism performs synchronous reciprocating motion with the moving part; The imaging mechanism specifically includes: a front imaging unit and a side imaging unit; the front imaging unit and the side imaging unit are in an orthogonal state, and simultaneously capture dynamic images of the front and side of the moving part; The front imaging unit includes a front transmitting end and a front receiving end; the side imaging unit includes a side transmitting end and a side receiving end; The motion motor specifically includes: an X-axis moving motor, a Y-axis moving motor and a Z-axis moving motor; the X-axis moving motor is used to control the side transmitting end and the side receiving end to move back and forth on the X-axis; the Y-axis moving motor is used to control the front transmitting end and the front receiving end to move back and forth on the Y-axis; the Z-axis moving motor is used to control the front transmitting end and the front receiving end, as well as the side transmitting end and the side receiving end to move back and forth on the Z-axis.

2. The imaging device for dynamic motion tracking according to claim 1, characterized in that: The motion capture mechanism specifically includes: a tracking tag and a tag camera; The tracking tag is used to be attached to the exercise part to mark the position of the exercise part; The tag camera is used to capture the position of the tracking tag in real time, and then derive the real-time motion coordinates of the moving part in the three-dimensional coordinate system.

3. The imaging device for dynamic motion tracking according to claim 2, characterized in that: Also includes: The tracking tag is specifically: an infrared tag; The tag camera is specifically an infrared camera.

4. The imaging device for dynamic motion tracking according to claim 1, wherein: Also includes: The front transmitting end and the front receiving end are arranged opposite to each other, and the front transmitting end and the front receiving end are kept horizontal during movement to ensure that the rays emitted by the front transmitting end are received by the front receiving end; The side emitting end and the side receiving end are arranged opposite to each other, and are kept level with each other during movement, so as to ensure that the rays emitted by the side emitting end are received by the side receiving end.

5. The imaging device for dynamic motion tracking according to claim 4, characterized in that: Also includes: The transmitting end including the front transmitting end and the side transmitting end has a pulse mode; The receiving end including the front receiving end and the side receiving end is compatible with the dynamic mode.

6. The imaging device for dynamic motion tracking according to claim 1, characterized in that: Also includes: The dynamic image acquisition mechanism is used to acquire the dynamic image of the moving part captured by the imaging mechanism.

7. The imaging device for dynamic motion tracking according to claim 6, characterized in that: Also includes: The three-dimensional reconstruction mechanism is used to obtain the three-dimensional motion image of the moving part based on the front and side dynamic images collected by the dynamic image collection mechanism in combination with the three-dimensional reconstruction technology.

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