Medical imaging device, deformation measurement method and system thereof, and storage medium

Abstract

The present invention provides a medical imaging device and a deformation measurement method and system, as well as a storage medium thereof. The method includes: calibrating at least one measurement point on a target component of the medical imaging device; obtaining a first vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a first physical state; obtaining a second vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a second physical state; obtaining an offset angle of the target component at the measurement point according to the first vector coordinate and the second vector coordinate; pre-compensating a target parameter of the target component based on the offset angle of the target component at the measurement point, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range. The present invention compensates the target parameter of the target component based on the offset angle, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range, thereby providing a compensation basis for the position deviation of a ray source device and a ray detection device from the source.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a medical imaging device and a deformation measurement method and system thereof, and a storage medium. Background Art

[0002] Medical X-ray imaging devices usually include a radiation source device, a radiation detection device, and a mechanical support structure (such as a C-arm), and the radiation source device and the radiation detection device are arranged on the mechanical support structure. In medical X-ray imaging devices, due to factors such as gravity or external vibration, the mechanical support structure will be deformed, so that the center of the radiation source device and the center of the radiation detection device form a position deviation, and the relative position and angle deviation of the radiation source device and the radiation detection device exceeds the set range, which leads to the inability to align the radiation source device and the radiation detection device, and ultimately affects the quality of imaging.

[0003] Usually, after an X-ray imaging device is integrated with an imaging function, the position deviation of the center of the ray source device and the center of the ray receiver can be directly obtained from the image. This method is simple and direct, and the results are accurate and reliable, but the time period is long and there are many restrictions, which is not conducive to rapid troubleshooting of the device in the early stage of integrating the imaging function. Another solution is to arrange a laser emitting device and a laser receiving device at the center of the ray source device and the center of the ray detection device respectively, and indirectly obtain the position deviation through the position change of the laser beam in the cooperation mode of the laser emitting device and the laser receiving device. This test method can be completed in the early stage of the device integrating the imaging function and has fewer restrictions, but the cost is high and is not conducive to promotion.

[0004] The ideal way is to reduce the position deviation of the radiation source device and the radiation detection device by reducing the deformation angle of the mechanical support structure. Although the above two schemes can obtain the position deviation between the center of the radiation source device and the center of the radiation detection device, it is difficult to obtain the deformation on the mechanical support structure link. Therefore, the above two schemes provide little reference significance for the ideal way. Summary of the invention

[0005] The present invention provides a medical imaging device and a deformation measurement method and a deformation measurement system and a storage medium thereof, aiming to reduce the position deviation of a radiation source device and a radiation detection device by reducing the deformation angle of a mechanical support structure.

[0006] To solve the above technical problems, based on the first aspect of the present invention, the present invention provides a deformation measurement method for a medical imaging device, which comprises:

[0007] calibrating at least one measurement point on a target component of the medical imaging device;

[0008] Acquire a first vector coordinate of the measuring point in a three-dimensional spatial coordinate system when the target component is in a first physical state;

[0009] Acquire a second vector coordinate of the measuring point in the three-dimensional spatial coordinate system when the target component is in a second physical state;

[0010] Obtaining an offset angle of the target component at the measuring point according to the first vector coordinates and the second vector coordinates;

[0011] The target parameter of the target component is pre-compensated based on the offset angle of the target component at the measuring point, so that the offset angle of the target component at the measuring point is reduced to a predetermined offset range.

[0012] Optionally, the target parameters include physical parameters of the target component, and / or the target parameters include posture parameters of the target component.

[0013] Optionally, the target component includes at least one of a base and a C-arm of the medical imaging device, wherein the C-arm is mounted on the base.

[0014] Optionally, when neither the radiation source device nor the radiation detection device of the medical imaging device is mounted on the C-shaped arm, the target component is in the first physical state; when at least one of the radiation source device and the radiation detection device is mounted on the C-shaped arm, the target component is in the second physical state;

[0015] Alternatively, when one of the radiation source device and the radiation detection device of the medical imaging equipment is mounted on the C-arm, the target component is in the first physical state; when both the radiation source device and the radiation detection device are mounted on the C-arm, the target component is in the second physical state.

[0016] Optionally, there are at least three measuring points on the target component.

[0017] Optionally, before acquiring the first vector coordinates, the deformation measurement method of the medical imaging device further includes: moving the target component to a predetermined posture within a spatial range.

[0018] Based on the second aspect of the present invention, the present invention further provides a deformation measurement system, which is applied to a medical imaging device, and the deformation measurement system comprises:

[0019] a calibration module configured to calibrate at least one measurement point on a target component of the medical imaging device;

[0020] an acquisition module, configured to acquire a first vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a first physical state, and to acquire a second vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a second physical state;

[0021] a calculation module, configured to obtain an offset angle of the target component at the measurement point according to the first vector coordinate and the second vector coordinate;

[0022] The compensation module is configured to pre-compensate a target parameter of the target component based on an offset angle of the target component at the measurement point, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range.

[0023] Based on the third aspect of the present invention, the present invention also provides a medical imaging device, which includes a base, a C-shaped arm, a radiation source device, a radiation detection device and the deformation measurement system as described above; the C-shaped arm is installed on the base; the radiation source device and the radiation detection device are respectively detachably installed at both ends of the C-shaped arm; the target component of the medical imaging device includes at least one of the base and the C-shaped arm.

[0024] Optionally, the medical imaging device further includes a medical robot, which is connected to the base and is used to drive the base to move within a spatial range.

[0025] Based on the fourth aspect of the present invention, the present invention further provides a storage medium, on which a readable and writable program is stored, and when the program is executed, the deformation measurement method as described above can be implemented.

[0026] In summary, in the medical imaging device and its deformation measurement method, deformation measurement system, and storage medium provided by the present invention, the method includes: calibrating at least one measurement point on the target component of the medical imaging device; obtaining the first vector coordinates of the measurement point in the three-dimensional spatial coordinate system when the target component is in a first physical state; obtaining the second vector coordinates of the measurement point in the three-dimensional spatial coordinate system when the target component is in a second physical state; obtaining the offset angle of the target component at the measurement point according to the first vector coordinates and the second vector coordinates; and pre-compensating the target parameters of the target component based on the offset angle of the target component at the measurement point, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range. The position deviation of the radiation source device and the radiation detection device is usually caused by the deformation of the target component after bearing weight. The present invention can obtain the offset angle of the measuring point after the target component bears weight through the first vector coordinate and the second vector coordinate, thereby obtaining the deformation angle of the target component at the measuring point, and compensates the target parameters of the target component based on the offset angle, so that the offset angle of the target component at the measuring point is reduced to within a predetermined offset range, thereby providing a compensation basis for the position deviation of the radiation source device and the radiation detection device from the root, thereby achieving the purpose of reducing the deformation angle of the target component to reduce the position deviation of the radiation source device and the radiation detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Those skilled in the art should understand that the drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0028] Figure 1 is a schematic diagram of a medical imaging device according to an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of a deformation measurement method of a medical imaging device according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of a C-arm in a first position according to an embodiment of the present invention;

[0031] Figure 4 is a schematic diagram of a C-arm in a second posture according to an embodiment of the present invention;

[0032] Figure 5 is a schematic diagram of a C-arm in a third position according to an embodiment of the present invention;

[0033] Figure 6 3 is a schematic diagram of a C-arm in a fourth position according to an embodiment of the present invention.

[0034] In the attached figure:

[0035] 10-base; 20-C-arm; 200-support arm; 30-radiation source device; 40-radiation detection device; 50-medical robot. DETAILED DESCRIPTION

[0036] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0037] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "the proximal end" and "the distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. In addition, as used in the present invention, an element disposed on another element generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements may be direct or indirect through an intermediate element, and cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element may be in any orientation such as inside, outside, above, below or on one side of another element, unless otherwise clearly indicated in the content. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Figure 1 FIG. 1 is a schematic diagram of a medical imaging device according to an embodiment of the present invention. Figure 1As shown, the medical imaging system generally includes a base 10, a radiation source device 30, a radiation detection device 40 and a C-shaped arm 20, wherein the C-shaped arm 20 is mounted on the base 10, and the radiation source device 30 and the radiation detection device 40 are detachably mounted at both ends of the C-shaped arm 20. Preferably, the C-shaped arm 20 includes two arms 200 that can be assembled to form the C-shaped arm 20, and the two arms 200 are relatively movably mounted on the base 10. The radiation source device 30 is mounted on one of the arms 200, and the radiation detection device 40 is mounted on the other arm 200, and the radiation source device 30 and the radiation detection device 40 can be moved closer to or farther from each other by the relative movement of the two arms 200, thereby adjusting the distance between the two.

[0039] Preferably, the medical imaging device further comprises a medical robot 50, which is connected to the base 10 and is used to drive the base 10 to move within a spatial range, thereby driving the C-arm 20 to move within a spatial range, including rotational movement and linear movement, so that the C-arm 20 has high flexibility and presents different postures to meet different clinical examination requirements. For example, the medical robot 50 can be a six-axis medical robot 50, whose ends are connected to the base 10.

[0040] It is understandable that the radiation source device 30 is a device capable of emitting X-rays, gamma rays or electron beams, etc., and the radiation detection device 40 is a device capable of receiving the radiation emitted by the radiation source device 30. Through the cooperation of the radiation source device 30 and the radiation detection device 40, medical examination or treatment operations can be achieved. In one embodiment, the radiation source device 30 emits X-rays, the radiation detection device 40 receives X-rays, and the medical imaging device is a digital subtraction angiography device (DSA).

[0041] After the radiation source device 30 and / or the radiation detection device 40 are installed on their respective corresponding arms 200, the C-arm 20 and the base 10 as mechanical support structures will produce a certain deformation, causing the radiation source device 30 and / or the radiation detection device 40 to deviate from the actual position. After the radiation source device 30 and the radiation detection device 40 are both installed on the C-arm 20, the position deviation between the two will greatly exceed the predetermined range, resulting in the inability to align the center of the radiation source device 30 and the center of the radiation detection device 40, ultimately affecting the imaging quality and hindering the doctor's clinical diagnosis.

[0042] In view of this, an embodiment of the present invention provides a medical imaging device and a deformation measurement method and a deformation measurement system, and a storage medium, which aim to reduce the position deviation of the radiation source device 30 and the radiation detection device 40 by reducing the deformation angle of the mechanical support structure.

[0043] The following is a detailed description of a medical imaging device and a deformation measurement method and a deformation measurement system thereof according to an embodiment of the present invention with reference to the accompanying drawings.

[0044] Figure 2 This is a deformation measurement method for a medical imaging device according to an embodiment of the present invention. Figure 2 As shown, this embodiment provides a deformation measurement method applied to the above-mentioned medical imaging device, and the deformation measurement method includes step S1: calibrating at least one measurement point on the target component of the medical imaging device. Usually, the measurement point is calibrated on the outer surface of the target component. Considering that the C-arm 20 and the base 10 serve as mechanical support structures for the radiation source device 30 and the radiation detection device 40, the target component here includes at least one of the C-arm 20 and the base 10, and further, the target component refers to at least one of the two arms 200 and the base 10.

[0045] The deformation measurement method includes step S2: selecting a point within the spatial range as the origin to establish a spatial three-dimensional coordinate system, and obtaining the first vector coordinates of the measurement point in the spatial three-dimensional coordinate system when the target component is in the first physical state, that is, when in the first processing state, the first vector coordinates formed by the coordinates of the origin and the measurement point. It should be noted that the X-axis, Y-axis and Z-axis in the spatial three-dimensional coordinate system are mutually related, but this embodiment does not limit the positional relationship between the X-axis, Y-axis and Z-axis and the horizontal plane or the direction of gravity. For example, the X-axis, Y-axis and Z-axis may all have an angle with the horizontal plane. In a specific embodiment, for example, the X-axis and Y-axis of the spatial three-dimensional coordinates may be parallel to the horizontal plane, and the Z-axis may be parallel to the direction of gravity.

[0046] Similar to step S2, the deformation measurement method includes step S3: acquiring a second vector coordinate of the measurement point in the three-dimensional spatial coordinate system when the target component is in a second physical state.

[0047] The deformation measurement method includes step S4: obtaining the offset angle of the target component at the measuring point according to the first vector coordinates and the second vector coordinates, that is, according to the first vector coordinates and the second vector coordinates, and according to the vector dot multiplication formula, the angle between the two vectors can be obtained, that is, the offset angle of the measuring point.

[0048] The deformation measurement method includes step S5: pre-compensating the target parameter of the target component based on the offset angle of the target component at the measuring point, so that the offset angle of the target component at the measuring point is reduced to within a predetermined offset range. In an ideal state, the offset angle between the target component and the measuring point is reduced to zero, and the second vector coordinate is equal to the first vector coordinate.

[0049] The target parameter includes at least one of the physical parameter and the posture parameter of the target component. Specifically, the physical parameter refers to the stiffness of the target component. The stiffness of the target component can be improved by changing the material of the target component, thereby improving the mechanical strength of the target component, thereby reducing the deformation angle of the target component after bearing the load; the posture parameter is also the position and posture of the target component. The position and posture of the target component can be pre-adjusted to compensate for the position deviation of the measuring point after the target component bears the load, thereby compensating for the offset angle of the measuring point, so that the offset angle does not exceed the predetermined offset angle range. The target component mainly bears the load to carry the ray source device 30 and / or the ray detection device 40, so that the target component will be deformed to a certain extent. The present invention can obtain the offset angle of the measuring point after the target component bears the load through the first vector coordinate and the second vector coordinate, thereby obtaining the deformation angle of the target component at the measuring point, and compensating the target parameter of the target component based on the offset angle, so that the offset angle of the target component at the measuring point is reduced to within the predetermined offset range, providing a compensation basis for the position deviation of the ray source device 30 and the ray detection device 40 from the root, and achieving the purpose of reducing the position deviation of the ray source device 30 and the ray detection device 40 by reducing the deformation angle of the target component.

[0050] In an implementation scenario, when neither the radiation source device 30 nor the radiation detection device 40 of the medical imaging device is installed on the C-arm 20, the target component is in the first physical state; when at least one of the radiation source device 30 and the radiation detection device 40 is installed on the C-arm 20, the target component is in the second physical state. Thus, after at least one of the radiation source device 30 and the radiation detection device 40 is installed on the C-arm 20, the deformation influence of the radiation source device 30 and / or the radiation detection device 40 on the C-arm 20 and the base 10 can be obtained, and the target parameters of the C-arm 20 and / or the base 10 are pre-compensated accordingly.

[0051] In another embodiment, when one of the radiation source device 30 and the radiation detection device 40 of the medical imaging device is installed on the C-arm 20, the target component is in the first physical state; when both the radiation source device 30 and the radiation detection device 40 are installed on the C-arm 20, the target component is in the second physical state. That is, after one of the radiation source device 30 or the radiation detection device 40 is installed on the C-arm 20, the other of the radiation source device 30 or the radiation detection device 40 is installed, thereby analyzing the deformation effect of such an implementation scenario on the C-arm 20 and the base 10, and pre-compensating the target parameters of the C-arm 20 and / or the base 10 accordingly.

[0052] Figure 3 is a schematic diagram of a C-arm in a first posture according to an embodiment of the present invention, Figure 4is a schematic diagram of a C-arm in a second posture according to an embodiment of the present invention, Figure 5 is a schematic diagram of a C-arm in a third position according to an embodiment of the present invention, Figure 6 FIG. 4 is a schematic diagram of a C-arm in a fourth position according to an embodiment of the present invention. Figures 3 to 6 Furthermore, before acquiring the first vector coordinate, the deformation measurement method of the medical imaging device further includes: moving the target component to a predetermined posture within a spatial range. Figure 3 The first posture can be understood as the opening of the C-shaped arm 20 is in the same direction as the vertical upward direction and the connecting line direction of the two ends of the C-shaped arm 20 is parallel to the horizontal direction. Figure 4 The second posture can be understood as the opening of the C-shaped arm 20 is in the same direction as the horizontal direction and the direction of the line connecting the two ends of the C-shaped arm 20 is parallel to the vertical direction. Figure 5 The third posture can be understood as the opening of the C-shaped arm 20 is in the same direction as the vertical downward direction and the connecting direction of the two ends of the C-shaped arm 20 is parallel to the horizontal direction. Figure 6 The fourth posture can be understood as the opening of the C-shaped arm 20 is in the same direction as the horizontal direction (horizontally to the left or horizontally to the right) and the direction of the line connecting the two ends of the C-shaped arm 20 is roughly in the same direction as the horizontal direction, thereby obtaining the deformation influence of the radiation source device 30 and / or the radiation detection device 40 on the C-shaped arm 20 and the base 10 in different postures. Generally, Figure 4 The demonstrated posture is a common posture of the C-arm 20 during medical examination. Further, the radiation source device 30 is at the top and the radiation detection device 40 is at the bottom, or the radiation detection device 40 is at the top and the radiation source device 30 is at the bottom. Regarding the implementation method of driving the C-arm 20 to be in different postures, the medical robot 50 can be used to drive the base 10 to move within the space, thereby driving the C-arm 20 to be in different postures.

[0053] Preferably, there are at least three measuring points on the target component. By increasing the number of measuring points, a more detailed deformation analysis can be performed on each position of the C-arm 20 and the base 10 after bearing weight. Preferably, at least three measuring points are evenly arranged along the extension direction of the target component. For the support arm 200, at least three measuring points are evenly distributed along the arc direction of the support arm 200. For the base 10, at least three measuring points are evenly distributed along the extension direction of the base 10. The extension direction of the base 10 is also the direction of relative movement of the two support arms 200. In addition, multiple measuring points can be centrally calibrated at a certain position (i.e., the region of interest) of the target component, so that the deformation angle of the region of interest of the target component can be analyzed based on the multiple centrally calibrated measuring points.

[0054] In a specific embodiment, the offset angle of the measuring point is obtained according to the first vector coordinate and the second vector coordinate. For example, the deformation angle of the target component at the measuring point can be directly obtained through a strain gauge or an angle sensor. Specifically, the strain gauge or angle sensor is set at the measuring point of the target component.

[0055] Based on the above deformation analysis method of medical imaging equipment, the present invention also provides a storage medium, on which a readable and writable program is stored, and when the program is executed, the deformation analysis method of medical imaging equipment as described above can be implemented. Specifically, the deformation analysis method of medical imaging equipment provided by the present invention can be compiled into a program or software and stored on the storage medium. In actual use, the program stored in the storage medium is used to execute each step of the deformation analysis method of medical imaging equipment. The storage medium can be integrated into the control system of the medical imaging equipment, or independently set in other hardware.

[0056] Based on the same inventive concept as the deformation analysis method of the medical imaging device, an embodiment of the present invention further provides a deformation measurement system, which is applied to a medical imaging device, and the deformation measurement system includes: a calibration module, which is configured to calibrate at least one measurement point on a target component of the medical imaging device; an acquisition module, which is configured to acquire a first vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a first physical state, and acquire a second vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a second physical state; a calculation module, which is configured to obtain an offset angle of the target component at the measurement point according to the first vector coordinate and the second vector coordinate; a compensation module, which is configured to pre-compensate a target parameter of the target component based on the offset angle of the target component at the measurement point, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range.

[0057] Further, the target component includes at least one of a base 10 and a C-shaped arm 20 of the medical imaging device, wherein the C-shaped arm 20 is mounted on the base 10 .

[0058] Further, the target parameters include physical parameters of the target component, and / or the target parameters include posture parameters of the target component.

[0059] Further, when neither the radiation source device 30 nor the radiation detection device 40 of the medical imaging equipment is installed on the C-arm 20, the target component is in the first physical state; when at least one of the radiation source device 30 and the radiation detection device 40 is installed on the C-arm 20, the target component is in the second physical state; or, when one of the radiation source device 30 and the radiation detection device 40 of the medical imaging equipment is installed on the C-arm 20, the target component is in the first physical state; when both the radiation source device 30 and the radiation detection device 40 are installed on the C-arm 20, the target component is in the second physical state.

[0060] It should be noted that, for the deformation measurement system of this embodiment, those skilled in the art should be able to understand it by referring to the description of the deformation measurement method of this embodiment, and it will not be repeated here.

[0061] Based on the above deformation measurement system, the medical imaging device of this embodiment also includes the above deformation measurement system. It is understandable that, since the medical imaging system includes the deformation measurement system, the medical imaging system also has the beneficial effects brought by the deformation measurement system. This embodiment does not elaborate on the working principle and other related structures of the medical imaging system, and those skilled in the art can learn from the prior art.

[0062] In summary, in the medical imaging device and its deformation measurement method, deformation measurement system, and storage medium provided by the present invention, the method includes: calibrating at least one measurement point on the target component of the medical imaging device; obtaining the first vector coordinates of the measurement point in the three-dimensional spatial coordinate system when the target component is in a first physical state; obtaining the second vector coordinates of the measurement point in the three-dimensional spatial coordinate system when the target component is in a second physical state; obtaining the offset angle of the target component at the measurement point according to the first vector coordinates and the second vector coordinates; and pre-compensating the target parameters of the target component based on the offset angle of the target component at the measurement point, so that the offset angle of the target component at the measurement point is reduced to within a predetermined offset range. The position deviation of the radiation source device and the radiation detection device is usually caused by the deformation of the target component after bearing weight. The present invention can obtain the offset angle of the measuring point after the target component bears weight through the first vector coordinate and the second vector coordinate, thereby obtaining the deformation angle of the target component at the measuring point, and compensates the target parameters of the target component based on the offset angle, so that the offset angle of the target component at the measuring point is reduced to within a predetermined offset range, thereby providing a compensation basis for the position deviation of the radiation source device and the radiation detection device from the root, thereby achieving the purpose of reducing the deformation angle of the target component to reduce the position deviation of the radiation source device and the radiation detection device.

[0063] The above description is only a description of the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A deformation measurement method for a medical imaging device, characterized in that: include: calibrating at least one measurement point on a target component of the medical imaging device; Acquire a first vector coordinate of the measuring point in a three-dimensional spatial coordinate system when the target component is in a first physical state; Acquire a second vector coordinate of the measuring point in the three-dimensional spatial coordinate system when the target component is in a second physical state; Obtaining an offset angle of the target component at the measuring point according to the first vector coordinates and the second vector coordinates; pre-compensating a target parameter of the target component based on an offset angle of the target component at the measuring point, so that the offset angle of the target component at the measuring point is reduced to within a predetermined offset range; Wherein, the target component comprises at least one of a base and a C-shaped arm of the medical imaging device, and the C-shaped arm is mounted on the base; When neither the radiation source device nor the radiation detection device of the medical imaging equipment is installed on the C-shaped arm, the target component is in the first physical state, and when at least one of the radiation source device and the radiation detection device is installed on the C-shaped arm, the target component is in the second physical state; or, when one of the radiation source device and the radiation detection device of the medical imaging equipment is installed on the C-shaped arm, the target component is in the first physical state, and when both the radiation source device and the radiation detection device are installed on the C-shaped arm, the target component is in the second physical state.

2. The deformation measurement method of medical imaging equipment according to claim 1, characterized in that: The target parameters include physical parameters of the target component, and / or the target parameters include posture parameters of the target component.

3. The deformation measurement method of medical imaging equipment according to claim 1, characterized in that: There are at least three measuring points on the target component.

4. The deformation measurement method of medical imaging equipment according to claim 1, characterized in that: Before acquiring the first vector coordinates, the deformation measurement method of the medical imaging device further includes: moving the target component to a predetermined posture within a spatial range.

5. A deformation measurement system, applied to medical imaging equipment, characterized in that: include: a calibration module configured to calibrate at least one measurement point on a target component of the medical imaging device; an acquisition module, configured to acquire a first vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a first physical state, and to acquire a second vector coordinate of the measurement point in a three-dimensional spatial coordinate system when the target component is in a second physical state; a calculation module, configured to obtain an offset angle of the target component at the measurement point according to the first vector coordinate and the second vector coordinate; a compensation module configured to pre-compensate a target parameter of the target component based on an offset angle of the target component at the measuring point, so that the offset angle of the target component at the measuring point is reduced to a predetermined offset range; Wherein, the target component comprises at least one of a base and a C-shaped arm of the medical imaging device, and the C-shaped arm is mounted on the base; When neither the radiation source device nor the radiation detection device of the medical imaging equipment is installed on the C-shaped arm, the target component is in the first physical state, and when at least one of the radiation source device and the radiation detection device is installed on the C-shaped arm, the target component is in the second physical state; or, when one of the radiation source device and the radiation detection device of the medical imaging equipment is installed on the C-shaped arm, the target component is in the first physical state, and when both the radiation source device and the radiation detection device are installed on the C-shaped arm, the target component is in the second physical state.

6. A medical imaging device, characterized in that: It comprises a base, a C-shaped arm, a radiation source device, a radiation detection device and the deformation measurement system as described in claim 5; the C-shaped arm is mounted on the base; the radiation source device and the radiation detection device are detachably mounted on both ends of the C-shaped arm respectively; and the target component of the medical imaging device comprises at least one of the base and the C-shaped arm.

7. The medical imaging device according to claim 6, characterized in that The medical imaging device also includes a medical robot, which is connected to the base and is used to drive the base to move within a spatial range.

8. A storage medium having a readable and writable program stored thereon, characterized in that: When the program is executed, the deformation measuring method according to any one of claims 1 to 4 can be implemented.

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