Radiation level determination method and apparatus, electronic device, and computer storage medium

Abstract

The present application relates to a kind of radiation grade determination method, device, electronic equipment and computer storage medium, it includes: the depth information of target image is obtained, wherein the target object in target image includes ray source, moving object and fixed object;Determine the first space region of moving object currently based on the depth information of target image, and determine the second space region formed by the radiation ray emitted by ray source;Determine the interactive region of first space region and second space region;Determine the current distance of moving object and ray source, and determine the radiation level in current interactive region based on current distance.The present application can guide the station of medical staff according to the radiation level in interactive region, guarantee the safety of medical staff.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a method, apparatus, electronic device, and computer storage medium for determining radiation levels. Background Technology

[0002] When using DSA (Digital Subtraction Angiography) for interventional treatments, a radiation source is required. The radiation emitted by the radiation source has a radiation effect on the human body. Current technology usually provides personal protection by wearing a lead apron, but this method is generally limited to the major organs of the body, and the limbs and head are generally not protected, which does not effectively protect the safety of medical staff. Alternatively, the radiation dose emitted by the radiation source can be reduced to protect the safety of medical staff, but this method will affect the surgical outcome.

[0003] Therefore, how to reduce the radiation effects on medical staff in the operating room is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, it is necessary to provide a method for determining radiation levels to guide the positioning of medical staff and ensure their safety.

[0005] To address the above problems, the present invention provides a method for determining radiation levels, comprising:

[0006] Obtain depth information of the target image, wherein the target objects in the target image include ray sources, moving objects, and stationary objects;

[0007] Based on the depth information of the target image, determine the current first spatial region of the moving object and the second spatial region formed by the radiation rays emitted by the ray source;

[0008] Determine the interaction area between the first spatial region and the second spatial region;

[0009] Obtain the current distance between the moving object and the ray source, and determine the radiation level within the current interaction area based on the current distance.

[0010] Optionally, obtain depth information of the target image, including:

[0011] Acquire raw images of the target object using an industrial camera;

[0012] Obtain the calibration parameters of the industrial camera and correct the original image based on the calibration parameters;

[0013] Pixel matching is performed on the corrected original image, and the depth of each pixel is calculated based on the matching results to obtain the depth information of the target image.

[0014] Optionally, based on the depth information of the target image, a first spatial region of the moving object is determined, and a second spatial region formed by the radiation rays emitted by the ray source is determined, including:

[0015] A three-dimensional spatial coordinate system is constructed based on the depth information of the target image;

[0016] Determine the current first spatial region of the moving object in a three-dimensional coordinate system;

[0017] Determine the second spatial region formed by the radiation rays emitted by the radiation source in a three-dimensional spatial coordinate system.

[0018] Optionally, a three-dimensional spatial coordinate system is constructed based on the depth information of the target image, including:

[0019] Obtain pixel information of the target image;

[0020] The first point cloud data of each first pixel in the target image is calculated based on the depth information, pixel information, and calibration parameters of the industrial camera.

[0021] A three-dimensional spatial coordinate system is constructed based on the first point cloud data of each first pixel in the target image.

[0022] Optionally, determining the current first spatial region of the moving object in a three-dimensional coordinate system includes:

[0023] Determine the second pixel point of the moving object in the target image;

[0024] Obtain the second point cloud data of the second pixel;

[0025] The first spatial region of the moving object is determined based on the position of the second point cloud data in the three-dimensional spatial coordinate system.

[0026] Optionally, the second spatial region formed by the radiation rays emitted by the ray source is determined in a three-dimensional spatial coordinate system, including:

[0027] Determine the third pixel of the ray source in the target image;

[0028] Obtain the cloud data of the third pixel;

[0029] Obtain the parameter values ​​of the radiation source, including the radiation emission angle and the distance from the radiation emission port;

[0030] The path of the radiation ray is calculated based on the third point cloud data and the parameter values ​​of the ray source, and the fourth point cloud data of the path is determined.

[0031] The second spatial region is determined based on the position of the fourth point cloud data in the three-dimensional spatial coordinate system to determine the path of the radiation ray.

[0032] Optionally, the current distance between the moving object and the ray source is obtained, and the radiation level within the current interaction area is determined based on the current distance, including:

[0033] The current distance between the moving object and the ray source is calculated based on the second and third point cloud data.

[0034] The radiation intensity value within the current interaction area is calculated using a ray propagation model, where the ray propagation model includes: I = BI0e -μx I represents the emitted radiation intensity, B represents the accumulation factor, which is a physical quantity describing the effect of scattering on the radiation, I0 represents the initial radiation intensity, x represents the current distance between the moving object and the radiation source, and μ represents the linear attenuation coefficient of the radiation in the air.

[0035] The radiation level corresponding to the radiation intensity value in the current interaction area is determined based on a preset radiation intensity level table.

[0036] Optionally, the above methods also include:

[0037] Display the radiation level within the current interactive area on the display device.

[0038] Optionally, the above methods also include:

[0039] If the movement of the radiation source or the moving object is detected, the radiation level in the interactive area, the radiation level in the interactive area, and the radiation level displayed on the display device are updated in real time according to the radiation level determination method described above.

[0040] The present invention also provides a radiation level determination device, comprising:

[0041] The acquisition module is used to acquire the depth information of the target image, wherein the target objects in the target image include ray sources, moving objects, and stationary objects;

[0042] The radiation region determination module is used to determine the current first spatial region of the moving object based on the depth information of the target image, and to determine the second spatial region formed by the radiation rays emitted by the radiation source.

[0043] The interaction area determination module is used to determine the interaction area between the first spatial area and the second spatial area;

[0044] The radiation level determination module is used to obtain the current distance between the moving object and the radiation source, and to determine the radiation level in the current interaction area based on the current distance.

[0045] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the radiation level determination method described above.

[0046] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the radiation level determination method described above.

[0047] This invention acquires depth information from a target image, enabling computer machine vision to calculate the moving object—namely, the first spatial region of the medical staff and the second spatial region of the radiation path—based on this depth information. Furthermore, it estimates the radiation level within the current interaction area based on the current distance between the medical staff and the radiation source. This allows the medical staff to gain a rough understanding of the radiation level at their location, providing assistance in adjusting their position in the operating room and ensuring their safety. Attached Figure Description

[0048] Figure 1 A flowchart illustrating a method for determining radiation levels according to an embodiment of the present invention;

[0049] Figure 2 A relative positional relationship diagram between target objects is provided in an embodiment of the present invention;

[0050] Figure 3 An interactive area diagram showing the overlap between the radiation path and medical personnel, provided as an embodiment of the present invention;

[0051] Figure 4 A flowchart illustrating a method for obtaining depth information of a target image according to an embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of a radiation level determination device provided in an embodiment of the present invention;

[0053] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0054] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0055] See Figure 1 , Figure 1 A flowchart of a method for determining radiation levels provided in an embodiment of the present invention is shown, the specific steps of which include:

[0056] Step S101: Obtain depth information of the target image, wherein the target objects in the target image include ray sources, moving objects, and stationary objects.

[0057] Understandably, depth information generally represents the distance between the image acquisition device and the target object. The image acquisition device can be an industrial camera such as a 2D camera or a 3D camera. Specifically, considering the occlusion of the object, at least two 2D cameras or at least one 3D camera can be used to obtain the distance between the industrial camera and the target object.

[0058] In one embodiment of the present invention, at least two 2D cameras are used to acquire depth information of the target image. These at least two 2D cameras are referred to as binocular cameras. Therefore, the depth information in the present invention can be the distance between the center of the binocular camera and the target object. The target object in the target image includes a radiation source, such as a C-arm, a moving object, such as medical personnel, and a stationary object, such as a hospital bed or patient.

[0059] For example, see Figure 2 , Figure 2 This is a relative positional relationship diagram between various target objects provided in an embodiment of the present invention. Specifically, it is a positional relationship diagram between the binocular camera 201, the C-arm 203, the medical staff 202, and the hospital bed (including the patient) 204. It should be noted that the position of the binocular camera in the diagram is only an example, and the position of the binocular camera 201 can be adjusted according to needs.

[0060] Step S102: Determine the first spatial region of the moving object based on the depth information of the target image, and determine the second spatial region formed by the radiation rays emitted by the ray source.

[0061] The first spatial region and the second spatial region can be obtained by using the depth information of the image and calculating based on computer machine vision.

[0062] Specifically, AI technology can be used to first identify the planar area where medical staff are located in the target image. Then, combined with the first depth information of the medical staff in the target image, the first depth information set of each point on the medical staff is obtained with the center of the binocular camera as the spatial origin, so as to form a first spatial data set, and the first spatial data set is determined as the first spatial region.

[0063] When determining the second spatial region formed by the radiation emitted by the X-ray source, the X-ray source can be treated as a point source. The radiation path can be calculated by combining the center position of the C-arm X-ray tube, its orientation, and the distance to the constrictor opening. The orientation of the C-arm X-ray tube and the distance to the constrictor opening can be obtained in real-time feedback from the C-arm mechanical system. Then, combining the second depth information set of the X-ray source, a third depth information set of the radiation path is further determined to form a third spatial data set, which is then used to define the second spatial region.

[0064] Step S103: Determine the interaction area between the first spatial region and the second spatial region;

[0065] It is understandable that after determining the first spatial region and the second spatial region, the overlapping area between the first spatial region and the second spatial region can be defined as the aforementioned interaction region. Specifically, the first spatial data set and the third spatial data set can be compared, and the overlapping spatial data set can be defined as the interaction region.

[0066] For example, see Figure 3 , Figure 3 An interactive area diagram showing the overlap between the radiation path and medical personnel is provided in an embodiment of the present invention; specifically, it includes: a binocular camera 301, a C-arm 303, medical personnel 302, a hospital bed (including a patient) 304, and an interactive area 305, wherein the interactive area 305 is the area where the radiation paths emitted by the medical personnel 302 and the radiation source 302 overlap.

[0067] Step S104: Obtain the current distance between the moving object and the ray source, and determine the radiation level in the current interaction area based on the current distance.

[0068] Understandably, after determining the current interaction area, a radiation level assessment can be made for that area to guide the positioning of medical staff, thereby reducing the radiation dose to them and ensuring their safety to some extent.

[0069] Specifically, AI technology can be used to identify moving objects and then calculate the current distance between the moving object and the radiation source. The radiation level within the current interaction area can then be determined based on this current distance. For example, AI technology can be used to identify medical staff in the operating room, provide the coordinates of their center of gravity in the aforementioned three-dimensional coordinate system, and finally calculate the distance between the medical staff's center of gravity and the center of the C-arm X-ray tube.

[0070] It should be noted that, taking X-rays as an example, 20m is generally considered a relatively safe distance for medical X-ray diagnostic equipment. It's understood that different tube powers result in different radiation doses, and therefore different safe distances. Thus, a relative safe distance can be set based on the selected tube power. For example, this embodiment of the invention uses 20m as a relative safe distance. Without considering protective equipment, a basic radiation level value is obtained by dividing the distance between the C-arm tube center and the person by 20. Then, based on the angle between the person and the X-ray beam centerline (calculating scattering and refraction), a weighting factor is applied to obtain a relatively reliable radiation level value.

[0071] It is understood that in this embodiment of the invention, the radiation level in the radiation interaction area is determined based on the distance between the center of the C-arm X-ray tube and the center of gravity of the human body. However, the distance between other parts of the human body and the center of the X-ray tube is slightly different from this distance. Therefore, for the irradiation area outside the center of gravity, the basic radiation level value obtained based on the center of gravity can be multiplied by a weighting coefficient related to the angle. Specifically, the weighting coefficient is the angle between the center of the X-ray tube and the center of gravity of the human body and the angle between the X-ray tube and the irradiation area.

[0072] This invention acquires depth information from a target image, enabling computer machine vision to calculate the moving object—namely, the first spatial region of the medical staff and the second spatial region of the radiation path—based on this depth information. Furthermore, it estimates the radiation level within the current interaction area based on the current distance between the medical staff and the radiation source. This allows the medical staff to gain a rough understanding of the radiation level at their location, providing assistance in adjusting their position in the operating room and ensuring their safety.

[0073] In one embodiment of the present invention, see [reference] Figure 4 , Figure 4 A flowchart of a method for obtaining depth information of a target image provided in an embodiment of the present invention includes:

[0074] Step S1011: Acquire the original image of the target object using an industrial camera.

[0075] Step S1012: Obtain the calibration parameters of the industrial camera and correct the original image according to the calibration parameters.

[0076] In this embodiment of the invention, the industrial camera is a binocular camera. A binocular camera generally includes two cameras. The calibration parameters of the binocular camera include the intrinsic and extrinsic parameters of the two cameras, as well as the homography matrix between the two cameras.

[0077] Camera calibration can be understood as mapping world coordinates to pixel coordinates. By calibrating, the mapping relationship between world coordinates and pixel coordinates is obtained, so that the world coordinates can be deduced from the pixel coordinates of the pixel.

[0078] The intrinsic parameters of a camera are parameters related to the camera's own characteristics, such as the camera's focal length and pixel size; the extrinsic parameters of a camera include the camera's parameters in the world coordinate system, such as the camera's position and rotation direction; the homography matrix between two cameras describes the mapping relationship between two planes, that is, the transformation relationship of some points on the common plane between two images.

[0079] Understandably, sometimes stereo cameras are not parallel, resulting in non-parallel original images. This complicates subsequent depth information calculations, necessitating image correction. The homography matrix describes the mapping relationship between two planes. Therefore, the original images acquired by the stereo cameras can be corrected based on the homography matrix between them, ensuring that the corrected images lie on the same plane and are parallel. This parallelism contributes to coordinate homogeneity and facilitates computation.

[0080] Step S1013: Perform pixel matching on the corrected original image and calculate the depth of each pixel based on the matching results to obtain the depth information of the target image.

[0081] In calculating pixel depth, in addition to knowing the camera focal length and baseline from the camera parameters, it is also necessary to know the disparity between the two cameras, that is, to know the correspondence between each pixel in the left camera and the corresponding point in the right camera. This involves matching pixels in the two corrected images. Specifically, matching can be performed using the homography matrix of the two cameras or using epipolar constraints. Once the matching is complete, the disparity between the two cameras is obtained, and the depth of each pixel can be calculated, thus obtaining a depth map of the target image.

[0082] In one embodiment of the present invention, determining a first spatial region of a moving object based on depth information of a target image, and determining a second spatial region formed by radiation rays emitted from a ray source, includes:

[0083] A three-dimensional spatial coordinate system is constructed based on the depth information of the target image.

[0084] Determine the current first spatial region of the moving object in a three-dimensional coordinate system.

[0085] Determine the second spatial region formed by the radiation rays emitted by the radiation source in a three-dimensional spatial coordinate system.

[0086] It is understandable that by constructing a three-dimensional spatial coordinate system, the first and second spatial regions can be intuitively represented. In this embodiment of the invention, the three-dimensional spatial coordinate system can be understood as a world coordinate system, which can be a user-defined coordinate system of the three-dimensional world, introduced to describe the target object's position in real three-dimensional space. For example, point cloud models of the hospital bed, C-arm, and medical staff can be obtained based on depth information, and finally, the point cloud data of each pixel can be determined based on the point cloud model to achieve three-dimensional reconstruction.

[0087] Furthermore, the first spatial region of the moving object in the three-dimensional coordinate system can be understood as the set of point cloud data of each pixel of the medical staff in the current state in the three-dimensional coordinate system; while the second spatial region of the radiation ray emitted by the radiation source in the three-dimensional coordinate system can be understood as the set of point cloud data of each pixel of the radiation ray path in the three-dimensional coordinate system.

[0088] In one embodiment of the present invention, constructing a three-dimensional spatial coordinate system based on the depth information of the target image includes:

[0089] Obtain pixel information of the target image.

[0090] The first point cloud data of each first pixel in the target image is calculated based on the depth information, pixel information, and calibration parameters of the industrial camera.

[0091] A three-dimensional spatial coordinate system is constructed based on the first point cloud data of each first pixel in the target image.

[0092] Understandably, without considering image distortion, the coordinates of any first pixel in the world coordinate system can be calculated based on the RGB-D image of the target image (i.e., the pixel information and depth information of the target image) and the camera's intrinsic and extrinsic parameters. The coordinates of all obstacle points in the world coordinate system are the point cloud map data, which is the point cloud data in the world coordinate system, thus enabling 3D reconstruction.

[0093] Specifically, depth information can directly provide the depth coordinates of a point in the camera coordinate system, while the RGB image provides the pixel coordinates of a point in the pixel coordinate system. According to the known intrinsic parameter formula, the three-dimensional coordinates of the point in the camera coordinate system can be calculated. Then, according to the homogeneous transformation matrix or rotation matrix and translation vector of the stereo camera, the three-dimensional coordinates of the point in the world coordinate system can be obtained, which is the point cloud data of the point. Finally, a three-dimensional spatial coordinate system can be constructed based on the calculated point cloud data.

[0094] In one embodiment of the present invention, determining the current first spatial region of a moving object in a three-dimensional spatial coordinate system includes:

[0095] Determine the second pixel point of the moving object in the target image.

[0096] Obtain the cloud data of the second pixel.

[0097] The first spatial region of the moving object is determined based on the position of the second point cloud data in the three-dimensional spatial coordinate system.

[0098] First, it should be noted that the moving objects include medical staff. Moving objects are capable of movement, and in a three-dimensional coordinate system, the first spatial region of the moving object can also change. For ease of understanding, we will first describe it in a static state.

[0099] AI technology can identify medical personnel in target images. This can be understood as follows: when determining the location of a moving object—specifically, the medical personnel's current position in the first spatial region of a 3D coordinate system—it is only necessary to determine the position of the medical personnel's current second point cloud data within the 3D coordinate system. Since point cloud data itself contains positional information, obtaining the second point cloud data set is sufficient. Specifically, based on the pixel and depth information of the medical personnel in the target image, combined with the intrinsic and extrinsic parameters of the binocular camera, the 3D coordinates in the camera coordinate system are first calculated using the intrinsic parameter formula. Then, through transformation and translation, the second point cloud data of the medical personnel is further solved. The set of second point cloud data constitutes the first spatial region.

[0100] In one embodiment of the present invention, determining the second spatial region formed by the radiation rays emitted by the ray source in a three-dimensional spatial coordinate system includes:

[0101] Determine the third pixel of the X-ray source in the target image.

[0102] Obtain the cloud data of the third pixel.

[0103] Obtain the parameter values ​​of the radiation source, including the radiation emission angle and the distance from the radiation emission port.

[0104] The path of the radiation ray is calculated based on the third point cloud data and the parameter values ​​of the ray source, and the fourth point cloud data is used to determine the path.

[0105] The second spatial region is determined based on the position of the fourth point cloud data in the three-dimensional spatial coordinate system to determine the path of the radiation ray.

[0106] The radiation source includes the C-arm, and the radiation rays include a series of radiating rays such as X-rays. In acquiring the third point cloud data of the radiation source, i.e., the C-arm, we can first calculate its three-dimensional coordinates in the camera coordinate system based on the pixel and depth information of the C-arm in the target image, combined with the intrinsic and extrinsic parameters of the binocular camera. Then, based on transformation and translation, we can further solve for the third point cloud data of the C-arm.

[0107] Therefore, when calculating the second spatial region of the radiation rays emitted from the radiation source in the three-dimensional coordinate system, the radiation source can be treated as a point light source. The radiation ray path can be calculated by combining the center of the C-arm X-ray tube, the ray emission angle (i.e., the orientation of the C-arm X-ray tube), and the ray emission aperture distance (i.e., the distance to the limiter aperture). The orientation of the C-arm X-ray tube and the distance to the limiter aperture can both be fed back in real-time by the C-type mechanical system.

[0108] It is understood that the radiation path, i.e., the X-ray irradiation path, is a three-dimensional region in a three-dimensional coordinate system, which can be calculated by determining the position of the point source. In one embodiment of the present invention, when calculating the X-ray path, the point cloud data of the X-ray path can be further determined, and then the second spatial region of the X-ray path can be determined based on the position of the point cloud data in the three-dimensional coordinate system. Since the point cloud data itself contains positional information, obtaining the set of point cloud data of the X-ray path is sufficient.

[0109] In one embodiment of the present invention, determining the current distance between the moving object and the radiation source, and determining the radiation level within the current interaction area based on the current distance, includes:

[0110] The current distance between the moving object and the ray source is calculated based on the second point cloud data and the third point cloud data.

[0111] The radiation intensity value within the current interaction area is calculated using a ray propagation model, wherein the ray propagation model includes: I = BI0e -μx I represents the emitted radiation intensity, B represents the accumulation factor, which is a physical quantity describing the effect of scattering on the radiation ray, I0 represents the initial radiation intensity, x represents the current distance between the moving object and the radiation source, and μ represents the linear attenuation coefficient of the radiation ray in the air.

[0112] The radiation level corresponding to the radiation intensity value in the current interaction area is determined based on a preset radiation intensity level table.

[0113] The current distance between the moving object and the radiation source, i.e., the current distance between the medical staff and the C-arm, can be represented by the distance between the medical staff's center of gravity and the center of the C-arm's X-ray tube. Specifically, this can be calculated based on their position information in the three-dimensional coordinate system, i.e., the position information included in the point cloud data.

[0114] When determining the radiation level within the current interaction area, it can be based on the radiation intensity value within that area. Specifically, the radiation intensity value within the current interaction area can be calculated using a ray propagation model, where the ray propagation model includes: I = BI0e -μxI represents the emitted radiation intensity, B represents the accumulation factor, which is a physical quantity describing the effect of scattering on the radiation rays, I0 represents the initial radiation intensity, and the initial radiation intensity is proportional to the voltage and current of the high-voltage generator. More specifically: I0 = K*i*Z*U. Where K is a constant, i is the tube current, Z is the atomic number of the target, U is the tube voltage, x represents the current distance between the moving object and the radiation source, more specifically, the distance between the center of gravity of the medical staff and the center of the C-arm X-ray tube, and μ represents the radiation ray, that is, the linear attenuation coefficient of X-rays in air;

[0115] It should be noted that factors affecting the radiation intensity value within the current interaction area also include the radiation emission angle and the distance from the radiation emission port.

[0116] Understandably, the emission angle of the X-ray, i.e., the orientation of the C-arm tube, is a crucial factor in determining the path of the radiation rays. If the emission angle changes, the path of the radiation rays in the second spatial region of the three-dimensional coordinate system will also change, and correspondingly, the interaction region and the radiation intensity value within the interaction region will also change. The distance from the emission port, i.e., the opening distance of the constrictor, determines the dose of the radiation rays, which can be understood as a change in the initial radiation intensity. Therefore, both the orientation of the X-ray arm tube and the opening distance of the constrictor will affect the radiation intensity value in the interaction region.

[0117] Furthermore, the movement and rotation of the limiter, as well as the orientation of the C-arm X-ray tube, are all controlled by the real-time feedback from the C-type mechanical system. Therefore, the movement distance of the limiter and the orientation of the C-arm X-ray tube can be obtained from the C-type mechanical system control center.

[0118] In one embodiment of the present invention, the above method further includes:

[0119] Display the radiation level within the current interactive area on the display device.

[0120] The radiation level displayed on the display device can include various prompts, including but not limited to image and text, voice alarms, or automatic cessation of radiation emission when the current radiation level is higher than the user's preset level, in order to further protect medical personnel.

[0121] For example, in the form of graphics and text, the display interface not only shows the radiation area of ​​the radiation rays, but also uses AI technology to create 2D or 3D models of medical staff. The interactive area between the human model and the radiation area of ​​the radiation rays is marked with different colors according to different radiation levels. Medical staff can clearly see the approximate radiation level by referring to the color codes next to the graphics. There can also be a precise text description of the radiation level below the graphics to remind medical staff. Furthermore, when the radiation level exceeds a certain level, voice or text warning messages can be displayed, or the radiation source can be stopped directly.

[0122] In one embodiment of the present invention, the above method further includes:

[0123] If the movement of the radiation source or the moving object is detected, the radiation level in the interactive area, the radiation level in the interactive area, and the radiation level displayed on the display device are updated in real time according to the radiation level determination method described above.

[0124] Understandably, during surgery, the C-arm or medical personnel may change positions. C-arm movement includes overall C-arm movement, constrictor movement, or C-arm X-ray tube orientation change. When such movements are received from the C-arm mechanical system control center or detected by AI algorithms, the radiation levels in the interactive area, within the interactive area, and displayed on the screen need to be updated in real time according to the aforementioned radiation level determination method. It should be noted that the movement of medical personnel may be a necessary repositioning for the surgery, or it may be a safety precaution due to excessive radiation levels in the interactive area in the previous period.

[0125] Specifically, when medical staff or the C-arm moves, the system receives real-time feedback on the doctor's direction of movement, the orientation of the X-ray tube, and the distance between the medical staff and the X-ray tube. The system then calculates and dynamically displays the radiation level of the area where the X-ray field interacts with the medical staff's limbs on the display device in the operating room, providing guidance for the medical staff's positioning.

[0126] In this embodiment of the invention, the overlapping area between medical personnel and the radiation irradiation area can be dynamically determined in real time, and different levels of warnings can be given through a visual interface on the display device. Medical personnel can refer to the instructions on the visual interface to identify the radiation level of their location and adjust their position accordingly. While ensuring that the surgery can be performed normally, direct exposure to radiation can be minimized, thus ensuring the safety of medical personnel.

[0127] Based on the above method for determining radiation levels, please refer to... Figure 5 , Figure 5 This is a schematic diagram of a radiation level determination device provided in an embodiment of the present invention. This radiation level determination device corresponds one-to-one with the radiation level determination devices in the above embodiments. The radiation level determination device includes an acquisition module 501, a radiation area determination module 502, an interaction area determination module 503, and a radiation level determination module 504. Detailed descriptions of each functional module are as follows:

[0128] The acquisition module 501 is used to acquire the depth information of the target image, wherein the target objects in the target image include ray sources, moving objects and fixed objects;

[0129] The radiation region determination module 502 is used to determine the current first spatial region of the moving object based on the depth information of the target image, and to determine the second spatial region formed by the radiation rays emitted by the radiation source.

[0130] The interaction area determination module 503 is used to determine the interaction area between the first spatial area and the second spatial area;

[0131] The radiation level determination module 504 is used to obtain the current distance between the moving object and the radiation source, and to determine the radiation level in the current interaction area based on the current distance.

[0132] Specific limitations regarding the radiation level determination device can be found in the limitations of the radiation level determination method described above, and will not be repeated here. Each module in the aforementioned radiation level determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the corresponding operations of each module.

[0133] Based on the above-described method for determining radiation levels, this embodiment of the invention also provides an electronic device, including: a processor and a memory, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, it implements the steps in the radiation level determination methods of the above embodiments.

[0134] See Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device 600 suitable for implementing embodiments of the present invention. The electronic device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0135] The electronic device includes a memory and a processor, wherein the processor may be referred to as processing device 601 as described below, and the memory may include at least one of read-only memory (ROM) 602, random access memory (RAM) 603, and storage device 608 as described below, as follows:

[0136] like Figure 6As shown, electronic device 600 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 601, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 602 or a program loaded from storage device 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of electronic device 600. Processing device 601, ROM 602, and RAM 603 are interconnected via bus 604. Input / output (I / O) interface 605 is also connected to bus 604.

[0137] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic device 600 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 An electronic device 600 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0138] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined in the methods of the embodiments of the present invention.

[0139] Based on the above-described method for determining radiation levels, this embodiment of the invention also provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps in the radiation level determination methods of the above embodiments.

[0140] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0141] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining radiation levels, characterized in that, include: Obtain depth information of the target image, wherein the target object in the target image includes a ray source, a moving object, and a stationary object; Based on the depth information of the target image, the current first spatial region of the moving object is determined, and the second spatial region formed by the radiation rays emitted by the ray source is determined. Determine the interaction area between the first spatial region and the second spatial region; Obtaining the current distance between the moving object and the ray source, and determining the radiation level within the current interaction area based on the current distance, includes: calculating the current distance between the moving object and the ray source based on second point cloud data and third point cloud data; calculating the radiation intensity value within the current interaction area using a ray propagation model; and determining the radiation level corresponding to the radiation intensity value within the current interaction area based on a preset radiation intensity level table. The second point cloud data is obtained by: determining the second pixel point of the moving object in the target image; and obtaining the second point cloud data of the second pixel point. The method for obtaining the third point cloud data is as follows: determine the third pixel point of the ray source in the target image; and obtain the third point cloud data of the third pixel point.

2. The method according to claim 1, characterized in that, The acquisition of depth information of the target image includes: The original image of the target object is acquired using an industrial camera; Obtain the calibration parameters of the industrial camera, and correct the original image according to the calibration parameters; Pixel matching is performed on the corrected original image, and the depth of each pixel is calculated based on the matching results to obtain the depth information of the target image.

3. The method according to claim 2, characterized in that, The step of determining the current first spatial region of the moving object based on the depth information of the target image, and determining the second spatial region formed by the radiation rays emitted by the ray source, includes: A three-dimensional spatial coordinate system is constructed based on the depth information of the target image; Determine the current first spatial region of the moving object in the three-dimensional spatial coordinate system; In the three-dimensional spatial coordinate system, a second spatial region is determined where the radiation emitted by the radiation source forms.

4. The method according to claim 3, characterized in that, The construction of a three-dimensional spatial coordinate system based on the depth information of the target image includes: Obtain the pixel information of the target image; The first point cloud data of each first pixel of the target image is calculated based on the depth information, pixel information and calibration parameters of the industrial camera; The three-dimensional spatial coordinate system is constructed based on the first point cloud data of each first pixel of the target image.

5. The method according to claim 4, characterized in that, Determining the current first spatial region of the moving object in the three-dimensional coordinate system includes: The current first spatial region of the moving object is determined based on the position of the second point cloud data in the three-dimensional spatial coordinate system.

6. The method according to claim 5, characterized in that, Determining the second spatial region formed by the radiation emitted by the radiation source in the three-dimensional spatial coordinate system includes: Obtain the parameter values ​​of the radiation source, including the radiation emission angle and the distance from the radiation emission port; The path of the radiation ray is calculated based on the third point cloud data and the parameter values ​​of the ray source, and the fourth point cloud data of the path is determined. The second spatial region for determining the path of the radiation ray is determined based on the position of the fourth point cloud data in the three-dimensional spatial coordinate system.

7. A radiation level determination device, characterized in that, include: The acquisition module is used to acquire depth information of the target image, wherein the target objects in the target image include ray sources, moving objects, and stationary objects; The radiation region determination module is used to determine the current first spatial region of the moving object based on the depth information of the target image, and to determine the second spatial region formed by the radiation rays emitted by the radiation source; An interaction area determination module is used to determine the interaction area between the first spatial area and the second spatial area; The radiation level determination module is used to obtain the current distance between the moving object and the ray source, and determine the radiation level in the current interaction area based on the current distance, including: calculating the current distance between the moving object and the ray source based on second point cloud data and third point cloud data; calculating the radiation intensity value in the current interaction area using a ray propagation model; and determining the radiation level corresponding to the radiation intensity value in the current interaction area based on a preset radiation intensity level table. The second point cloud data is obtained by: determining the second pixel point of the moving object in the target image; and obtaining the second point cloud data of the second pixel point. The method for obtaining the third point cloud data is as follows: determine the third pixel point of the ray source in the target image; and obtain the third point cloud data of the third pixel point.

8. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the radiation level determination method as described in any one of claims 1 to 6.

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

Images