Radiotherapy auxiliary equipment based on three-dimensional reconstruction device and control method and system thereof

Abstract

The present invention discloses a radiotherapy auxiliary device based on a three-dimensional reconstruction device and a control method and system thereof. The radiotherapy auxiliary device comprises: a plurality of three-dimensional reconstruction devices installed on a rotating frame, the plurality of three-dimensional reconstruction devices are evenly distributed along the circumference of the rotating frame, and each set of three-dimensional reconstruction devices comprises: an infrared camera, an infrared projector, and a synchronous trigger device electrically connected to the infrared camera and the infrared projector, and the infrared camera and the infrared projector are both oriented toward the isocenter position of the rotating frame. The plurality of three-dimensional reconstruction devices are evenly distributed on the rotating frame. During the rotation of the rotating frame, the plurality of three-dimensional reconstruction devices work in coordination and switch automatically to ensure that the patient's body surface image will not be blocked by the rotating frame at any time and any position. During the treatment process, the patient's three-dimensional position can be monitored in real time to ensure the accuracy of the treatment positioning.

Description

Technical Field

[0001] The present invention belongs to the technical field of radiotherapy, and in particular relates to a radiotherapy auxiliary device based on a three-dimensional reconstruction device and a control method and system thereof. Background Art

[0002] With the rapid development of radiation physics technology, computer technology and medical imaging technology, advanced radiotherapy technologies such as three-dimensional conformal radiotherapy, intensity-modulated radiotherapy, volumetric rotation intensity-modulated radiotherapy and spiral tomography are constantly innovating. New technologies represented by biologically guided radiotherapy, image-guided radiotherapy, dose-guided radiotherapy and radiomics are driving radiotherapy towards the era of "three-precision radiotherapy" with "precise positioning", "precise planning" and "precise treatment" as the ultimate goals. The multi-set three-dimensional reconstruction auxiliary radiotherapy system is an auxiliary radiotherapy system based on machine vision. During the rotation of the gantry during treatment, multiple sets of equipment work in coordination to monitor the three-dimensional information of the patient's body surface in real time, providing auxiliary information for high-efficiency and high-precision IGRT radiotherapy.

[0003] At present, optical positioning systems and tracking systems mainly use markers for positioning. Image-guided treatment systems based on optical positioning of markers are widely used in neurosurgery, oral and maxillofacial surgery, orthopedic surgery, tumor radiotherapy, and even soft tissue organ surgery. For example, patent No. 201710646652.6 proposes a near-infrared binocular vision stereo matching method based on reflective ball markers. For another example, Medtronic's StealthStation surgical navigation system and Brain's VectorVision Sky system both use Canada's NDI's Polaris optical positioning system as a locator to track reflective ball markers attached to surgical tools and patients. At present, many three-dimensional reconstruction algorithms based on structured light use speckle coding mode, which matches cameras and other equipment by identifying information in the speckle, and then reconstructs objects based on the principle of triangulation. For example, patent No. 201410190263.3.

[0004] Existing markers have the following shortcomings: (1) The markers are easy to fall off and move, which will have a great impact on reconstruction and tracking; (2) The light from the markers is easy to be blocked, which will limit the doctor's active surgical area in actual clinical use; (3) Before surgery, the patient with the marker stickers needs to undergo another CT or MR scan, which increases the burden on the patient.

[0005] Subsequently, in patent number: 201811579081.X, the "Radiotherapy auxiliary system and method based on infrared and visible light three-dimensional reconstruction" was disclosed. This patent realizes the ranging, positioning verification, dynamic tracking, real-time monitoring and other functions of the treatment bed in clinical medicine. The infrared and visible light systems can be well reconstructed in various environments, and the infrared and visible light systems can verify each other to improve the accuracy of reconstruction. However, during the treatment process, the frame will rotate, and the patient's body surface may be blocked by the accelerator head, making it impossible for the optical equipment of the infrared and visible light system to effectively collect body surface information. Summary of the invention

[0006] In order to solve the above technical problems, the present invention proposes a radiotherapy auxiliary device based on a three-dimensional reconstruction device and a control method and system thereof.

[0007] In order to achieve the above object, the technical solution of the present invention is as follows:

[0008] On the one hand, the present invention discloses a radiotherapy auxiliary device based on multiple sets of three-dimensional reconstruction devices, comprising: N sets of three-dimensional reconstruction devices installed on a rotating frame, the N sets of three-dimensional reconstruction devices are evenly distributed along the circumference of the rotating frame, each set of three-dimensional reconstruction devices comprises: an infrared camera, an infrared projector, and a synchronous trigger device electrically connected to the infrared camera and the infrared projector, and the infrared camera and the infrared projector are both facing the isocenter position of the rotating frame;

[0009] N sets of 3D reconstruction devices divide the 3D reconstruction area into N sub-areas, and each set of 3D reconstruction devices is responsible for collecting and reconstructing its corresponding Three-dimensional data within the angle range, N ≥ 3, and N is a positive integer.

[0010] Based on the above technical solution, the following improvements can be made:

[0011] As a preferred solution, an angle sensor for detecting the real-time angle of the rotating frame is installed on the rotating frame.

[0012] On the other hand, the present invention further discloses a control method for a radiotherapy auxiliary device based on multiple sets of three-dimensional reconstruction devices, which is used to control any of the above radiotherapy auxiliary devices, and specifically comprises the following steps:

[0013] S1: The patient is positioned, the gantry is set to the specified gantry angle, and beam treatment is ready to begin;

[0014] S2: Open the 3D reconstruction device responsible for the sub-area, close other 3D reconstruction devices, and reconstruct the patient's body surface 3D data data-1;

[0015] S3: The rotating gantry rotates to deliver beams for treatment, and the angle sensor synchronously obtains the angle of the rotating gantry;

[0016] S4: automatically switch the 3D reconstruction device according to the position of the rotating gantry, and simultaneously collect the current patient's body surface 3D data data-2;

[0017] S5: based on the currently acquired three-dimensional data and the angle of the rotating frame, calibrate the acquired three-dimensional data to the specified frame angle, and the calibrated three-dimensional data is data-3;

[0018] S6: According to the ICP iterative registration algorithm, the acquired three-dimensional data data-1 and the three-dimensional data data-3 are compared to obtain the position deviation between the two;

[0019] If the three-dimensional position deviation is greater than the set threshold, the beam will be stopped immediately and the position will be repositioned; otherwise, the beam treatment will continue;

[0020] S6: Repeat S3-S6 until the treatment is completed.

[0021] As a preferred solution, the working steps of each 3D reconstruction device are as follows:

[0022] The synchronous trigger device connects the infrared camera and the infrared projector. After projecting the picture, the infrared projector feeds back a first pulse signal to the synchronous trigger device. The synchronous trigger device processes the fed-back first pulse signal into a stable second pulse signal and sends it to the infrared camera to control the infrared camera to capture pictures and collect and reconstruct three-dimensional data of the patient's body surface.

[0023] As a preferred solution, before S1, it also includes: S0: calibrating each three-dimensional reconstruction device in the radiotherapy auxiliary equipment.

[0024] As a preferred solution, calibrating each three-dimensional reconstruction device in the radiotherapy auxiliary equipment specifically includes the following steps: during calibration, each three-dimensional reconstruction device is rotated to the highest point of the rotating frame and calibrated separately, and the angle of the rotating frame during calibration of each three-dimensional reconstruction device is recorded separately.

[0025] In addition, the present invention also discloses a control system for a radiotherapy auxiliary device based on multiple sets of three-dimensional reconstruction devices, comprising: a controller and any of the above radiotherapy auxiliary devices, the controller being electrically connected to a synchronization trigger device;

[0026] Or, including: storing instructions of one or more programs, the instructions are suitable for being loaded by a memory and executing any of the above control methods.

[0027] The present invention provides a radiotherapy auxiliary equipment based on a three-dimensional reconstruction device and a control method and system thereof. A plurality of three-dimensional reconstruction devices are evenly distributed on a rotating frame. During the rotation of the rotating frame, the plurality of three-dimensional reconstruction devices work in coordination and switch automatically to ensure that the patient's body surface image is not blocked by the rotating frame at any time and in any position. The patient's three-dimensional position can be monitored in real time during the treatment process to ensure the accuracy of the treatment positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A side view of a radiotherapy auxiliary device provided in an embodiment of the present invention.

[0030] Figure 2 This is a structural block diagram of each 3D reconstruction device provided in an embodiment of the present invention.

[0031] Figure 3 Distribution diagram of three sets of 3D reconstruction devices provided in an embodiment of the present invention.

[0032] Figure 4 A flow chart of a control method provided by an embodiment of the present invention.

[0033] Figure 5 A schematic structural diagram of a first calibration plate provided in an embodiment of the present invention.

[0034] Figure 6 A schematic structural diagram of a second calibration plate provided in an embodiment of the present invention.

[0035] Among them: 11-a first three-dimensional reconstruction device, 12-a second three-dimensional reconstruction device, 13-a third three-dimensional reconstruction device, 2-a rotating frame, 31-an infrared camera, 32-an infrared projector, 33-a synchronous trigger device, 4-an angle sensor, 51-a first calibration plate, 52-a second calibration plate. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Using ordinal numbers “first,” “second,” “third,” etc. to describe common objects merely indicates that different instances of similar objects are involved and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0039] In addition, the expression of “comprising” an element is an “open” expression, which simply means that a corresponding component exists, and should not be interpreted as excluding additional components.

[0040] In order to achieve the purpose of the present invention, a radiotherapy auxiliary device based on a three-dimensional reconstruction device and a control method and system thereof, in some embodiments, as Figure 1-3 As shown, the radiotherapy auxiliary equipment includes: 3 sets of 3D reconstruction devices installed on the rotating frame 2, and the 3 sets of 3D reconstruction devices are evenly distributed along the circumference of the rotating frame 2, namely: a first set of 3D reconstruction devices 11, a second set of 3D reconstruction devices 12 and a third set of 3D reconstruction devices 13.

[0041] Each set of three-dimensional reconstruction devices includes: an infrared camera 31, an infrared projector 32, and a synchronization trigger device 33 electrically connected to the infrared camera 31 and the infrared projector 32. The infrared camera 31 and the infrared projector 32 are both facing the isocenter position of the rotating frame 2. The three sets of three-dimensional reconstruction devices divide the three-dimensional reconstruction area into three sub-areas, and each set of three-dimensional reconstruction devices is responsible for collecting and reconstructing the three-dimensional data within its corresponding 120° angle range.

[0042] Among them, in some embodiments: the infrared projector 32 is a sequential infrared projector 32; the focal length of the infrared camera 31 lens is selected to be 12 mm, the frame rate is 60 Hz, the projection ratio of the sequential infrared projector 32 is 1.35, and the distance between the infrared camera 31 and the sequential infrared projector 32 is 25 cm.

[0043] Furthermore, in the above embodiment, an angle sensor 4 for detecting the real-time angle of the rotating frame 2 is installed on the rotating frame 2. The rotation angle of the rotating frame 2 is as follows: Figure 3 As shown, one rotation is from -180° to +180°.

[0044] The first three-dimensional reconstruction device 11 is responsible for -60° to +60°, the second three-dimensional reconstruction device 12 is responsible for +60° to +180°, and the third three-dimensional reconstruction device 13 is responsible for -180° to -60°.

[0045] On the other hand, the embodiment of the present invention also discloses a control method of a radiotherapy auxiliary device based on multiple sets of three-dimensional reconstruction devices, such as Figure 4 As shown, the specific steps include:

[0046] S1: The patient is positioned, the rotating gantry 2 is placed at 0°, and beam treatment is ready to begin;

[0047] S2: Turn on the first three-dimensional reconstruction device 11, turn off the second three-dimensional reconstruction device 12 and the third three-dimensional reconstruction device 13, and reconstruct the patient's body surface three-dimensional data data-1;

[0048] S3: The rotating gantry 2 rotates to deliver beams for treatment, and the angle sensor 4 synchronously acquires the angle n of the rotating gantry 2;

[0049] S4: automatically switching the three-dimensional reconstruction device according to the position of the rotating gantry 2, and simultaneously collecting the current patient's body surface three-dimensional data data-2;

[0050] S5: based on the currently acquired three-dimensional data data-2 and the angle of the rotating frame, calibrate the acquired three-dimensional data to the 0° position of the rotating frame, and obtain the calibrated three-dimensional data data-3;

[0051] S6: According to the ICP iterative registration algorithm, the acquired three-dimensional data data-1 and the three-dimensional data data-3 are compared to obtain the position deviation between the two;

[0052] If the three-dimensional position deviation is greater than the set threshold, the beam will be stopped immediately and the position will be repositioned; otherwise, the beam treatment will continue;

[0053] S6: Repeat S3-S6 until the treatment is completed.

[0054] Further, based on the above embodiment, the working steps of each 3D reconstruction device are as follows:

[0055] The synchronization trigger device 33 connects the infrared camera 31 and the infrared projector 32. After projecting the picture, the infrared projector 32 feeds back a first pulse signal to the synchronization trigger device 33. The synchronization trigger device 33 processes the fed-back first pulse signal into a stable second pulse signal of 5V and sends it to the infrared camera 31 to control the infrared camera 31 to capture pictures and collect and reconstruct the three-dimensional data of the patient's body surface.

[0056] Further, based on the above embodiment, before S1, it also includes: S0: calibrating each three-dimensional reconstruction device in the radiotherapy auxiliary equipment.

[0057] The calibration of each 3D reconstruction device in the radiotherapy auxiliary equipment specifically includes the following steps: during calibration, each 3D reconstruction device is rotated to the highest point of the rotating gantry 2 and calibrated separately, and the angle m of the rotating gantry 2 during the calibration of each 3D reconstruction device is recorded separately.

[0058] For ease of understanding, the calibration steps are described in detail below.

[0059] The infrared camera 31 is calibrated by using a first calibration plate 51 disposed at the isocenter position of the rotating frame 2 , and the infrared projector 32 is calibrated by using a second calibration plate 52 .

[0060] like Figure 5 As shown, the first calibration plate 51 includes: a first plate body and infrared LEDs arranged on the surface of the first plate body in a matrix distribution, and the brightness of the infrared LEDs arranged on the surface of the first plate body is adjustable. Figure 6 As shown, the second calibration plate 52 includes: a second plate body and an infrared LED arranged on the edge of the surface of the second plate body, and the middle area of ​​the second plate body is a blank projection area.

[0061] The radiotherapy auxiliary equipment adopts a multi-threaded synchronization method for reconstruction, and the multi-threaded synchronization method includes: a main thread, an acquisition thread, a decoding thread, and a reconstruction thread;

[0062] The main thread is used to control the acquisition thread, decoding thread, reconstruction thread, point cloud data display, and real-time tracking curve display;

[0063] The acquisition thread is used to collect infrared images and generate corresponding sequence images;

[0064] The decoding thread is used to decode the acquired phase-shift sequence images and generate corresponding codewords;

[0065] The reconstruction thread is used to match the corresponding infrared camera 31 and the infrared projector 32 according to the corresponding codeword, and calculate the three-dimensional coordinate points using the triangle principle.

[0066] The images projected by the infrared projector 32 are three three-step phase-shifted images, and the intensity of the fringes is as follows:

[0067] I1(x,y)=I'(x,y)+I″(x,y)cos[φ(x,y)-2π / 3]

[0068] I2(x,y)=I'(x,y)+I″(x,y)cos[φ(x,y)]

[0069] I3(x,y)=I'(x,y)+I″(x,y)cos[φ(x,y)+2π / 3]

[0070] I'(x,y) is the average intensity of the point in the image, I"(x,y) is the modulated intensity of the point in the image, I1(x,y), I2(x,y) and I3(x,y) are the images collected by the infrared camera 31, and φ(x,y) is the phase to be solved, which can be calculated by the following formula:

[0071]

[0072] Finally, the corresponding codeword is calculated by φ(x, y) / 2π×p, where p is the width of the infrared projector 32 .

[0073] The calculation principle of three-dimensional coordinate points is as follows:

[0074]

[0075] Where: p c is the transformation matrix obtained by camera calibration, p p is the transformation matrix obtained by projector calibration, u c is the pixel coordinate of the corresponding camera, u p is the coordinate of the corresponding projector, Q is the three-dimensional coordinate point;

[0076] For the calculation of Q, we can introduce the tensor determinant method and first calculate the following determinant:

[0077]

[0078] Where: I(k) is the unit matrix, then the three-dimensional coordinate point Q is calculated as follows:

[0079]

[0080] For the point cloud data obtained by the infrared camera 31 and the infrared projector 32, p c is the transformation matrix obtained by calibrating the infrared camera 31, p p The obtained transformation matrix is ​​calibrated for the infrared projector 32 .

[0081] The calibration of the infrared projector 32 using the second calibration plate 52 specifically includes the following steps:

[0082] (a) The infrared projector 32 projects an infrared checkerboard on the blank projection area of ​​the second calibration plate 52, projecting multiple postures, and the infrared camera 31 collects corresponding infrared images:

[0083] (b) calculating the rotation angle R and displacement T of the infrared checkerboard of each posture relative to the infrared camera 31;

[0084] (c) Find the pixel coordinates of the corner points of the pattern projected by the infrared projector 32 in the infrared image collected by the infrared camera 31 at the upper corner;

[0085] (d) Based on the calibration parameters of the infrared camera 31 and the pixel coordinates of the corner points obtained in step (c), generate rays to interpolate the infrared checkerboard plane for each pose to obtain the actual physical coordinates;

[0086] (e) By corresponding calibration of the physical coordinates obtained in step (d) and the infrared checkerboard coordinates, the calibration parameters of the infrared projector 32 can be calculated.

[0087] Furthermore, based on the above embodiments, in S4, according to the position of the rotating rack 2, the three-dimensional reconstruction device is automatically switched, and the three-dimensional data of the current patient's body surface is collected simultaneously. The three-dimensional reconstruction device is switched according to the following angles of the rotating rack 2:

[0088] a. When the angle of the rotating rack 2 is in the range of -60° < n < +60°, the first three-dimensional reconstruction device 11 works, and the second three-dimensional reconstruction device 12 and the third three-dimensional reconstruction device 13 are turned off;

[0089] b. When the angle of the rotating rack 2 is in the range of +60° < n < +180°, the second three-dimensional reconstruction device 12 works, and the first three-dimensional reconstruction device 11 and the third three-dimensional reconstruction device 13 are turned off;

[0090] c. When the angle of the rotating rack 2 is in the range of -180° < n < -60°, the third three-dimensional reconstruction device 13 works, and the first three-dimensional reconstruction device 11 and the second three-dimensional reconstruction device 12 are turned off.

[0091] Furthermore, based on the above embodiments, in S5, the three-dimensional data data-3 is calibrated using Equation (1).

[0092]

[0093] Where: [x2, y2, z2] represents the three-dimensional coordinates of the three-dimensional data data-2;

[0094] [x3, y3, z3] represents the three-dimensional coordinates of the three-dimensional data data-3;

[0095] α = n - m.

[0096] In addition, the embodiment of the present invention also discloses a control system for a radiotherapy assistance device based on multiple sets of three-dimensional reconstruction devices, including: a controller and the radiotherapy assistance device disclosed in any of the above embodiments, and the controller is electrically connected to the synchronous trigger device 33;

[0097] Or, including: storing instructions of one or more programs, the instructions are suitable for being loaded by a memory and executing the control method disclosed in any of the above embodiments.

[0098] The present invention provides a radiotherapy auxiliary device based on a three-dimensional reconstruction device and a control method and system thereof. A plurality of three-dimensional reconstruction devices are evenly distributed on a rotating frame 2. During the rotation of the rotating frame 2, the plurality of three-dimensional reconstruction devices work in coordination and switch automatically to ensure that the patient's body surface image is not blocked by the rotating frame 2 at any time and in any position. The three-dimensional position of the patient can be monitored in real time during the treatment process to ensure the accuracy of the treatment positioning.

[0099] The present invention is real-time, fast and highly accurate; it uses infrared light for calculation and is less affected by ambient light; multiple sets of three-dimensional reconstruction devices switch between operations and can achieve all-round rotation measurement within a 360-degree range.

[0100] It is worth noting that the above embodiment only takes three sets of three-dimensional reconstruction devices as an example, and the protection scope of the present invention is not limited to three sets of three-dimensional reconstruction devices, and it can also be four sets, five sets, six sets, etc., and each set of three-dimensional reconstruction devices is responsible for collecting and reconstructing three-dimensional data within its corresponding angle range.

[0101] It should be understood that the various techniques described herein can be implemented in combination with hardware or software, or a combination thereof. Thus, the method and system of the present invention, or some aspects or portions of the method and system of the present invention, can take the form of program code (i.e., instructions) embedded in a tangible medium, such as a floppy disk, a CD-ROM, a hard disk drive, or any other machine-readable storage medium, wherein when the program is loaded into a machine such as a computer and executed by the machine, the machine becomes a system for practicing the present invention.

[0102] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A control system for radiotherapy auxiliary equipment based on multiple sets of three-dimensional reconstruction equipment, characterized in that: include: A controller and a radiotherapy auxiliary device, wherein the radiotherapy auxiliary device comprises: N sets of three-dimensional reconstruction devices installed on a rotating frame, wherein the N sets of three-dimensional reconstruction devices are evenly distributed along the circumference of the rotating frame, and each set of the three-dimensional reconstruction devices comprises: an infrared camera, an infrared projector, and a synchronization trigger device electrically connected to the infrared camera and the infrared projector, wherein the infrared camera and the infrared projector are both oriented toward the isocenter position of the rotating frame; The N sets of the three-dimensional reconstruction devices divide the three-dimensional reconstruction area into N sub-areas, and each set of the three-dimensional reconstruction device is responsible for collecting and reconstructing its corresponding Three-dimensional data within the angle range, N ≥ 3, and N is a positive integer; The controller is electrically connected to the synchronization trigger device; The radiotherapy auxiliary device can perform the following method, including: S0: Calibrate each 3D reconstruction device in the radiotherapy auxiliary equipment; During calibration, each set of the three-dimensional reconstruction device is rotated to the highest point of the rotating frame and calibrated separately, and the angle m of the rotating frame during calibration of each set of the three-dimensional reconstruction device is recorded respectively; S1: The patient is positioned, the gantry is set to the specified gantry angle, and beam treatment is ready to begin; S2: Open the 3D reconstruction device responsible for the sub-area, close other 3D reconstruction devices, and reconstruct the patient's body surface 3D data data-1; S3: The rotating gantry rotates to deliver beams for treatment, and the angle sensor synchronously obtains the angle of the rotating gantry; S4: automatically switch the 3D reconstruction device according to the position of the rotating gantry, and simultaneously collect the current patient's body surface 3D data data-2; S5: Based on the currently acquired three-dimensional data data-2 and the angle n of the rotating rack, the acquired three-dimensional data is calibrated to the specified rack angle using the following formula, and the calibrated three-dimensional data is data-3; Where: [x2, y2, z2] represents the three-dimensional coordinates of the three-dimensional data data-2; [x3, y3, z3] represents the three-dimensional coordinates of the three-dimensional data data-3; α = nm; S6: According to the ICP iterative registration algorithm, the acquired three-dimensional data data-1 and the three-dimensional data data-3 are compared to obtain the position deviation between the two; If the three-dimensional position deviation is greater than the set threshold, the beam will be stopped immediately and the position will be repositioned; otherwise, the beam treatment will continue; S7: Repeat S3-S6 until the treatment is completed.

2. The control system according to claim 1, characterized in that: An angle sensor for detecting the real-time angle of the rotating frame is installed on the rotating frame.

3. The control system according to claim 1, characterized in that: The working steps of each set of the three-dimensional reconstruction device are as follows: The synchronization trigger device is connected to the infrared camera and the infrared projector. After projecting the picture, the infrared projector feeds back a first pulse signal to the synchronization trigger device. The synchronization trigger device processes the fed-back first pulse signal into a stable second pulse signal and sends it to the infrared camera, thereby controlling the infrared camera to capture pictures and collect and reconstruct three-dimensional data of the patient's body surface.

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