System and method for motion detection

Abstract

The present application relates to a system and method for motion detection. The method includes acquiring initial cardiac motion information of a subject via a first sensor; acquiring detection information of the subject via a second sensor, the detection information including at least one of physiological motion information and postural motion information of the subject; correcting the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject; generating a control signal for a medical device based on the target cardiac motion information; and controlling the medical device to perform a scan on the subject based on the control signal.

Description

Technical Field

[0001] The present application relates generally to systems and methods for medical imaging, and more particularly to systems and methods for motion detection in medical imaging. Background Art

[0002] Medical imaging is used in various medical treatments and / or diagnoses. In some medical imaging procedures, patients must be scanned for extended periods of time. Any movement of the patient during the scan (e.g., physiological or postural) can introduce motion artifacts into the final image, affecting image quality and adversely affecting the diagnosis and treatment of medical conditions. Therefore, it is desirable to provide systems and methods for motion detection in medical imaging. Summary of the Invention

[0003] In a first aspect of the present application, a method for motion detection is provided, comprising: acquiring initial cardiac motion information of an object through a first sensor; acquiring detection information of the object through a second sensor, the detection information including at least one of physiological motion information and postural motion information of the object; based on the detection information, correcting the initial cardiac motion information to generate target cardiac motion information of the object; based on the target cardiac motion information, generating a control signal of a medical device; and based on the control signal, controlling the medical device to perform a scan on the object.

[0004] In some embodiments, the physiological motion information includes respiratory motion information, and the correcting the initial cardiac motion information based on the detection information to generate the target cardiac motion information of the object includes: extracting the respiratory motion information and / or the posture motion information from the detection information as correction information; and correcting the initial cardiac motion information based on the correction information to generate the target cardiac motion information of the object.

[0005] In some embodiments, correcting the initial cardiac motion information based on the correction information to generate the target cardiac motion information of the object includes: subtracting the correction information from the initial cardiac motion information to determine the target cardiac motion information of the object.

[0006] In some embodiments, generating a control signal for a medical device based on the target cardiac motion information includes generating the control signal according to a gating technique based on the target cardiac motion information and the detection information.

[0007] In some embodiments, the first sensor includes at least one of a first radar sensor, an electrocardiogram device, and a pulse measurement device.

[0008] In some embodiments, the second sensor includes at least one of a second radar sensor, an image acquisition device, a pressure sensor, and an acceleration sensor.

[0009] In some embodiments, the transmission frequency of the first radar sensor is lower than the transmission frequency of the second radar sensor.

[0010] In some embodiments, the first radar sensor is a Doppler radar with a transmission frequency in the range of 600 MHz to 2.4 GHz, and the second radar sensor is a millimeter wave radar sensor.

[0011] In some embodiments, the second radar sensor is mounted outside the field of view of the medical device.

[0012] In a second aspect of the present application, a motion detection system is provided, comprising at least one processor and at least one memory, wherein the at least one memory is used to store computer instructions, and the at least one processor is used to execute at least part of the computer instructions to implement the motion detection method described above.

[0013] In a third aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores computer instructions, and when the computer instructions are executed by a processor, the motion detection method as described above is implemented.

[0014] Some additional features of the present application may be explained in the following description. Some additional features of the present application will be apparent to those skilled in the art through study of the following description and accompanying drawings, or through understanding the production or operation of the embodiments. The features of the present application may be realized and achieved through practice or use of the methods, means, and combinations of various aspects of the specific embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application will be further described by way of exemplary embodiments. These exemplary embodiments will be described in detail with reference to the accompanying drawings. These embodiments are non-limiting exemplary embodiments, in which the same numbers in the various figures represent similar structures, wherein:

[0016] Figure 1 is a schematic diagram of an exemplary medical system according to some embodiments of the present application;

[0017] Figure 2 is a schematic diagram of an exemplary computing device on which at least a portion of a medical system may be implemented according to some embodiments of the present application;

[0018] Figure 3is a schematic diagram of exemplary hardware and / or software components of an exemplary mobile device on which a terminal may be implemented according to some embodiments of the present application;

[0019] Figure 4 is a block diagram of an exemplary processing device according to some embodiments of the present application;

[0020] Figure 5 is a flowchart of an exemplary process of generating target cardiac motion information of a subject according to some embodiments of the present application;

[0021] Figure 6 and Figure 7 is a schematic diagram of an exemplary medical system according to some embodiments of the present application; and

[0022] Figure 8 FIG. 1 is a flowchart of an exemplary process of generating target cardiac motion information of a subject according to some embodiments of the present application. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, a brief introduction to the drawings required for use in the description of the embodiments will be given below. However, it should be understood by those skilled in the art that the present application can be implemented without these details. In other cases, in order to avoid unnecessarily obscuring various aspects of the present application, well-known methods, processes, systems, components and / or circuits have been described at a higher level. It is obvious to those skilled in the art that various changes can be made to the disclosed embodiments, and the general principles defined in the present application can be applied to other embodiments and application scenarios without departing from the principles and scope of the present application. Therefore, the present application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope of the patent application.

[0024] The terms used in this application are for the purpose of describing specific example embodiments only and are not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may also include the plural forms unless the context clearly indicates an exception. It should also be understood that the terms "including" and "comprising" as used in this specification merely indicate the presence of the features, integers, steps, operations, components, and / or parts, but do not exclude the presence or addition of other features, integers, steps, operations, components, parts, and / or combinations thereof.

[0025] It is understood that the terms "system," "engine," "unit," "module," and / or "block" used herein are methods for distinguishing different components, elements, parts, portions, or assemblies at different levels in ascending order. However, these terms may be replaced by other expressions if the same purpose can be achieved.

[0026] Generally, the terms "module," "unit," or "block" as used herein refer to logic embodied in hardware or firmware, or a collection of software instructions. The modules, units, or blocks described herein may be implemented as software and / or hardware and may be stored in any type of non-transitory computer-readable medium or other storage device. In some embodiments, software modules / units / blocks may be compiled and linked into an executable program. It will be appreciated that software modules may be callable from other modules / units / blocks or themselves, and / or may be called in response to detected events or interrupts. Software modules configured to be executed on a computing device (e.g., a processor) may be provided on a computer-readable medium. Figure 2 The software modules / units / blocks are executed on a processor 210 as shown. For example, a compact disc, digital video disc, flash drive, disk, or any other tangible medium, or as a digital download (and may be initially stored in a compressed or installable format, requiring installation, decompression, or decryption before execution). The software code herein may be stored partially or entirely in a storage device of the computing device performing the operation and applied in the operation of the computing device. The software instructions may be embedded in firmware such as an EPROM. It should also be understood that hardware modules / units / blocks may be included in connected logical components, such as gates and flip-flops, and / or may include programmable units, such as programmable gate arrays or processors. The modules / units / blocks or computing device functions described herein may be implemented as software modules / units / blocks, but may be represented in hardware or firmware. Generally, the modules / units / blocks described herein refer to logical modules / units / blocks, which may be combined with other modules / units / blocks or divided into sub-modules / sub-units / sub-blocks, although they are physical organizations or storage devices. This description may apply to a system, an engine, or a portion thereof.

[0027] It will be understood that, unless the context clearly indicates otherwise, when a unit, engine, module, or block is referred to as being "on," "connected," or "coupled to" another unit, engine, module, or block, it may be directly on, connected, coupled, or in communication with the other unit, engine, module, or block, or there may be intervening units, engines, modules, or blocks. In this application, the term "and / or" may include any one or more of the relevant listed items or any combination thereof.

[0028] These and other features and characteristics of the present application, as well as the functions and methods of operation of the related structural elements, as well as the assembly of components and manufacturing economies, will become more apparent from the following description of the accompanying drawings, which form a part of this specification. However, it should be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present application. It should be understood that the drawings are not drawn to scale.

[0029] The flowcharts used herein illustrate operations performed by the systems illustrated in some embodiments disclosed herein. It should be understood that the operations in the flowcharts may not be performed in order. Instead, the various steps may be performed in reverse order or simultaneously. Furthermore, one or more additional operations may be added to these flowcharts. One or more operations may also be deleted from the flowcharts.

[0030] Cardiac motion monitoring (e.g., heartbeat monitoring) plays a vital role in scanning with medical equipment (e.g., CT, MRI equipment). For example, when using an MRI device to scan a patient's heart, heartbeat monitoring is required to trigger each scan in real time. Accurately monitoring the heartbeat can greatly improve image quality and improve diagnostic accuracy. Currently, when medical equipment is scanning, electrocardiogram (ECG) is the main means of monitoring the patient's heartbeat and used to trigger the scan. However, this method has some disadvantages. For example, ECG equipment is sometimes interfered with by the magnetic field of the MRI equipment, resulting in inaccurate monitoring. In addition, since the ECG does not measure the actual physical movement of the heart, the image quality of the heart scan triggered by the ECG signal may not be high.

[0031] The present application provides a solution for cardiac motion monitoring. For example, the initial cardiac motion information of the object can be obtained by a first sensor (for example, a first radar sensor, an electrocardiogram device, a pulse measurement device), and the initial cardiac motion information obtained may be interfered with by other human body movements (for example, respiratory movement, posture movement), that is, the initial motion information may include real cardiac motion information and interference motion information. Then, the detection information (that is, interference motion information) of the object can be obtained by a second sensor (for example, a second radar sensor, an image acquisition device, an acceleration sensor, a pressure sensor), and the detection information includes at least one of the physiological motion information and posture motion information of the object. Finally, the initial cardiac motion information can be corrected based on the detection information to generate the target cardiac motion information (that is, real cardiac motion information) of the object. In some embodiments, a control signal of a medical device can be further generated based on the target cardiac motion information and / or the detection information. Then, based on the control signal, the medical device is controlled to perform a scan on the object.

[0032] In some embodiments, the present application provides a solution for cardiac motion monitoring using radar technology. Specifically, the characteristics of electromagnetic waves in different bands can be utilized to use a first radar sensor with a lower frequency (for example, 600MHz to 2.4GHz frequency band) and better penetration to measure the patient's initial cardiac motion information. The initial cardiac motion information obtained by the first radar sensor may be interfered with by other human body movements (for example, respiratory movement), that is, the initial motion information may include real cardiac motion information and interfering motion information. Then, the characteristics of the electromagnetic waves emitted by a second radar sensor (for example, a millimeter wave radar) with a higher frequency and weaker penetration can be utilized to use the second radar sensor to measure the movement of the human body surface caused by other movements (for example, respiratory movement, posture movement), that is, the patient's detection information. Finally, the detection information obtained by the millimeter wave sensor can be used to filter out the interfering motion information in the initial cardiac motion information, thereby obtaining the target cardiac motion information (that is, real cardiac motion information).

[0033] Figure 1 1 is a schematic diagram of an exemplary medical system according to some embodiments of the present application. Medical system 100 may include a medical device 110, a network 120, one or more terminals 130, a processing device 140, and a storage device 150. The components of medical system 100 may be connected in various ways. By way of example only, medical device 110 may be connected to processing device 140 directly (as indicated by the dashed double-headed arrow connecting medical device 110 and processing device 140) or via network 120. As another example, storage device 150 may be connected to medical device 110 directly (as indicated by the dashed double-headed arrow connecting storage device 150 and medical device 110) or via network 120. As another example, terminal 130 may be connected to processing device 140 directly (as indicated by the dashed double-headed arrow connecting terminal 130 and processing device 140) or via network 120. As another example, terminal 130 may be connected to storage device 150 directly (as indicated by the dashed double-headed arrow connecting terminal 130 and storage device 150) or via network 120.

[0034] The medical device 110 can be used to scan an object within its field of view (FOV) to obtain scan data of the object. As used in this application, the field of view of a medical device may refer to the area scanned by the medical device during the scanning of the object. In some embodiments, the object may include a biological object and / or a non-biological object. For example, the object may include a specific part of the human body, such as the head, chest, abdomen, etc., or a combination thereof. For another example, the object may be a patient to be scanned by the medical device 110. In some embodiments, the scan data related to the object may include projection data of the object, one or more scanned images, etc.

[0035] In some embodiments, the medical device 110 can be a non-invasive medical imaging device for disease diagnosis or research purposes. For example, the medical device 110 can include a single-modality scanner and / or a multi-modality scanner. A single-modality scanner can include, for example, an ultrasound scanner, an X-ray scanner, a computed tomography (CT) scanner, a magnetic resonance imaging (MRI) scanner, an ultrasonography scanner, a positron emission tomography (PET) scanner, an optical coherence tomography (OCT) scanner, an ultrasound (US) scanner, an intravascular ultrasound (IVUS) scanner, a near-infrared spectroscopy (NIRS) scanner, a far-infrared (FIR) scanner, or the like, or any combination thereof. A multi-modality scanner can include, for example, an X-ray imaging-magnetic resonance imaging (X-ray-MRI) scanner, a positron emission tomography-X-ray imaging (PET-X-ray) scanner, a single-photon emission computed tomography-magnetic resonance imaging (SPECT-MRI) scanner, a positron emission tomography-computed tomography (PET-CT) scanner, a digital subtraction angiography-magnetic resonance imaging (DSA-MRI) scanner, or the like. The scanners provided above are for illustrative purposes only and are not intended to limit the scope of this application. As used herein, the term "imaging modality" or "modality" broadly refers to an imaging method or technique that collects, generates, processes, and / or analyzes imaging information of a target object.

[0036] In some embodiments, the medical device 110 may further include modules and / or components for performing imaging and / or related analysis. For example, the medical device 110 may include a gantry, a detector, a scanning bed, a radiation source, and the like. The gantry may be used to support the detector and the radiation source. The scanning bed may be used to place an object for scanning. For example, a user may lie on their back, side, or stomach on the scanning bed. The radiation source may emit radiation (e.g., X-ray photons, gamma-ray photons) toward the object. The detector may detect a portion of the radiation emitted by the radiation source. In some embodiments, the detector may include one or more detector units.

[0037] In some embodiments, image data (e.g., projection data of an object) acquired by the medical device 110 can be transmitted to the processing device 140 for further analysis. Additionally or alternatively, the image data acquired by the medical device 110 can be sent to a terminal device (e.g., terminal device 130) for display and / or a storage device (e.g., storage device 150) for storage.

[0038] The network 120 may include any suitable network that can facilitate the exchange of information and / or data for the medical system 100. In some embodiments, one or more components of the medical system 100 (e.g., the medical device 110, the terminal 130, the processing device 140, the storage device 150) can communicate information and / or data with one or more other components of the medical system 100 via the network 120. For example, the processing device 140 can obtain image data from the medical device 110 via the network 120. As another example, the processing device 140 can obtain user instructions from the terminal 130 via the network 120. The network 120 can be and / or include a public network (e.g., the Internet), a private network (e.g., a local area network (LAN), a wide area network (WAN)), a wired network (e.g., a wireless LAN), Ethernet, a wireless network (e.g., an 802.11 network, a Wi-Fi network), a cellular network (e.g., a Long Term Evolution (LTE) network), a frame relay network, a virtual private network ("VPN"), a satellite network, a telephone network, a router, a hub, a switch, a server computer, and / or any combination thereof. By way of example only, the network 120 may include a cable network, a wired network, a fiber optic network, a telecommunication network, an intranet, a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth TM Network, ZigBee TM In some embodiments, the network 120 may include a wireless network, a near field communication (NFC) network, or any combination thereof. In some embodiments, the network 120 may include one or more network access points. For example, the network 120 may include a wired and / or wireless network access point such as a base station and / or an Internet exchange point, and one or more components of the medical system 100 may be connected to the network 120 via the wired and / or wireless access point to exchange data and / or information.

[0039] The terminal 130 may include a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, etc., or any combination thereof. In some embodiments, the mobile device 131 may include a smart home device, a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, etc., or any combination thereof. For example only, the terminal 130 may include a Figure 3The mobile device shown. In some embodiments, smart home devices may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart TVs, smart cameras, intercoms, etc., or any combination thereof. In some embodiments, wearable devices may include bracelets, footwear, glasses, helmets, watches, clothing, backpacks, smart accessories, etc., or any combination thereof. In some embodiments, mobile devices may include mobile phones, personal digital assistants (PDAs), gaming devices, navigation devices, point of sale (POS) devices, laptop computers, tablet computers, desktop computers, etc., or any combination thereof. In some embodiments, virtual reality devices and / or augmented reality devices may include virtual reality helmets, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc., or any combination thereof. For example, virtual reality devices and / or augmented reality devices may include Google Glass TM 、Oculus Rift TM 、Hololens TM 、Gear VR TM Etc. In some embodiments, one or more terminals 130 may be part of a processing device 140 .

[0040] The processing device 140 can process data and / or information obtained from the medical device 110, the terminal 130, and / or the storage device 150. For example, the processing device 140 can obtain initial cardiac motion information of the subject using a first sensor (e.g., a first radar sensor, an electrocardiogram device, or a pulse measurement device). As another example, the processing device 140 can obtain detection information of the subject using a second sensor (e.g., a second radar sensor, an image acquisition device, an accelerometer, or a pressure sensor), where the detection information includes at least one of physiological motion information and postural motion information of the subject. As yet another example, the processing device 140 can correct the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject. In some embodiments, the processing device 140 can be a single server or a server group. The server group can be centralized or distributed. In some embodiments, the processing device 140 can be a local component or a remote component relative to one or more other components of the medical system 100. For example, the processing device 140 can access information and / or data stored in the medical device 110, the terminal 130, and / or the storage device 150 via the network 120. As another example, the processing device 140 can be directly connected to the medical device 110, the terminal 130 and / or the storage device 150 to access the stored information and / or data. In some embodiments, the processing device 140 can be implemented on a cloud platform. By way of example only, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc. or any combination thereof. In some embodiments, the processing device 140 can be provided by a computer having a plurality of computer programs such as a computer program program, ..., a computer program, a computer program, a computer program, Figure 2 The computing device 200 may implement one or more of the components shown.

[0041] The storage device 150 can store data, instructions, and / or any other information. In some embodiments, the storage device 150 can store data obtained from the terminal 130 and / or the processing device 140. In some embodiments, the storage device 150 can store data and / or instructions that the processing device 140 can execute or use to execute the exemplary methods described herein. In some embodiments, the storage device 150 can include a mass storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), or the like, or any combination thereof. Exemplary mass storage devices can include magnetic disks, optical disks, solid-state drives, and the like. Exemplary removable storage devices can include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, and the like. Exemplary volatile read-write memory devices can include random access memory (RAM). Exemplary RAM devices can include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and zero-capacitance random access memory (Z-RAM). Exemplary ROMs may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), compact disc ROM (CD-ROM), and digital versatile disk ROM. In some embodiments, the storage device 150 may be implemented on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, or any combination thereof.

[0042] In some embodiments, the storage device 150 can be connected to the network 120 to communicate with one or more other components of the medical system 100 (e.g., the processing device 140, the terminal 130). One or more components of the medical system 100 can access data or instructions stored in the storage device 150 via the network 120. In some embodiments, the storage device 150 can be directly connected to or communicate with one or more other components of the medical system 100 (e.g., the processing device 140, the terminal 130). In some embodiments, the storage device 150 can be part of the processing device 140.

[0043] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of the present application. For those skilled in the art, various changes and modifications can be made under the guidance of the contents of this application. The features, structures, methods and other features of the exemplary embodiments described in this application can be combined in various ways to obtain additional and / or alternative exemplary embodiments. However, these changes and modifications will not depart from the scope of this application. For example, the medical system 100 may include one or more radar sensors, such as Figure 6 and Figure 7The first radar sensor (e.g., signal processor 650, antenna 630, and cable 640), second radar sensor 610, and second radar sensor 620 are shown. Before or during the scanning of the object by the medical device 110, the radar sensor can monitor the movement of the object. In some embodiments, the radar sensor can include a microwave radar sensor, a millimeter wave radar sensor, a centimeter wave radar sensor, etc. In some embodiments, the radar sensor can include a modulated continuous wave radar sensor (e.g., a frequency modulated continuous wave (FMCW) radar), an unmodulated continuous wave radar sensor, etc. More description about the radar sensor can be found elsewhere in this application (e.g., Figure 5-8 For another example, the medical system 100 may further include one or more image acquisition devices (e.g., cameras), electrocardiogram devices (e.g., electrocardiogram sensors, electrocardiographs), pulse measurement devices (e.g., pulse meters), pressure sensors, acceleration sensors, and the like.

[0044] Figure 2 FIG. 1 is a schematic diagram of an exemplary computing device on which at least a portion of the medical system 100 may be implemented according to some embodiments of the present application. Figure 2 As shown, computing device 200 may include processor 210 , memory 220 , input / output (I / O) 230 , and communication port 240 .

[0045] The processor 210 can execute computer instructions (e.g., program code) and perform the functions of the processing device 140 according to the techniques described herein. Computer instructions may include, for example, routines, programs, objects, components, data structures, processes, modules, and functions that perform specific functions described herein. For example, the processor 210 can process image data or detection information obtained from the medical device 110, the storage device 150, the terminal 130, and / or any other component of the medical system 100. In some embodiments, the processor 210 may include one or more hardware processors, such as a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an application specific integrated circuit (ASIC), an application specific instruction set processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), any circuit or processor capable of performing one or more functions, or a combination thereof.

[0046] For illustrative purposes only, only one processor is described in the computing device 200. However, it should be noted that the computing device 200 disclosed in this application may also include multiple processors. Therefore, the operations and / or method steps disclosed in this application that are performed by one processor may also be performed jointly or separately by multiple processors. For example, if in this application, the processor of the computing device 200 performs operation A and operation B, it should be understood that operation A and operation B may also be performed jointly or separately by two or more different processors in the computing device 200 (for example, the first processor performs operation A, the second processor performs operation B, or the first processor and the second processor jointly perform operations A and B).

[0047] The memory 220 can store data / information obtained from the medical device 110, the storage device 150, the terminal 130, and / or any other component of the medical system 100. In some embodiments, the memory 220 can include mass storage, removable storage, volatile read-write memory, read-only memory, or the like, or any combination thereof. For example, the mass storage can include a magnetic disk, an optical disk, a solid-state drive, or the like. The removable storage can include a flash drive, a floppy disk, an optical disk, a memory card, a compact disk, a magnetic tape, or the like. The volatile read-write memory can include random access memory (RAM). RAM can include dynamic RAM (DRAM), double data rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), and zero-capacitor RAM (Z-RAM). ROM can include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), compact disk ROM (CD-ROM), and digital versatile disk ROM, or the like. In some embodiments, the memory 220 can store one or more programs and / or instructions for executing the exemplary methods described herein.

[0048] The I / O 230 may input and / or output signals, data, information, and the like. In some embodiments, the I / O 230 may enable a user to interact with the processing device 140. In some embodiments, the I / O 230 may include input devices and output devices. Exemplary input devices may include a keyboard, a mouse, a touch screen, a microphone, or the like, or a combination thereof. Exemplary output devices may include a display device, a speaker, a printer, a projector, or the like, or a combination thereof. Exemplary display devices may include a liquid crystal display (LCD), a light emitting diode (LED)-based display, a flat panel display, a curved screen, a television device, a cathode ray tube (CRT), a touch screen screen, or the like, or a combination thereof.

[0049] The communication port 240 can be connected to a network (e.g., network 120) to facilitate data communication. The communication port 240 can establish a connection between the processing device 140 and the medical device 110, the storage device 150 and / or the terminal 130. The connection can be a wired connection, a wireless connection, any other communication connection that can achieve data transmission and / or reception, and / or a combination of these connections. The wired connection may include, for example, an electrical cable, an optical cable, a telephone line, etc., or any combination thereof. The wireless connection may include, for example, Bluetooth, Wi-Fi, WiMax, a wireless LAN, ZigBee, a mobile network (e.g., 3G, 4G, 5G), etc., or a combination thereof. In some embodiments, the communication port 240 can be and / or include a standardized communication port, such as RS232, RS485, etc. In some embodiments, the communication port 240 can be a specially designed communication port. For example, the communication port 240 can be designed according to the Digital Imaging and Communications in Medicine (DICOM) protocol.

[0050] Figure 3 Schematic diagram of exemplary hardware and / or software components of an exemplary mobile device on which a terminal can be implemented according to some embodiments of the present application. Figure 3 As shown, mobile device 300 may include a communication platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, input / output (I / O) 350, memory 360, and storage 390. In some embodiments, any other suitable components, including but not limited to a system bus or controller (not shown), may also be included in mobile device 300. In some embodiments, a mobile operating system 370 (e.g., iOS 11) may be included. TM 、Android TM 、Windows Phone TM ) and one or more applications 380 are loaded from storage 390 into memory 360 for execution by CPU 340. Applications 380 may include a browser or any other suitable mobile application for receiving and rendering information related to medical system 100 or other information from processing device 140. User interaction with the information may be achieved via I / O 350 and provided to processing device 140 and / or other components of medical system 100 via network 120.

[0051] To implement the various modules, units, and their functions described herein, a computer hardware platform may be used as a hardware platform for one or more components described herein. A computer with user interface elements may be used as a personal computer (PC) or any other type of workstation or terminal device. If the computer is appropriately programmed, the computer may also be used as a server.

[0052] Figure 4 1 is a block diagram of an exemplary processing device according to some embodiments of the present application. The processing device 140 may include a first acquisition module 410 , a second acquisition module 420 , and a generation module 430 .

[0053] The first acquisition module 410 can acquire the initial cardiac motion information of the object through the first sensor. The first sensor may include a first radar sensor, an electrocardiograph device (for example, an electrocardiograph), a pulse measurement device (for example, a pulse measurement device), and other devices that can monitor the initial cardiac motion information of the object. In some embodiments, the first sensor may be a first radar sensor, the first radar sensor has a low transmission frequency, a long wavelength of the transmitted signal, and a strong penetrating power, and can detect the movement of the human skin surface and the movement inside the human body (for example, the direction of the heartbeat, the speed of the heartbeat). For example, the first radar sensor may be a Doppler radar, and the transmission frequency may be in the range of 600MHz to 2.4GHz. In some embodiments, the first radar sensor may be placed around the object (for example, around the heart) to monitor the cardiac motion of the object. The initial cardiac motion information may include the real cardiac motion information of the object and the interfering motion information caused by other motions (for example, respiratory motion, posture motion). More descriptions about the first radar sensor and the initial cardiac motion information may be found elsewhere in this application (for example, Figure 5 Step 510 and its description in ) is found.

[0054] The second acquisition module 420 can obtain the detection information of the object through the second sensor. The second sensor may include a second radar sensor, an image acquisition device (for example, a camera), an acceleration sensor, a pressure sensor, and other devices that can monitor the detection information of the object. In some embodiments, the second sensor may be a second radar sensor, and the transmission frequencies of the first radar sensor and the second radar sensor are different. In some embodiments, the second radar sensor may be a millimeter wave radar sensor. In some embodiments, the second radar sensor can be installed at a suitable position of the medical system 100 for monitoring the movement of the object. For example, the installation position of the second radar sensor can be determined based on the field of view of the second radar sensor, the field of view of the medical device, and the characteristics of the object (for example, height, body width). The detection information may include physiological motion information, posture motion information, etc. of the object, or a combination thereof. More descriptions about the second radar sensor and detection information can be found elsewhere in this application (for example, Figure 5 Step 520 and its description in ) is found.

[0055] The generation module 430 can correct the initial cardiac motion information based on the detection information to generate the target cardiac motion information of the object. The target cardiac motion information can refer to the real cardiac motion information of the object. In some embodiments, the generation module 430 can extract the respiratory motion information and / or posture motion information of the object from the detection information as correction information to correct the initial cardiac motion information and generate the target cardiac motion information of the object. For example, the generation module 430 can subtract the correction information (respiratory motion information and / or posture motion information) from the initial cardiac motion information to determine the target cardiac motion information of the object. More description about the target cardiac motion information can be found elsewhere in this application (for example, Figure 5 In some embodiments, the generation module 430 may generate a control signal for the medical device based on at least one of the target cardiac motion information, respiratory motion information, and posture motion information of the subject. The generation module 430 may control the medical device to perform a scan on the subject based on the control signal. More descriptions of the control signal may be found elsewhere in this application (e.g., Figure 5 Step 530 and its description in ) is found.

[0056] It should be noted that the above description of the processing device 140 in this application is provided for illustrative purposes only and is not intended to limit the scope of this application. For those skilled in the art, various changes and modifications can be made based on the description of this application. However, these changes and modifications do not depart from the scope of this application. For example, the processing device 140 may further include a storage module (not shown in the figure) for data storage. For example, the processing device 140 may further include a control module (not shown in the figure) for controlling medical equipment. For another example, the first acquisition module 410 and the second acquisition module 420 may be integrated into a single module.

[0057] Figure 5 FIG. 5 is a flow chart of an exemplary process 500 for generating target cardiac motion information of a subject according to some embodiments of the present application. In some embodiments, at least a portion of the process 500 may be performed by the processing device 140 (e.g., Figure 2 For example, process 500 may be stored in a storage device (e.g., storage device 150, memory 220, memory 390) in the form of instructions (e.g., application program) and executed by processing device 140 (e.g., Figure 2 The processor 210 shown, Figure 3 CPU 340 shown, or Figure 4The operations of the process shown below are for illustration purposes only. In some embodiments, process 500 may be accomplished using one or more additional operations not described and / or without one or more operations discussed. Figure 5 The order in which the operations of process 500 are illustrated and described below is not intended to be limiting.

[0058] In 510 , the processing device 140 (eg, the first acquisition module 410 ) may acquire initial cardiac motion information of the subject through a first sensor.

[0059] In some embodiments, the object may be a patient to be scanned by a medical device (e.g., medical device 110). In some embodiments, the patient may move while the medical device is scanning the patient. The movement of the object may include postural movement and physiological movement. As used herein, postural movement refers to rigid movement of an object or a part of an object (e.g., head, leg, hand). For example, rigid movement may include translation and / or rotational movement of an object or a part of an object. Exemplary rigid movement may include rotation or swinging of the object's head, leg movement, hand movement, etc. Physiological movement may include cardiac movement, respiratory movement, blood flow, gastrointestinal movement, skeletal muscle movement, brain movement (e.g., brain pulsation), etc., or any combination thereof.

[0060] In some embodiments, the first sensor may be a first radar sensor. In some embodiments, the first radar sensor may be a Doppler radar. A Doppler radar is a radar that uses the Doppler effect to detect the position and relative speed of an object. For example, a Doppler radar can emit a pulse wave of a fixed frequency to scan the air. If an object is encountered, the frequency difference between the frequency of the echo and the frequency of the transmitted wave is called the Doppler frequency. Based on the magnitude of the Doppler frequency, the radial relative speed of the object relative to the radar can be determined; based on the time difference between the transmitted pulse and the received pulse, the distance between the object and the radar can be measured. In some embodiments, the transmission frequency of the first radar sensor is low, the wavelength of the transmitted signal is long, and the penetrating power is strong, so it can detect movement on the surface of the human skin and movement inside the human body (for example, the direction and speed of the heartbeat). For example, the transmission frequency of the first radar sensor can be in the range of 600MHz to 2.4GHz.

[0061] In some embodiments, the first radar sensor can be placed around a subject (e.g., around the heart) to monitor the subject's cardiac motion. For example, the first radar sensor can be placed a certain distance above the patient's chest, or attached to the outside of the subject's chest clothing (e.g., at the location of the heart). In some embodiments, the first radar sensor can be mounted on a medical device. For example, the first radar sensor can be mounted on the RF coil of an MRI device or on a scanning bed.

[0062] In some embodiments, the first radar sensor may collect a first radar detection signal and determine initial cardiac motion information of the object based on the first radar detection signal. In some embodiments, the first radar detection signal may be image information of the object (e.g., point cloud data), position information of one or more feature points of the object (e.g., a feature point on the surface of the human body, a feature point inside the human body), etc. For example, the first radar detection signal may be the surface vibration of the human chest caused by the movement of the object (e.g., heart movement). For another example, the first radar detection signal may be the movement of an internal organ of the human body, such as the up and down movement of the heart septum.

[0063] In some embodiments, the first radar sensor can detect the undulating motion of the chest surface caused by the cardiac motion or other motion (e.g., respiratory motion, postural motion) of the subject. The initial cardiac motion information may include the real cardiac motion information of the subject and the interference motion information caused by other motions (e.g., respiratory motion, postural motion). The real cardiac motion information of the subject may reflect the motion of the tissue or organ caused by the cardiac motion of the subject. In some embodiments, the real cardiac motion information may include the cardiac cycle, and the changes in heart rate and / or cardiac motion amplitude over the cardiac cycle. The cardiac cycle may include multiple cardiac phases, such as systole (during which the left and right ventricles contract and eject blood into the aorta and pulmonary artery, respectively) and diastole (during which the ventricles relax). The interference motion information may reflect the motion of the tissue or organ caused by other motions (e.g., respiratory motion, postural motion).

[0064] In some embodiments, the first radar sensor may determine initial cardiac motion information of the subject based on the first radar detection signal, and the processing device 140 may obtain the initial cardiac motion information from the first radar sensor. Alternatively, the first radar sensor may store the determined initial cardiac motion information in a storage device (e.g., storage device 150). The processing device 140 may obtain the initial cardiac motion information from the storage device. In some embodiments, the processing device 140 may obtain the initial cardiac motion information from the first radar sensor in real time or periodically. In some embodiments, the processing device 140 may obtain the first radar detection signal from the first radar sensor and determine the initial cardiac motion information of the subject based on the first radar detection signal.

[0065] In some embodiments, the first sensor may also include an electrocardiograph (e.g., an electrocardiograph), a pulse measuring device (e.g., a pulse measuring instrument), and other devices that can monitor the initial cardiac motion information of the subject. The electrocardiograph device can record the bioelectric signals (e.g., electrocardiograph signals) generated by myocardial excitation during cardiac activity. For example, electrodes can be placed on specific body parts of the patient (e.g., chest, abdomen, shoulders) to obtain the patient's electrocardiograph signals (i.e., initial cardiac motion information). The pulse measuring device can be used to measure the number of pulse beats of the subject, which can reflect the cardiac activity of the subject. For example, a pulse measuring instrument can be clamped on the patient's finger to obtain the patient's pulse signal, and convert the pulse signal into a cardiac motion signal (i.e., initial cardiac motion information).

[0066] In 520, the processing device 140 (eg, the second acquisition module 420) may acquire detection information of the subject through a second sensor. The detection information includes at least one of physiological motion information and gesture motion information of the subject.

[0067] In some embodiments, the second sensor may be a second radar sensor. In some embodiments, the transmission frequency of the first radar sensor is lower than the transmission frequency of the second radar sensor. In some embodiments, the second radar sensor may be a millimeter wave radar sensor. A millimeter wave radar sensor may refer to a radar that operates in the millimeter wave band. Generally, millimeter waves refer to electromagnetic waves with a length of 1 to 10 mm, corresponding to a frequency range of 30 to 300 GHz. Millimeter wave radar sensors are mainly used to monitor movement on the surface of human skin (e.g., direction and speed of movement). In some embodiments, the second radar sensor may be a frequency modulated continuous wave radar sensor. A frequency modulated continuous wave radar sensor refers to a continuous wave radar whose transmission frequency is modulated by a specific signal. A frequency modulated continuous wave radar sensor can determine the distance information of an object by comparing the difference between the frequency of an echo signal at any moment and the frequency of the transmitted signal at that moment. The speed and distance of an object can be determined based on the frequency difference and time difference between the echo signal and the transmitted signal.

[0068] In some embodiments, a second radar sensor can be installed at a suitable location on the medical system 100 for monitoring the movement of the subject. In some embodiments, the installation location of the second radar sensor can be determined based on the field of view of the second radar sensor, the field of view of the medical device, and the characteristics of the subject (e.g., height, width). For example, the second radar sensor can be installed at a specific location so that the field of view of the second radar sensor can cover the entire scanning bed area. For another example, the second radar sensor can be installed at a specific location so that the field of view of the second radar sensor can cover the entire body area of ​​the subject. For another example, the second radar sensor can be installed at a specific location so that the field of view of the second radar sensor can cover the field of view of the medical device. By installing the second radar sensor at a suitable location so that the field of view of the second radar sensor covers the entire scanning bed area, the entire body area of ​​the subject, and / or the entire field of view of the medical device, the movement of the subject during scanning can be more comprehensively monitored.

[0069] In some embodiments, the second radar sensor can be integrated into or mounted in a medical device (e.g., medical device 110). In some embodiments, the second radar sensor can be mounted outside the field of view of the medical device (e.g., mounted on the RF coil of an MRI device) to reduce or eliminate signal interference between the second radar sensor and the medical device (e.g., MRI device). For example, the second radar sensor can be mounted above the scanning cavity of the medical device, such as Figure 6 and Figure 7 As shown in FIG. , the second radar sensor 610 and the second radar sensor 620 are shown in FIG. For another example, the second radar sensor can be installed on the side of the scanning cavity of the medical device. For another example, multiple second radar sensors can be installed at different locations in the scanning cavity to monitor the object from different directions. In some embodiments, the number of second radar sensors can be determined based on the field of view of the medical device, the field of view of the second radar sensor, and the installation location of the second radar sensor. For example, each of the multiple second radar sensors can be installed at a specific location so that the total field of view of the multiple second radar sensors can cover the field of view of the medical device.

[0070] In some embodiments, the second radar sensor may collect a second radar detection signal and determine detection information of the object based on the second radar detection signal. In some embodiments, the second radar detection signal may be image information of the object (e.g., point cloud data), position information of one or more feature points of the object (e.g., a feature point on the surface of the human body), etc. For example, the second radar detection signal may be the surface movement of the human body caused by the movement of the object (e.g., respiratory movement, postural movement). The detection information includes physiological movement information, postural movement information, etc. of the object, or a combination thereof. Postural movement information may reflect changes in the posture of the object, such as a large position change of a certain part of the object. Physiological movement information may include respiratory movement information. Respiratory movement information may reflect the movement of tissues or organs caused by the respiratory movement of the object. For example, respiratory movement information may include respiratory cycle, respiratory displacement, respiratory frequency, etc. The respiratory cycle may include multiple respiratory phases, such as an inhalation phase (during which the chest expands and air flows into the lungs) and an exhalation phase (during which the chest contracts and air is pushed out of the lungs).

[0071] In some embodiments, the second radar sensor may determine detection information of the object based on the second radar detection signal, and processing device 140 may obtain the detection information from the second radar sensor. Alternatively, the second radar sensor may store the determined detection information in a storage device (e.g., storage device 150). Processing device 140 may obtain the detection information from the storage device. In some embodiments, processing device 140 may obtain the detection information from the second radar sensor in real time or periodically. In some embodiments, processing device 140 may obtain the second radar detection signal from the second radar sensor and determine the detection information of the object based on the second radar detection signal.

[0072] In some embodiments, the second sensor may also include image acquisition devices (e.g., cameras), acceleration sensors, pressure sensors, and other devices that can monitor detection information of the object. For example, one or more cameras may be placed around the object to capture images of the object, thereby monitoring the physiological movement and / or postural movement of the object. For another example, one or more acceleration sensors may be placed on the body of the object to monitor the surface hysteresis of the human body caused by the movement of the object (e.g., respiratory movement, postural movement). For another example, one or more pressure sensors may be placed on the scanning bed or integrated into the scanning bed to measure changes in the pressure value generated by the object on the scanning bed, thereby monitoring the surface hysteresis of the human body caused by the movement of the object (e.g., respiratory movement, postural movement).

[0073] In 530 , the processing device 140 (eg, the generating module 430 ) may correct the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject.

[0074] As used herein, target cardiac motion information may refer to actual cardiac motion information of the subject. In some embodiments, processing device 140 may extract respiratory motion information and / or posture motion information of the subject from the detection information as correction information to correct the initial cardiac motion information and generate target cardiac motion information of the subject.

[0075] In some embodiments, processing device 140 may extract gesture motion information of the object from the detection information. For example, processing device 140 may determine object contour data based on the detection information. The object contour may be formed by the edges of the object's surface. The object contour data may reflect the motion of the object contour. For example, the contour data may include the movement speed, movement distance, movement direction, point cloud data of the object contour, and the like, or any combination thereof, of at least one of multiple locations on the object contour. Processing device 140 may further determine gesture motion information based on the contour data. In some embodiments, processing device 140 may obtain multiple point cloud frames acquired by the second radar sensor at multiple time points (or multiple time periods). Processing device 140 may further determine gesture motion information based on the multiple point cloud frames. For example, processing device 140 may determine gesture motion information by tracking the motion of at least one feature point of the object over multiple time points (or multiple time periods). A feature point of the object may be a representative point (e.g., a center point) on a specific body region of the object (e.g., a joint, shoulder, ankle, waist, knee).

[0076] In some embodiments, processing device 140 can extract physiological motion information of the subject from the detection information. In some embodiments, processing device 140 can extract respiratory motion information of the subject from the detection information based on the frequency ranges of different physiological motions using spectral analysis. For example, the physiological motion information acquired by the second radar sensor may include respiratory motion information and candidate cardiac motion information. Processing device 140 can extract candidate cardiac motion information and respiratory motion information from the detection information based on the frequency ranges of respiratory motion and cardiac motion. As used herein, candidate cardiac motion information may refer to cardiac motion information of the subject acquired by the second radar sensor. The frequency range of cardiac motion and the frequency range of cardiac motion can be manually set by a user of medical system 100 or determined by one or more components of medical system 100 (e.g., processing device 140) for different situations. For a normal person, the frequency range of cardiac motion is higher than the frequency range of respiratory motion. In some embodiments, processing device 140 can generate filtered detection information by performing a filtering operation on the detection information to filter out postural motion information. Processing device 140 can convert the filtered detection information from the time domain to the frequency domain by performing a Fourier transform on the filtered detection information. The processing device 140 can then extract candidate cardiac motion information and respiratory motion information from the filtered detection information in the frequency domain based on the frequency range of the respiratory motion and the frequency range of the cardiac motion. The processing device 140 can determine the respiratory motion information in the time domain by performing an inverse Fourier transform on the respiratory motion information in the frequency domain.

[0077] In some embodiments, the processing device 140 can correct the initial cardiac motion information based on the correction information (respiratory motion information and / or posture motion information) extracted from the detection information to generate target cardiac motion information of the subject. In some embodiments, the processing device 140 can remove the correction information (respiratory motion information and / or posture motion information) from the initial cardiac motion information to generate target cardiac motion information of the subject. By removing the respiratory motion information and / or posture motion information from the initial cardiac motion information, interfering motion information caused by respiratory motion and / or posture motion in the initial cardiac motion information can be removed, thereby obtaining the target cardiac motion information of the subject. For example, the processing device 140 can perform a filtering operation on the initial cardiac motion information using an adaptive filter based on the posture motion information and the respiratory motion information to remove the posture motion information and / or respiratory motion information from the initial cardiac motion information to obtain the target cardiac motion information. For another example, the processing device 140 can transform the initial cardiac motion information and the respiratory motion information from the time domain to the frequency domain by performing a Fourier transform on the initial cardiac motion information and the respiratory motion information. The processing device 140 can subtract the initial cardiac motion information and the respiratory motion information in the frequency domain to generate target cardiac motion information in the frequency domain. Specifically, assuming that the initial cardiac motion information in the frequency domain includes two spectral components, one spectral component corresponds to the true cardiac motion information (i.e., the target cardiac motion information) and the other spectral component corresponds to the interference motion information caused by respiratory motion, by subtracting the initial cardiac motion information and the respiratory motion information in the frequency domain, the spectral component corresponding to the interference motion information can be removed, and the spectral component corresponding to the true cardiac motion information can be obtained. The processing device 140 can then perform an inverse Fourier transform on the target cardiac motion information in the frequency domain to generate the target cardiac motion information in the time domain.

[0078] In some embodiments, the processing device 140 may generate a control signal for the medical device based on at least one of the subject's target cardiac motion information, respiratory motion information, and posture motion information, and may control the medical device to perform a scan on the subject based on the control signal.

[0079] In some embodiments, the processing device 140 can determine whether the posture motion information is within a preset range. The preset range can be set by the user of the medical system 100, or determined by one or more components of the medical system 100 (for example, the processing device 140). For example, the processing device 140 can determine whether the movement amplitude of at least one position on the object contour is greater than a preset threshold. If it is determined that the movement amplitude of a certain position on the object contour is greater than the preset threshold, that is, it is determined that the posture motion information exceeds the preset range, it can be considered that the scan data acquired by the medical device at this time is greatly affected by the movement of the object, and subsequent images will produce serious artifacts. The processing device 140 can generate a control signal to stop the medical device from scanning, or mark this segment of scan data and not use it for subsequent image reconstruction processes. In some embodiments, the second radar sensor can continuously monitor the posture motion information of the object, and when it is determined that the posture motion information is within the preset range, it can generate a control signal to enable the medical device to continue scanning the object.

[0080] In some embodiments, the processing device 140 can generate a control signal using a gating technique based on the subject's physiological motion information (e.g., target cardiac motion information, respiratory motion information). Taking an MRI device as an example, the control signal can be used to control the MRI device to start, terminate, or pause an MRI scan. In some embodiments, the processing device 140 can determine, based on the subject's physiological motion information (e.g., target cardiac motion information, respiratory motion information), time periods (or time points) when the subject's physiological motion (e.g., cardiac motion, respiratory motion) is relatively stable or minimal. Compared to MR signals acquired during other time periods (e.g., cardiac contractions), MR signals acquired during time periods when physiological motion is relatively stable or minimal are less affected by physiological motion and have higher signal quality, thereby reducing artifacts caused by physiological motion in the image. For example, if the amplitude of physiological motion at a certain time point is less than a first threshold, the physiological motion at that time point can be considered stable or minimal. For another example, if the change in the amplitude of physiological motion within a certain time period is less than a second threshold, the physiological motion can be considered stable or minimal during that time period. The processing device 140 can then determine the MR signal acquisition time based on a time period (or time point) when the physiological motion of the object is relatively stable or minimal. The MR signal acquisition time can be a time point (or time period) when the MRI device is controlled to perform an MR scan on the object. For example, the MR signal acquisition time can include a time period (or time point) when the physiological motion of the object is relatively stable or minimal. The processing device 140 can send a control signal to the MRI device to perform the MR scan. By determining the appropriate MR signal acquisition time based on physiological motion information (e.g., target cardiac motion information, respiratory motion information), the image reconstructed based on the MR signals detected in the MR scan can have fewer motion artifacts and higher quality.

[0081] It should be noted that the above description of the present application is provided for illustrative purposes only and is not intended to limit the scope of the present application. For those skilled in the art, various changes and modifications can be made based on the description of the present application. However, these changes and modifications do not depart from the scope of the present application. In some embodiments, the processing device 140 can extract information related to other physiological movements (e.g., blood flow, gastrointestinal movement, skeletal muscle movement) from the detection information obtained by the second radar sensor for correction of the initial cardiac motion information to generate target cardiac motion information.

[0082] Figure 6 and Figure 7 is a schematic diagram of an exemplary medical system according to some embodiments of the present application. Figure 6 and Figure 7 As shown, medical system 600 includes a first radar sensor and a plurality of second radar sensors (eg, second radar sensor 610 , second radar sensor 620 ).

[0083] The first radar sensor can acquire initial cardiac motion information of patient 601. The first radar sensor may include a signal processor 650, an antenna 630, and a cable 640. Antenna 630 may be placed above the chest of patient 601. Signal processor 650 may be placed below the scanning bed of patient 601. Antenna 630 may transmit signals to the outside and receive signals reflected by patient 601. Cable 640 may connect signal processor 650 and antenna 630 to enable data transmission between signal processor 650 and antenna 630. Signal processor 650 may determine initial cardiac motion information of patient 601 based on a phase difference or frequency difference between the transmitted signal and the received signal.

[0084] The second radar sensor can acquire detection information (e.g., respiratory motion information, posture motion information) of the patient 601. The second radar sensor 610 and the second radar sensor 620 can be mounted above the scanning cavity of the medical device and outside the field of view 670 of the medical device, thereby reducing or eliminating signal interference between the second radar sensor and the medical device.

[0085] It should be noted that the above description of this application is provided for illustrative purposes only and is not intended to limit the scope of this application. A person skilled in the art may make various changes and modifications based on the description of this application. However, such changes and modifications do not depart from the scope of this application. For example, medical system 600 may include two or more first radar sensors and / or three or more second radar sensors.

[0086] Figure 8FIG. 8 is a flow chart of an exemplary process 800 for generating target cardiac motion information of a subject according to some embodiments of the present application. In some embodiments, at least a portion of the process 800 may be performed by the processing device 140 (e.g., Figure 2 For example, process 800 may be stored in a storage device (e.g., storage device 150, memory 220, memory 390) in the form of instructions (e.g., an application program) and executed by processing device 140 (e.g., Figure 2 The processor 210 shown, Figure 3 CPU 340 shown, or Figure 4 The operations of the process shown below are for illustration purposes only. In some embodiments, process 800 may be accomplished using one or more additional operations not described and / or without one or more operations discussed. Figure 8 The order in which the operations of process 800 are illustrated and described below is not intended to be limiting.

[0087] In 801, processing device 140 (or the first radar sensor) may perform signal fitting on a first radar detection signal acquired by the first radar sensor. The first radar detection signal may be acquired by the first radar sensor by monitoring the movement of an area near the heart of a subject. In some embodiments, a least squares method may be used to perform unit circle fitting on the first radar detection signal to generate a fitted signal.

[0088] In 802, the processing device 140 (or the first radar sensor) may perform I / Q signal demodulation on the fitted signal. In some embodiments, an arctangent operation may be performed on the fitted signal to obtain a demodulated signal containing radar phase changes caused by the actual heart motion and the interfering motion.

[0089] In 803 , the processing device 140 (or the first radar sensor) may obtain initial cardiac motion information based on the demodulated signal. The initial motion information may include the subject's actual cardiac motion information and interference motion information caused by other motions (eg, respiratory motion, posture motion).

[0090] At 804, processing device 140 (or the second radar sensor) may determine an area of ​​the subject and monitor movement of the area of ​​the subject. In some embodiments, the area of ​​the subject may be an area significantly affected by physiological movement. For example, the area of ​​the subject may be the patient's chest, abdomen, or other area.

[0091] At 805, processing device 140 (or a second radar sensor) may track the distance between the area of ​​the object and the second radar sensor. In some embodiments, the distance between the area of ​​the object and the second radar sensor may be tracked based on a second radar detection signal acquired by the second radar sensor. The second radar detection signal may be acquired by the second radar sensor by monitoring the movement of the area of ​​the object. For example, the magnitude, direction, and speed of movement of one or more locations in the area of ​​the object may be determined based on a phase difference or frequency difference between a transmitted signal and a received signal of the second radar sensor.

[0092] In 806, the processing device 140 (or the second radar sensor) can obtain the detection information of the object (e.g., respiratory motion information, posture motion information) and perform phase unwrapping. Phase unwrapping can refer to the process of extracting different motion information from the detection information based on the motion frequency range of different motions. For example, the contour data of the object can be determined based on the detection information, and the posture motion information of the object can be determined based on the contour data. For another example, the detection information can be transformed from the time domain to the frequency domain by performing Fourier transform on the detection information. Then, the respiratory motion information can be extracted from the detection information in the frequency domain based on the frequency range of different physiological movements.

[0093] In 807 , the processing device 140 (or the second radar sensor) may obtain respiratory motion information and posture motion information of the subject. For example, the respiratory motion information in the time domain may be determined by performing an inverse Fourier transform on the respiratory motion information in the frequency domain.

[0094] In 808, the processing device 140 may determine whether large-scale gesture motion information is detected. For example, the processing device 140 may determine whether the movement amplitude of at least one position on the object contour is greater than a preset threshold. If it is determined that the movement amplitude of a certain position on the object contour is greater than the preset threshold, that is, it is determined that large-scale gesture motion information is detected, the process 800 may proceed to 812. For another example, if it is determined that the movement amplitude of a certain position on the object contour is greater than the preset threshold, that is, it is determined that large-scale gesture motion information is detected, the process 800 may proceed to 810. If it is determined that the movement amplitude of each position on the object contour is not greater than the preset threshold, that is, it is determined that no large-scale gesture motion information is detected, the process 800 may proceed to 809, in which the processing device 140 may use the respiratory motion information extracted from the detection information to correct the initial cardiac motion information.

[0095] In step 810 , the processing device 140 may correct the initial cardiac motion information based on the respiratory motion information and / or the posture motion information. In step 811 , the processing device 140 may generate target cardiac motion information (i.e., actual cardiac motion information) of the subject, as described in step 530 , which will not be further described here.

[0096] At 812, the processing device 140 may generate a control signal based on the target cardiac motion information, respiratory motion information, and / or posture motion information to control the medical device's scanning operation on the subject. For example, if it is determined that large-amplitude posture motion information is detected, the processing device 140 may generate a control signal to control the medical device to stop scanning. For another example, the processing device 140 may generate a control signal based on the respiratory motion information and / or posture motion information using a gating technique to determine a signal (e.g., MR signal) acquisition time of a medical device (e.g., an MRI device).

[0097] It should be noted that the above description of the present application is provided only for the purpose of illustration and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes and modifications can be made based on the description of the present application. However, these changes and modifications do not depart from the scope of the present application.

[0098] Compared with the prior art, the beneficial effects that may be brought about by the above embodiments of the present application include but are not limited to: (1) Using a first radar sensor with a lower transmission frequency and better penetration to monitor a small local area of ​​the patient (e.g., the heart area), the initial cardiac motion information of the patient can be obtained more accurately. (2) Using a second radar sensor with a higher transmission frequency and weaker penetration (e.g., a millimeter wave radar sensor) to monitor a large area of ​​the patient (e.g., the chest and abdomen area, the whole body area), the movement of the human body surface caused by other movements (e.g., respiratory movement, posture movement) can be obtained more accurately (i.e., detection information). (3) Cardiac motion monitoring can be achieved without installing electrodes or respiratory belts on the scanned person, which can reduce the doctor's positioning time (including undressing, applying conductive glue, installing electrodes, etc.) and improve the efficiency of medical equipment. (4) The radar sensor has magnetic resonance compatibility and is applicable to all imaging and treatment equipment. In addition, installing the second radar sensor outside the field of view of the medical equipment (e.g., installing it on the RF coil of the MRI equipment) can reduce or eliminate signal interference between the second radar sensor and the medical equipment (e.g., MRI equipment). (5) By using the detection information obtained by the second radar sensor to correct the initial cardiac motion information obtained by the first radar sensor, higher-quality target cardiac motion information can be generated. The target cardiac motion information is then fed back to the medical device to participate in the image reconstruction process, thereby improving image quality, reducing the generation of motion artifacts, and thus improving diagnostic accuracy. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other possible beneficial effects.

[0099] The basic concepts have been described above. It will be apparent to those skilled in the art after reading this application that the above disclosures are merely illustrative and do not constitute limitations on this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and amendments to this application. Such modifications, improvements, and amendments are suggested in this application and remain within the spirit and scope of the exemplary embodiments of this application.

[0100] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or more in different places in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0101] In addition, it will be appreciated by those skilled in the art that various aspects of the present application may be illustrated and described by a number of patentable categories or situations, including any new and useful combination of processes, machines, products or substances, or any new and useful improvements thereto. Therefore, various aspects of the present application may be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as a "unit," "module," or "system." In addition, various aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein the computer-readable program code is contained therein.

[0102] A computer-readable signal medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. Such propagated signals may take a variety of forms, including electromagnetic, optical, or any suitable combination. A computer-readable signal medium may be any computer-readable medium, other than a computer-readable storage medium, that can be coupled to an instruction execution system, apparatus, or device to communicate, propagate, or transfer a program for use. Program code on a computer-readable signal medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, RF, or any combination of the foregoing.

[0103] The computer program code required for the operation of each part of the application can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, conventional procedural programming languages ​​such as C programming language, VisualBasic, Fortran2103, Perl, COBOL2102, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy or other programming languages. The program code can be run completely on the user's computer, or run on the user's computer as an independent software package, or run partly on the user's computer and partly on the remote computer, or run completely on the remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any type of network (including local area network (LAN) or wide area network (WAN)), or can be connected to an external computer (for example, by using the network of a network service provider) or in a cloud computing environment or as a service provider, for example, software as a service (SaaS).

[0104] In addition, unless expressly stated in the claims, the order of the processing elements and sequences described in this application, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this application. Although the above disclosure discusses some embodiments of the invention that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this application. For example, although the implementation of the various components described above can be embodied in hardware devices, it can also be implemented as a pure software solution, for example, installation on an existing server or mobile device.

[0105] Similarly, it should be noted that, in order to simplify the presentation of this disclosure and thereby facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this disclosure sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this approach should not be interpreted as reflecting an intention that the claimed object material to be scanned requires more features than expressly recited in each claim. Rather, the subject matter of the invention may include fewer features than the single embodiment described above.

[0106] In some embodiments, the numbers representing quantities or properties used to describe and claim certain embodiments of the present application should be understood to be modified by the terms "about", "approximately" or "substantially" in some cases. For example, unless otherwise stated, "about", "approximately" or "substantially" can indicate a ±20% variation of the value it describes. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the desired characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical fields and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0107] All patents, patent applications, patent application publications, and other materials (such as articles, books, specifications, publications, records, things, and / or the like) referred to in this application are hereby incorporated by reference in their entirety for all purposes, except any prosecution record related to such documents, any such documents that are inconsistent or conflicting with this document, or any such documents that limit the broad scope of the claims that may or may not be related to this document. For example, if there is any inconsistency or conflict between the description, definitions, and / or use of terms associated with any incorporated material and the terminology associated with this document, the description, definitions, and / or use of terminology in this document will control.

[0108] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other variations may also fall within the scope of this application. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this application may be considered consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly introduced and described in this application.

Claims

1. A method for motion detection, characterized in that: The method comprises: acquiring initial cardiac motion information of the subject through a first sensor; acquiring detection information of the object through a second sensor, the detection information including at least one of physiological motion information and posture motion information of the object; the first sensor including a first radar sensor, the second sensor including a second radar sensor, and a transmission frequency of the first radar sensor being lower than a transmission frequency of the second radar sensor; correcting the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject; generating a control signal for a medical device based on the target cardiac motion information; and Based on the control signal, the medical device is controlled to perform a scan on the object.

2. The method according to claim 1, characterized in that The physiological motion information includes respiratory motion information, and the correcting the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject includes: extracting the respiratory motion information and / or the posture motion information from the detection information as correction information; and Based on the correction information, the initial cardiac motion information is corrected to generate the target cardiac motion information of the subject.

3. The method according to claim 2, characterized in that The correcting the initial cardiac motion information based on the correction information to generate the target cardiac motion information of the subject includes: The correction information is subtracted from the initial cardiac motion information to determine the target cardiac motion information of the subject.

4. The method according to claim 1, wherein Generating a control signal for a medical device based on the target cardiac motion information includes: The control signal is generated based on the target heart motion information and the detection information according to a gating technique.

5. The method according to claim 1, wherein The first sensor includes at least one of an electrocardiogram device and a pulse measurement device.

6. The method according to claim 5, characterized in that The second sensor includes at least one of an image acquisition device, a pressure sensor, and an acceleration sensor.

7. The method according to claim 1, characterized in that The physiological motion information includes respiratory motion information, and the correcting the initial cardiac motion information based on the detection information to generate target cardiac motion information of the subject includes: transforming the initial cardiac motion information and the respiratory motion information from a time domain to a frequency domain by performing Fourier transform on the initial cardiac motion information and the respiratory motion information; subtracting the initial cardiac motion information and the respiratory motion information in the frequency domain to generate the target cardiac motion information in the frequency domain; An inverse Fourier transform is performed on the target cardiac motion information in the frequency domain to generate the target cardiac motion information in the time domain.

8. The method according to claim 1, characterized in that The first radar sensor is a Doppler radar with a transmission frequency in the range of 600 MHz to 2.4 GHz, and the second radar sensor is a millimeter wave radar sensor. 9 . The method of claim 8 , wherein the second radar sensor is mounted outside the field of view of the medical device.

10. A motion detection system, characterized in that: The system includes at least one processor and at least one memory; The at least one memory is for storing computer instructions; The at least one processor is configured to execute at least part of the computer instructions to implement the method according to any one of claims 1 to 9.

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