A mobile magnetic resonance imaging (MRI) device transport system and method with real-time path planning capability.

Abstract

This invention provides a mobile MRI equipment transport system and method with real-time route planning capability. The transport system includes: an acquisition module for acquiring transport tasks for the mobile MRI equipment, the transport tasks including transport time and destination; a planning module for acquiring the current location of the mobile MRI equipment and, based on the current location and the destination, planning a transport route in real time; and a transport module for assisting at least one transport personnel in transporting the mobile MRI equipment at the scheduled transport time, based on the transport route. This mobile MRI equipment transport system and method with real-time route planning capability improves convenience and the rationality of hospital resource allocation. In particular, for urgent testing needs, it can improve the timeliness of the mobile MRI equipment's arrival at the testing site, avoiding delays for patients undergoing testing.

Description

Technical Field

[0001] This invention relates to the field of mobile magnetic resonance imaging (MRI) equipment technology, and in particular to a mobile MRI equipment transport system and method with real-time path planning capability. Background Technology

[0002] Currently, mobile MRI machines are conveniently located and can be transported to designated locations (e.g., patient wards) for MRI scans according to hospital needs. However, transporting mobile MRI machines requires at least one person familiar with the hospital's internal routes to accompany the patient to avoid delays. Typically, medical staff personally travel to the location of the mobile MRI machine for transport, which is cumbersome and reduces the rational allocation of medical resources within the hospital. This can be especially problematic in urgent testing situations, potentially delaying patient access to testing.

[0003] Therefore, a solution is urgently needed. Summary of the Invention

[0004] One of the objectives of this invention is to provide a mobile MRI equipment transport system with real-time route planning. This system eliminates the need for transport personnel familiar with hospital routes to accompany the patient, allowing any staff member to complete the transport. It also eliminates the need for medical staff to personally travel to the location of the mobile MRI equipment, thus improving convenience and the rational allocation of medical resources within the hospital. In particular, for urgent testing needs, it can improve the timeliness of the mobile MRI equipment's arrival at the testing site, avoiding delays for patients undergoing testing.

[0005] This invention provides a mobile magnetic resonance imaging (MRI) device transport system with real-time path planning capability, comprising:

[0006] The acquisition module is used to acquire the transfer task of the mobile magnetic resonance imaging equipment, the transfer task including: transfer time and transfer destination;

[0007] The planning module is used to obtain the current location of the mobile magnetic resonance imaging device and plan the transfer route in real time based on the current location and the transfer destination;

[0008] A transfer module is used to assist at least one transfer personnel in transferring the mobile magnetic resonance imaging device based on the transfer route and during the transfer time.

[0009] Preferably, the acquisition module acquires the transfer task, including:

[0010] The system obtains the transfer tasks corresponding to the mobile MRI equipment from medical staff within the hospital area via a dispatch app.

[0011] And / or,

[0012] The system obtains the transfer task input by the personnel next to the mobile magnetic resonance imaging device based on the transfer task input interface on the mobile magnetic resonance imaging device.

[0013] Preferably, the planning module plans a transfer route in real time based on the current location and the transfer destination, including:

[0014] Obtain the preset internal map corresponding to the hospital campus;

[0015] Obtain the device dimensions of the mobile magnetic resonance imaging (MRI) device;

[0016] Based on the device size, multiple mobile routes are planned on the internal map from the current location to the transfer destination, which are able to accommodate the mobile MRI device.

[0017] Obtain road condition information for the stated route;

[0018] Based on the road condition information, a suitable transfer route is selected from the travel routes.

[0019] Preferably, the planning module obtains traffic information for the travel route, including:

[0020] Obtain the length of the movement route and use it as the traffic information of the movement route;

[0021] as well as,

[0022] Obtain the preset distribution map of monitoring facilities corresponding to the hospital campus;

[0023] The monitoring facilities for monitoring the scenes along the route are determined from the monitoring facility distribution map.

[0024] Acquire monitoring images from the monitoring facility;

[0025] Based on the monitoring images, the congestion level of the scenes traversed by the movement route is determined and used as the traffic condition information of the movement route.

[0026] Preferably, the planning module selects a suitable transfer route from the travel routes based on the road condition information, including:

[0027] Assign a preset first weight to the route length of the movement route to obtain a first target value;

[0028] A second target value is obtained by assigning a preset second weight to the congestion level of the scenes traversed by the movement route;

[0029] The sum of the first target value and the second target value is taken as the appropriate value for the movement route;

[0030] The movement route corresponding to the maximum suitable value is taken as the suitable transfer route.

[0031] Preferably, the planning module determines the congestion level of the scene through which the movement route passes based on the monitoring image, including:

[0032] The scenes along the movement route are traversed sequentially. During each traversal, a local scene space is determined from the traversed scenes based on a preset local scene space determination rule, and a spatial image of the local scene space is determined from the monitoring images of the traversed scenes.

[0033] Based on a preset obstacle image library, the volume of obstacles in the local scene space is determined according to the spatial image, and the ratio of the obstacle volume to the spatial volume of the local scene space is used as the congestion level.

[0034] After traversing all the scenes along the movement route, the congestion level of each scene is accumulated to obtain the congestion level of the scenes along the movement route.

[0035] The local scene space determination rules include:

[0036] The spatial height of the local scene space is the device height of the mobile magnetic resonance imaging device, and the bottom surface of the local scene space is the scene ground of the traversed scene.

[0037] Preferably, the transfer module, based on the transfer route, assists at least one transfer personnel in transferring the mobile magnetic resonance imaging device during the transfer time, including:

[0038] Obtain the location of the personnel involved in the transfer;

[0039] The device position and display orientation of at least one display device on the mobile magnetic resonance imaging device are obtained;

[0040] Based on the personnel location, device location, and display orientation, a suitable target display device is selected from the display devices;

[0041] Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the remaining route;

[0042] The remaining route is displayed via the target display device.

[0043] Preferably, the transfer module selects a suitable target display device from the display devices based on the personnel location, device location, and display orientation, including:

[0044] Based on the personnel's location and the preset eye height, predict the eye position of the transfer personnel;

[0045] Obtain the straight-line distance between the eye position and the device position;

[0046] If the straight-line distance is less than or equal to a preset straight-line distance threshold, the corresponding display device will be used as a pre-display device;

[0047] Construct a straight line from the device position of the pre-display device to the eye position;

[0048] Calculate the angle between the display direction of the pre-display device and the first direction of the straight line;

[0049] The pre-display device corresponding to the smallest included angle in the first direction is taken as the suitable target display device.

[0050] Preferably, the transfer module, based on the transfer route, assists at least one transfer personnel in transferring the mobile magnetic resonance imaging device during the transfer time, and further includes:

[0051] Obtain the direction of movement of the mobile magnetic resonance imaging device;

[0052] Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the proper direction of movement of the mobile magnetic resonance imaging device;

[0053] Calculate the second angle between the moving direction and the expected moving direction;

[0054] If the included angle of the second direction is greater than the preset included angle threshold of the second direction, a template is generated based on the preset direction adjustment information, and direction adjustment information is generated according to the moving direction and the expected moving direction;

[0055] The direction adjustment information is temporarily displayed by the target display device until the second direction angle is less than or equal to the second direction angle threshold.

[0056] This invention provides a method for transporting mobile magnetic resonance imaging (MRI) equipment with real-time path planning, comprising:

[0057] Step 1: Obtain the transport task for the mobile magnetic resonance imaging (MRI) device, which includes: transport time and transport destination;

[0058] Step 2: Obtain the current location of the mobile magnetic resonance imaging device, and plan the transfer route in real time based on the current location and the transfer destination;

[0059] Step 3: Based on the transfer route, at least one transfer personnel shall assist in transferring the mobile magnetic resonance imaging device during the transfer time.

[0060] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0061] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0062] Figure 1 This is a schematic diagram of a mobile magnetic resonance imaging (MRI) device transport system capable of real-time path planning, as described in an embodiment of the present invention.

[0063] Figure 2 This is a schematic diagram of a mobile magnetic resonance imaging (MRI) device transport method with real-time path planning according to an embodiment of the present invention. Detailed Implementation

[0064] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0065] This invention provides a mobile magnetic resonance imaging (MRI) device transport system capable of real-time path planning, such as... Figure 1 As shown, it includes:

[0066] Acquisition module 1 is used to acquire the transfer task of the mobile magnetic resonance imaging equipment, the transfer task including: transfer time and transfer destination;

[0067] Planning module 2 is used to obtain the current position of the mobile magnetic resonance imaging device and plan the transfer route in real time based on the current position and the transfer destination;

[0068] The transfer module 3 is used to assist at least one transfer personnel in transferring the mobile magnetic resonance device based on the transfer route and during the transfer time.

[0069] The working principle and beneficial effects of the above technical solution are as follows:

[0070] Transport assignments are typically issued by healthcare professionals who require access to mobile MRI equipment. These assignments include the transport time and destination. The transport time is the desired start time for the mobile MRI, and the destination is the desired location. The system obtains the current location of the mobile MRI and, based on this location and destination, plans a real-time transport route. This route then assists the transport personnel in the process, for example, by displaying the route on the mobile MRI's screen for navigation.

[0071] This application eliminates the need for transport personnel familiar with hospital routes to accompany the patient during transport. Any staff member can complete the transport, and medical staff do not need to personally travel to the location of the mobile MRI equipment. This improves convenience and the rationality of the allocation of medical resources within the hospital. In particular, for some urgent testing needs, it can improve the timeliness of the mobile MRI equipment's arrival at the testing site, avoiding delays for patients to undergo testing.

[0072] In one embodiment, the acquisition module 1 acquires the transfer task, including:

[0073] The system obtains the transfer tasks corresponding to the mobile MRI equipment from medical staff within the hospital area via a dispatch app.

[0074] And / or,

[0075] The system obtains the transfer task input by the personnel next to the mobile magnetic resonance imaging device based on the transfer task input interface on the mobile magnetic resonance imaging device.

[0076] The working principle and beneficial effects of the above technical solution are as follows:

[0077] There are two ways to obtain transfer tasks: 1. Medical staff log in to the dispatch app and input the transfer task for the mobile MRI machine. Generally, medical staff remotely generate the usage request, and dispatch staff will then carry out the transfer. 2. The mobile MRI machine has a transfer task input interface on its display screen. Personnel near the mobile MRI machine can directly input the task, or medical staff can handle the transfer themselves by inputting the task. They can also notify staff by phone or other means to arrange the transfer, and staff will input the transfer task during the transfer. Introducing these two methods for obtaining transfer tasks allows the system to meet different usage needs and improves its applicability.

[0078] In one embodiment, the planning module 2 plans a transfer route in real time based on the current location and the transfer destination, including:

[0079] Obtain the preset internal map corresponding to the hospital campus;

[0080] Obtain the device dimensions of the mobile magnetic resonance imaging (MRI) device;

[0081] Based on the device size, multiple mobile routes are planned on the internal map from the current location to the transfer destination, which are able to accommodate the mobile MRI device.

[0082] Obtain road condition information for the stated route;

[0083] Based on the road condition information, a suitable transfer route is selected from the travel routes.

[0084] The working principle and beneficial effects of the above technical solution are as follows:

[0085] The pre-defined internal map corresponding to the hospital campus is a building map of the hospital, which also includes the size of different passageways, such as: corridor width, corridor height, elevator width, elevator length, and elevator height. The dimensions of the mobile MRI machine are its length, width, and height. When planning the movement route, it is based on the current location of the mobile MRI machine at the starting point and the destination at the end point. Simultaneously, it is also based on the dimensions of the mobile MRI machine and the size of different passageways on the internal map to determine if the route can accommodate the mobile MRI machine. This improves the rationality of route planning, avoiding situations where the mobile MRI machine cannot pass, causing delays in testing, and is also more intelligent. Traffic information for the movement route includes: route length and current congestion level. Using traffic information as a selection criterion, a suitable transfer route is selected from the movement routes, further improving the rationality of the transfer route planning and increasing the transfer efficiency of the mobile MRI machine.

[0086] In one embodiment, the planning module 2 obtains traffic information for the travel route, including:

[0087] Obtain the length of the movement route and use it as the traffic information of the movement route;

[0088] as well as,

[0089] Obtain the preset distribution map of monitoring facilities corresponding to the hospital campus;

[0090] The monitoring facilities for monitoring the scenes along the route are determined from the monitoring facility distribution map.

[0091] Acquire monitoring images from the monitoring facility;

[0092] Based on the monitoring images, the congestion level of the scenes traversed by the movement route is determined and used as the traffic condition information of the movement route.

[0093] The working principle and beneficial effects of the above technical solution are as follows:

[0094] The pre-defined distribution map of monitoring facilities within the hospital grounds indicates the locations of various monitoring facilities, such as surveillance cameras. Traffic information for the travel route is obtained in two ways: 1. The route length is obtained as traffic information. 2. By analyzing surveillance images from monitoring facilities along the route, the congestion level of the areas the route passes through is determined, serving as traffic information. Introducing these two methods improves the comprehensiveness of using traffic information as a selection criterion for travel routes.

[0095] In one embodiment, the planning module 2 selects a suitable transfer route from the travel routes based on the road condition information, including:

[0096] Assign a preset first weight to the route length of the movement route to obtain a first target value;

[0097] A second target value is obtained by assigning a preset second weight to the congestion level of the scenes traversed by the movement route;

[0098] The sum of the first target value and the second target value is taken as the appropriate value for the movement route;

[0099] The movement route corresponding to the maximum suitable value is taken as the suitable transfer route.

[0100] The working principle and beneficial effects of the above technical solution are as follows:

[0101] The preset first and second weights are constants. Generally, the selection of a travel route should prioritize the degree of congestion along that route; the more congested the route, the more time is wasted. Therefore, the second weight is greater than the first weight. The formula for assigning the first weight to the route length is as follows: ,in, As the first weight, The length of the moving route. The first target value is used. The formula for assigning the second weight to the congestion level of the scenarios traversed by the movement route is: , As the second weight, The congestion level of the scene along the movement route. Let the second target value be the sum of the first and second target values. The sum of these two values ​​is taken as the suitable value for the movement route, and the movement route corresponding to the maximum suitable value is taken as the suitable transfer route. The formula for calculating the suitable value is: ,in, This is an appropriate value.

[0102] By introducing a first weight and a second weight, a suitable value is calculated based on the route length and the congestion level of the passing scene. The route with the maximum suitable value is selected as the transfer route, which improves the rationality and efficiency of the selection of the route.

[0103] In one embodiment, the planning module 2 determines the congestion level of the scene through which the movement route passes based on the monitoring image, including:

[0104] The scenes along the movement route are traversed sequentially. During each traversal, a local scene space is determined from the traversed scenes based on a preset local scene space determination rule, and a spatial image of the local scene space is determined from the monitoring images of the traversed scenes.

[0105] Based on a preset obstacle image library, the volume of obstacles in the local scene space is determined according to the spatial image, and the ratio of the obstacle volume to the spatial volume of the local scene space is used as the congestion level.

[0106] After traversing all the scenes along the movement route, the congestion level of each scene is accumulated to obtain the congestion level of the scenes along the movement route.

[0107] The local scene space determination rules include:

[0108] The spatial height of the local scene space is the device height of the mobile magnetic resonance imaging device, and the bottom surface of the local scene space is the scene ground of the traversed scene.

[0109] The working principle and beneficial effects of the above technical solution are as follows:

[0110] The passage efficiency of a mobile MRI scanner within its route depends only on the space between the ground level and the vertical plane representing the scanner's height, such as pedestrians and wheelchairs, and is independent of other spaces within the scene, such as overhead lighting. Therefore, this invention introduces a preset local scene space determination rule. Based on this rule, the local scene space relevant to the mobile MRI scanner's passage efficiency within the scene is determined. Generally, the surveillance equipment's footage covers the scene. This invention's determination of effective local scene spaces improves the rationality and efficiency of determining scene congestion, while also reducing system resource consumption.

[0111] A pre-set obstacle image library stores a large number of obstacle images that affect the passage efficiency of mobile MRI equipment in the scenes it traverses, such as images of people, wheelchairs, hospital beds, and medical self-service terminals. Based on the obstacle image library, obstacles in the spatial images of local scenes can be identified. For example, object images can be extracted from the spatial images, and the extracted object images can be matched with obstacle images in the obstacle image library. If a match is found, the extracted object image can be identified as an obstacle. Generally, monitoring devices are set up in corners to capture images from a side angle. Therefore, side images of obstacles can be captured, allowing for a rough estimation of their length, width, and height, thus determining their volume. Similarly, the spatial volume of the local scene can be determined. The ratio of the obstacle volume to the spatial volume of the local scene is used as the congestion level. After traversing all scenes along the movement route, the congestion level of each scene is accumulated to obtain the congestion level of the scenes traversed by the movement route. The accumulation calculation formula is as follows: ,in, The congestion level of the scene along the movement route. For the first A level of congestion, The total number of congestion levels is used. Introducing an obstacle image database improves the efficiency and accuracy of congestion level determination. Generally, when mobile MRI equipment passes through obstacles, larger obstacles are more costly to avoid. For example, hospital beds need to be moved, which is time-consuming; medical self-service terminals cannot be moved; children can be quickly carried or moved; and adults need to consider where they can be accommodated again. Therefore, this embodiment of the invention uses the ratio of obstacle volume to the spatial volume of the local scene as the congestion level, enabling the congestion level to accurately characterize the passage efficiency of mobile MRI equipment in that scene, thus improving the accuracy of subsequent route selection.

[0112] In one embodiment, the transfer module 3, based on the transfer route, assists at least one transfer personnel in transferring the mobile magnetic resonance imaging device during the transfer time, including:

[0113] Obtain the location of the personnel involved in the transfer;

[0114] The device position and display orientation of at least one display device on the mobile magnetic resonance imaging device are obtained;

[0115] Based on the personnel location, device location, and display orientation, a suitable target display device is selected from the display devices;

[0116] Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the remaining route;

[0117] The remaining route is displayed via the target display device.

[0118] The working principle and beneficial effects of the above technical solution are as follows:

[0119] The location of the personnel during transport can be determined based on which handle on the mobile MRI machine is used for pushing or pulling during transport. For example, a capacitive sensor is installed on the handle, indicating the personnel's location when they grip it. The mobile MRI machine is equipped with a display device, such as a screen. The display orientation is perpendicular to the screen and outwards. Based on the personnel's location, the machine's location, and the display orientation, a suitable target display device is selected, with suitability being reflected in the appropriate viewing angle for the personnel. Based on the current location of the mobile MRI machine and the transport route, the remaining route is determined, i.e., the route not yet traversed. This remaining route is displayed on the target display device for the personnel to view, enabling navigation. Generally, when transporting mobile MRI machines, especially when transporting alone, personnel often push or pull different handles based on the intersection ahead. Therefore, checking the remaining route may require waiting to view a display screen or specifically running to that display screen, which is cumbersome. This invention provides a target display device that determines a suitable route for the transfer personnel based on their location. The target display device provides guidance to the transfer personnel, making it more user-friendly, convenient, and intelligent.

[0120] In one embodiment, the transfer module 3 selects a suitable target display device from the display devices based on the personnel location, device location, and display orientation, including:

[0121] Based on the personnel's location and the preset eye height, predict the eye position of the transfer personnel;

[0122] Obtain the straight-line distance between the eye position and the device position;

[0123] If the straight-line distance is less than or equal to a preset straight-line distance threshold, the corresponding display device will be used as a pre-display device;

[0124] Construct a straight line from the device position of the pre-display device to the eye position;

[0125] Calculate the angle between the display direction of the pre-display device and the first direction of the straight line;

[0126] The pre-display device corresponding to the smallest included angle in the first direction is taken as the suitable target display device.

[0127] The working principle and beneficial effects of the above technical solution are as follows:

[0128] The preset eye height is the approximate distance from an adult's eye to their feet, for example, 1.63 meters. Based on the person's position and eye height, the eye position of the transport personnel is predicted. The person's position is a point on the ground, and the point at eye height above that point is the eye position. First, it is necessary to ensure that the display screen is within the transport personnel's viewing distance. The straight-line distance between the eye position and the device position is obtained. If the straight-line distance is less than or equal to a preset straight-line distance threshold, the corresponding display device is selected as the pre-display device. Second, it is necessary to ensure that the transport personnel's viewing angle of the pre-display device is appropriate. A straight line is constructed from the device position of the pre-display device to the eye position, and the first angle between the display direction of the pre-display device and the straight line is calculated. Generally, if the transport personnel are directly facing the pre-display device, the first angle is 0 degrees; that is, the smaller the angle, the more suitable the viewing angle. Therefore, the pre-display device with the smallest first angle is selected as the appropriate target display device. Screening display devices from two dimensions—viewing distance and viewing angle—improves the suitability and rationality of the target display device selection.

[0129] In one embodiment, the transfer module 3, based on the transfer route, assists at least one transfer personnel in transferring the mobile magnetic resonance imaging device during the transfer time, and further includes:

[0130] Obtain the direction of movement of the mobile magnetic resonance imaging device;

[0131] Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the proper direction of movement of the mobile magnetic resonance imaging device;

[0132] Calculate the second angle between the moving direction and the expected moving direction;

[0133] If the included angle of the second direction is greater than the preset included angle threshold of the second direction, a template is generated based on the preset direction adjustment information, and direction adjustment information is generated according to the moving direction and the expected moving direction;

[0134] The direction adjustment information is temporarily displayed by the target display device until the second direction angle is less than or equal to the second direction angle threshold.

[0135] The working principle and beneficial effects of the above technical solution are as follows:

[0136] Generally, when transporting mobile MRI equipment, personnel may experience directional confusion, causing delays. For example, when entering a T-shaped road, they may mistakenly turn left instead of right. Therefore, obtaining the mobile MRI equipment's direction of movement is crucial. This direction can be determined based on the equipment's position changes over a certain period. Based on the equipment's current position and the transport route, the correct direction of movement is determined. This correct direction is the correct direction the equipment should continue along the transport route from its current position. A second direction angle is calculated between the current direction and the correct direction. If this angle is greater than a preset threshold, a direction adjustment information template is generated based on the current and correct directions. This adjustment information is temporarily displayed on a target display device until the second direction angle is less than or equal to the threshold. The preset direction adjustment information template is, for example, "Please move (second direction angle) to (the position relative to the correct direction)." This serves as a reminder for transport personnel to make timely corrections. Generally, when transport personnel move the mobile MRI machine to avoid pedestrians, their direction of movement may change. Therefore, a preset second direction angle threshold is introduced to minimize the need for personnel to adjust their direction when moving the mobile MRI machine to avoid pedestrians. Furthermore, the value of the second direction angle threshold can be determined based on the type of passageway within the hospital grounds where the mobile MRI machine is located. For example, if it is in the middle or near the middle of a passageway, the likelihood of a change in direction due to pedestrian avoidance is higher, so the second direction angle threshold can be set larger. Conversely, if it is at or near a T-shaped intersection within a passageway, the likelihood of a change in direction due to pedestrian avoidance is lower, so the second direction angle threshold can be set smaller.

[0137] This invention provides a method for transporting mobile magnetic resonance imaging (MRI) devices with real-time path planning, such as... Figure 2 As shown, it includes:

[0138] Step 1: Obtain the transport task for the mobile magnetic resonance imaging (MRI) device, which includes: transport time and transport destination;

[0139] Step 2: Obtain the current location of the mobile magnetic resonance imaging device, and plan the transfer route in real time based on the current location and the transfer destination;

[0140] Step 3: Based on the transfer route, at least one transfer personnel shall assist in transferring the mobile magnetic resonance imaging device during the transfer time.

[0141] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A mobile magnetic resonance imaging (MRI) device transport system with real-time path planning capability, characterized in that, include: The acquisition module is used to acquire the transfer task of the mobile magnetic resonance imaging equipment, the transfer task including: transfer time and transfer destination; The planning module is used to obtain the current location of the mobile magnetic resonance imaging device and plan the transfer route in real time based on the current location and the transfer destination; A transfer module is used to assist at least one transfer personnel in transferring the mobile magnetic resonance device based on the transfer route and during the transfer time. The real-time planning steps for the transit route include: Obtain the preset internal map corresponding to the hospital campus; Obtain the device dimensions of the mobile magnetic resonance imaging (MRI) device; Based on the device size, multiple mobile routes are planned on the internal map from the current location to the transfer destination, which are able to accommodate the mobile MRI device. Obtain road condition information for the stated route; Based on the road condition information, a suitable transfer route is selected from the travel routes; The steps for obtaining traffic information include: Obtain the length of the movement route and use it as the traffic information of the movement route; as well as, Obtain the preset distribution map of monitoring facilities corresponding to the hospital campus; The monitoring facilities for monitoring the scenes along the route are determined from the monitoring facility distribution map. Acquire monitoring images from the monitoring facility; Based on the monitoring images, the congestion level of the scenes traversed by the movement route is determined and used as the traffic condition information of the movement route. The steps for determining the congestion level of a passing scene include: The scenes along the movement route are traversed sequentially. During each traversal, a local scene space is determined from the traversed scenes based on a preset local scene space determination rule, and a spatial image of the local scene space is determined from the monitoring images of the traversed scenes. Based on a preset obstacle image library, the volume of obstacles in the local scene space is determined according to the spatial image, and the ratio of the obstacle volume to the spatial volume of the local scene space is used as the congestion level. After traversing all the scenes along the movement route, the congestion level of each scene is accumulated to obtain the congestion level of the scenes along the movement route. The local scene space determination rules include: The spatial height of the local scene space is the device height of the mobile magnetic resonance imaging device, and the bottom surface of the local scene space is the scene ground of the traversed scene.

2. The mobile magnetic resonance imaging (MRI) equipment transport system with real-time path planning capability as described in claim 1, characterized in that, The acquisition module acquires the transfer task, including: The system obtains the transfer tasks corresponding to the mobile MRI equipment from medical staff within the hospital area via a dispatch app. And / or, The system obtains the transfer task input by the personnel next to the mobile magnetic resonance imaging device based on the transfer task input interface on the mobile magnetic resonance imaging device.

3. A mobile magnetic resonance imaging (MRI) device transport system with real-time route planning as described in claim 1, wherein the planning module selects a suitable transport route from the mobile routes based on the road condition information, including: Assign a preset first weight to the route length of the movement route to obtain a first target value; A second target value is obtained by assigning a preset second weight to the congestion level of the scenes traversed by the movement route; The sum of the first target value and the second target value is taken as the appropriate value for the movement route; The movement route corresponding to the maximum suitable value is taken as the suitable transfer route.

4. A mobile magnetic resonance imaging (MRI) device transfer system with real-time route planning as described in claim 1, wherein the transfer module, based on the transfer route, assists at least one transfer personnel in transferring the mobile MRI device during the transfer time, comprising: Obtain the location of the personnel involved in the transfer; The device position and display orientation of at least one display device on the mobile magnetic resonance imaging device are obtained; Based on the personnel location, device location, and display orientation, a suitable target display device is selected from the display devices; Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the remaining route; The remaining route is displayed via the target display device.

5. A mobile magnetic resonance imaging (MRI) device transfer system with real-time path planning as described in claim 4, wherein the transfer module selects a suitable target display device from the display devices based on the personnel position, device position, and display orientation, comprising: Based on the personnel's location and the preset eye height, predict the eye position of the transfer personnel; Obtain the straight-line distance between the eye position and the device position; If the straight-line distance is less than or equal to a preset straight-line distance threshold, the corresponding display device will be used as a pre-display device; Construct a straight line from the device position of the pre-display device to the eye position; Calculate the angle between the display direction of the pre-display device and the first direction of the straight line; The pre-display device corresponding to the smallest included angle in the first direction is taken as the suitable target display device.

6. A mobile magnetic resonance imaging (MRI) device transfer system with real-time route planning as described in claim 4, wherein the transfer module, based on the transfer route, assists at least one transfer personnel in transferring the mobile MRI device during the transfer time, and further includes: Obtain the direction of movement of the mobile magnetic resonance imaging device; Based on the current location of the mobile magnetic resonance imaging device and the transport route, determine the proper direction of movement of the mobile magnetic resonance imaging device; Calculate the second angle between the moving direction and the expected moving direction; If the angle of the second direction is greater than the preset threshold for the angle of the second direction, a template is generated based on the preset direction adjustment information, and direction adjustment information is generated according to the moving direction and the expected moving direction; The direction adjustment information is temporarily displayed by the target display device until the second direction angle is less than or equal to the second direction angle threshold.

7. A method for transporting mobile magnetic resonance imaging (MRI) equipment with real-time path planning, characterized in that, include: Step 1: Obtain the transport task for the mobile magnetic resonance imaging (MRI) device, which includes: transport time and transport destination; Step 2: Obtain the current location of the mobile magnetic resonance imaging device, and plan the transfer route in real time based on the current location and the transfer destination; Step 3: Based on the transfer route, at least one transfer personnel shall assist in transferring the mobile magnetic resonance imaging device during the transfer time; The real-time planning steps for the transit route include: Obtain the preset internal map corresponding to the hospital campus; Obtain the device dimensions of the mobile magnetic resonance imaging (MRI) device; Based on the device size, multiple mobile routes are planned on the internal map from the current location to the transfer destination, which are able to accommodate the mobile MRI device. Obtain road condition information for the stated route; Based on the road condition information, a suitable transfer route is selected from the travel routes; The steps for obtaining traffic information include: Obtain the length of the movement route and use it as the traffic information of the movement route; as well as, Obtain the preset distribution map of monitoring facilities corresponding to the hospital campus; The monitoring facilities for monitoring the scenes along the route are determined from the monitoring facility distribution map. Acquire monitoring images from the monitoring facility; Based on the monitoring images, the congestion level of the scenes traversed by the movement route is determined and used as the traffic condition information of the movement route. The steps for determining the congestion level of a passing scene include: The scenes along the movement route are traversed sequentially. During each traversal, a local scene space is determined from the traversed scenes based on a preset local scene space determination rule, and a spatial image of the local scene space is determined from the monitoring images of the traversed scenes. Based on a preset obstacle image library, the volume of obstacles in the local scene space is determined according to the spatial image, and the ratio of the obstacle volume to the spatial volume of the local scene space is used as the congestion level. After traversing all the scenes along the movement route, the congestion level of each scene is accumulated to obtain the congestion level of the scenes along the movement route. The local scene space determination rules include: The spatial height of the local scene space is the device height of the mobile magnetic resonance imaging device, and the bottom surface of the local scene space is the scene ground of the traversed scene.

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