Control method of an imaging device, control device, and imaging device

Abstract

The application provides a control method and device of an imaging device and the imaging device. The imaging device comprises a rotating arm support and an image display device. The control method of the imaging device comprises the following steps: detecting a first motion direction of the rotating arm support during the movement of the rotating arm support around a target body, and determining an imaging image displayed by the image display device; determining a second motion direction of the imaging image according to a corresponding relationship between the first motion direction and the imaging image, and displaying the second motion direction on the imaging image. The second motion direction is used for indicating a motion direction presented in the imaging image when the rotating arm support moves in the first motion direction.

Description

Technical Field

[0001] This invention relates to the field of system control technology, and more specifically, to a control method, control device, and imaging device for an imaging apparatus. Background Technology

[0002] When using existing imaging equipment for medical procedures, users may find it difficult to distinguish the relationship between the actual movement direction of the imaging equipment and the movement direction of the image displayed on the system. This can lead to technicians being unable to accurately rotate the rotatable arm of the imaging equipment to the doctor's desired direction of movement during surgery, thus reducing the efficiency of the medical procedure. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention is to provide a method for controlling an imaging device.

[0005] A second aspect of the present invention is to provide a control device for an imaging apparatus.

[0006] A third aspect of the present invention is to provide a control device for an imaging apparatus.

[0007] A fourth aspect of the present invention is to provide a readable storage medium.

[0008] The fifth aspect of the present invention is to provide an imaging device.

[0009] In view of this, according to a first aspect of the present invention, a control method for an imaging device is proposed. The imaging device includes a rotating boom and an image display device. The control method for the imaging device includes: detecting a first direction of motion of the rotating boom during its movement around a target body, and determining an imaging image displayed by the image display device; determining a second direction of motion of the imaging image based on the correspondence between the first direction of motion and the imaging image, and displaying the second direction of motion on the imaging image. The second direction of motion is used to indicate the direction of motion presented in the imaging image when the rotating boom moves in the first direction of motion.

[0010] In this technical solution, the imaging device may include: a body and a rotating arm, the rotating arm being rotatably mounted on the body, the rotating arm having a detection area for accommodating a target body, the rotating arm being able to rotate around the target body, the rotating arm being able to swing left and right relative to the body, move up and down relative to the body, and rotate back and forth relative to the body; an X-ray tube, mounted on the rotating arm, the X-ray tube being able to generate X-rays that can pass through the target body, wherein the target body may specifically be the torso or organs of a human body; and a flat panel detector, mounted on the rotating arm and located on both sides of the detection area respectively with the X-ray tube, the flat panel detector being able to acquire image data formed by the X-rays, the image data being image data reflecting the body condition of the target body.

[0011] Specifically, when the imaging device is in operation, the rotating boom can rotate, swing, or move under the user's operation. During the process of the imaging device controlling the movement of the rotating boom, the imaging device can detect the first movement direction of the rotating boom. At the same time, the imaging device can display the imaging image acquired by the imaging device during operation in the image display device. The imaging device can display a second movement direction in the imaging image according to the correspondence between the first movement direction of the rotating boom and the imaging image. The second movement direction can represent the corresponding movement direction presented in the imaging image when the rotating boom moves in the first movement direction.

[0012] The first direction of motion can be the rotation, swing, or movement direction of the rotating boom when the imaging device is working. An angle detection device can be configured in the imaging device to detect the first direction of motion of the rotating boom and obtain information such as the displacement of the rotating boom.

[0013] Furthermore, the imaging image can be the image information detected by the flat panel detector. During the rotation of the rotating boom, the flat panel detector and the X-ray tube rotate synchronously with the rotating boom. The image data collected by the flat panel detector changes, so the content of the imaging image in the image display device will change with the rotation of the rotating boom. It should be noted that the content of the imaging image in the image display device will also change when the user rotates, zooms, or flips the image.

[0014] Furthermore, the image displayed by the image display device corresponds to the first direction of motion of the rotating boom. When the rotating boom moves around the target body in the first direction of motion, the image can be translated in the image display device following the first direction of motion. The image display device can indicate the corresponding direction of motion of the image based on the correspondence and the motion information of the rotating boom, i.e., the first direction of motion.

[0015] The control method of the imaging device in this technical solution enables the imaging device to indicate the actual movement direction of the imaging image under the detected motion information of the rotating boom on the image display device. This allows the user to intuitively obtain the actual movement direction corresponding to the imaging image on the image display device while controlling the movement of the rotating boom, simplifying the problem of component movement direction identification during imaging device operation and reducing the operational error rate of the imaging device.

[0016] The control method for the imaging apparatus according to the present invention may further include the following additional technical features:

[0017] In the above technical solution, the imaging device further includes a first laser emitting device, and the control method of the imaging device further includes: according to the second direction of motion, controlling the first laser emitting device to project a first mark on the target body, the first mark being used to indicate the second direction of motion.

[0018] In this technical solution, the imaging device also includes a first laser emitting device, which can emit an indicator laser. After the imaging device indicates the second motion direction of the imaging image under the first motion direction in the image display device according to the detected first motion direction of the rotating arm, the imaging device can also control the first laser emitting device to project a first mark onto the target body according to the relative positional relationship between the imaging image and the second motion direction.

[0019] The first identifier can be a directional identifier displayed on the target body with a directional indication function, which can indicate the second direction of movement on the target body.

[0020] Furthermore, the direction indicated by the first mark on the target is the physical manifestation of the second direction of motion in the imaging image.

[0021] The control method of the imaging device in this technical solution enables the imaging device to draw a first mark on the target body to indicate the second direction of movement by emitting a first laser. This allows the target body to display the first mark corresponding to the second direction of movement indicated in the imaging image, thereby enabling the user to obtain directional information on the target body that corresponds to the actual direction of movement in the imaging image. This simplifies the problem of identifying the direction of movement of components when the imaging device is working, synchronizes the image direction and actual direction of movement of the doctor, technician, and imaging device during the operation, and reduces the user's error rate in rotating the boom.

[0022] In the above technical solution example, the first direction of motion is the direction of motion of the rotating arm in the spatial coordinate system, and the second direction of motion is the direction of motion of the pixels of the image in the image coordinate system.

[0023] In this technical solution, the first direction of motion can represent the direction of motion of the rotating boom in the spatial coordinate system, wherein the spatial coordinate system is a rectangular coordinate system in physical space, which can determine the coordinate parameters of any point in space.

[0024] Furthermore, the second direction of motion can represent the direction of motion of the pixels in the image in the image coordinate system, where the image coordinate system is a rectangular coordinate system in the image system, which can determine the coordinate parameters of any point in the image system.

[0025] The control method of the imaging device in this technical solution establishes a spatial coordinate system and an image coordinate system, thereby determining the correspondence between the first and second motion directions. This avoids the problem of identifying the motion direction of the components when the imaging device is working and reduces the operational difficulty of the imaging device.

[0026] In the above technical solution example, determining the second motion direction of the image based on the correspondence between the first motion direction and the image specifically includes: determining the first coordinate parameters of the target pixel in the image coordinate system; determining the second coordinate parameters of the target pixel in the image coordinate system based on the first motion direction and the mapping relationship between the spatial coordinate system and the image coordinate system; and determining the second motion direction based on the first coordinate parameters and the second coordinate parameters.

[0027] In this technical solution, the imaging device determines the target pixel in the image, which is the reference pixel for determining the second direction of motion, and determines the first coordinate parameter of the target pixel in the image coordinate system, wherein the first coordinate parameter is the initial coordinate parameter of the target pixel in the image coordinate system.

[0028] Furthermore, based on the first direction of motion and in conjunction with the mapping relationship between the spatial coordinate system and the image coordinate system, the imaging device can determine the second coordinate parameters of the target pixel, wherein the second coordinate parameters are the coordinate parameters of the target pixel after its motion in the image coordinate system.

[0029] Furthermore, the imaging device can determine the motion direction of the target pixel based on the first coordinate parameter and the second coordinate parameter, and then determine the second motion direction.

[0030] The control method of the imaging device in this technical solution determines the first coordinate parameter and the second coordinate parameter of the target pixel in the image coordinate system, thereby determining the second motion direction, ensuring the accuracy of determining the second motion direction of the imaging image, and thus ensuring the accuracy of determining the motion direction of the components when the imaging device is working.

[0031] In the above technical solution example, controlling the first laser emitting device to project the first mark onto the target body according to the second direction of motion specifically includes: determining the first normal vector of the image in the image coordinate system; determining the second normal vector of the first normal vector in the spatial coordinate system according to the mapping relationship between the spatial coordinate system and the image coordinate system; determining the third direction of motion of the first laser emitting device according to the second normal vector and the second direction of motion; and after controlling the first laser emitting device to move in the third direction of motion, controlling the first laser emitting device to project the first mark.

[0032] In this technical solution, the imaging device determines the first normal vector of the image center point of the image in the image coordinate system, wherein the first normal vector is the normal vector of the image center point of the image in the image coordinate system.

[0033] Furthermore, after determining the second direction of motion, the imaging device determines the second normal vector of the first normal vector in the spatial coordinate system according to the mapping relationship between the spatial coordinate system and the image coordinate system. The second normal vector is the normal vector of the image center point of the image in the image spatial system.

[0034] Furthermore, the imaging device adjusts the included angle of the second normal vector according to the second direction of motion, thereby determining the third direction of motion of the first laser emitting device, wherein the third direction of motion is the direction of motion in which the imaging device controls the motion of the first laser emitting device.

[0035] Furthermore, the imaging device controls the first laser emitting device to move in the third direction of motion, so that the first laser emitting device can be aligned with the target, and then controls the first laser emitting device to project the first mark onto the target.

[0036] The control method of the imaging device in this technical solution determines the first normal vector and the second normal vector of the imaging image, and then determines the third motion direction of the first laser emitting device, which ensures that the first laser emitting device can project the first mark on the target body, and thus ensures that doctors and technicians can determine the image direction of the imaging device in real time during the operation of the imaging device.

[0037] In the above technical solution example, the imaging device further includes a second laser emitting device, and the control method of the imaging device further includes: projecting a first grid onto the target body through the second laser emitting device; and displaying a second grid that corresponds to the first grid in the imaging image according to the first grid.

[0038] In this technical solution, the imaging device includes a second laser emitting device, which is a laser emitting device capable of generating grid lasers. The imaging device can use the second laser emitting device to draw a first grid on the target body and simultaneously display the second grid on the imaging image. The relative positional relationship between the second grid and the imaging anatomical position image is the same as the relative positional relationship between the first grid and the target body.

[0039] The first grid can be a laser grid image emitted by the second laser emitting device, which can be used to virtually locate the target.

[0040] Furthermore, the second grid can be an electronic grid image displayed on the imaging image based on the relative position of the first grid and the target. The second grid is capable of positioning the imaging image, and the relative positional relationship between the second grid and the imaging image is the same as the relative positional relationship between the first grid and the target.

[0041] It should be noted that the relative positional relationship between the second grid and the image is the same as the relative positional relationship between the first grid and the target body. This can be understood as follows: the first grid projected onto the target body performs virtual positioning of the target body. For example, if the first grid includes region A, and region A corresponds to the target point on the spine of the target body, then on the image, the position of the target point on the spine of the target body is region B. There is a first relative positional relationship between region A and the first grid, and a second relative positional relationship between region B and the second grid. These two corresponding positional relationships are consistent.

[0042] The control method of the imaging device in this technical solution enables the imaging device to draw a first grid on the target through the second laser emitting device, and display a second grid in the imaging image that corresponds to the positional relationship of the first grid. This allows the user to locate the target surface and display the corresponding positioning relationship in the actual dissection position imaging image. The imaging image is divided into the same positions, which makes it easy for the user to simultaneously grasp the positional relationship between the laser grid on the target surface and the actual dissection position imaging image.

[0043] In the above technical solution example, the imaging device also includes a flat panel detector for acquiring images. The flat panel detector is mounted on the rotating arm and displays a second grid in the imaging image that corresponds to the first grid according to the first grid. Specifically, it includes: acquiring the first grid; determining the projection position of the first grid onto the flat panel detector; and generating the second grid in the imaging image according to the projection position.

[0044] In this technical solution, the imaging device also includes a depth camera. After the second laser emitting device projects the first grid onto the target, the imaging device can determine the projection position based on the relative position of the first grid in space and the position of the flat panel detector, and generate a second grid on the target image.

[0045] The control method of the imaging device in this technical solution enables the imaging device to generate a corresponding second grid in the imaging image based on the spatial position of the projection of the first grid projected on the target body by the second laser emitting device onto the flat panel detector. This ensures that the relative position of the first grid and the anatomical position of the target body is consistent with the relative position of the second grid in the imaging image, thereby allowing the user to directly obtain the positional relationship of the first grid on the target body based on the second grid in the imaging image.

[0046] In the above technical solution example, the imaging device further includes an X-ray tube, with the X-ray tube and the flat panel detector located at opposite ends of the rotating arm. The target can be placed between the X-ray tube and the flat panel detector. Determining the projection position of the first grid onto the flat panel detector specifically includes:

[0047] Obtain the distance between the grid feature points in the first grid and the flat panel detector; convert the distance between the grid feature points and the flat panel detector into the distance between the grid feature points and the X-ray tube; determine the geometric relationship between the grid feature points in the first grid and the projected position based on the distance between the grid feature points and the X-ray tube and the relative positional relationship between the flat panel detector and the X-ray tube; determine the projected position based on the geometric relationship between the grid feature points in the first grid and the projected position.

[0048] In this technical solution, after the second laser emitting device projects the first grid onto the target, the imaging device can first calculate the distance between the intersection feature points of each grid in the first grid and the flat panel detector. Based on this distance and the relative positional relationship between the flat panel detector and the X-ray tube, it determines the geometric relationship between the intersection feature points and the projection position of each grid in the first grid and the distance to the X-ray tube. Finally, through the geometric relationship between the intersection feature points and the projection position of each grid in the first grid and the distance to the X-ray tube, it determines the projection position of the first grid onto the flat panel detector.

[0049] It should be noted that the geometric relationship between the grid feature points and the projected positions in the first grid is the spatial relationship between each grid feature point and its projected position in the first grid.

[0050] The control method of the imaging device in this technical solution enables the imaging device to convert the distance between the feature point of each grid in the first grid projected onto the target by the second laser emitting device and the flat panel detector into the distance between the geometric intersection point of each grid feature point and the projection position and the X-ray tube. Based on the distance between the intersection point of each grid feature point and the X-ray tube, the projection position of the first grid onto the flat panel detector is determined, and a second grid is generated in the imaging image according to the corresponding projection position. This ensures that the relative position of the first grid and the target body is consistent with the relative position of the second grid in the imaging image, so that the user can directly obtain the correspondence between the first grid and the anatomical position of the target body based on the second grid in the imaging image.

[0051] In the above technical embodiment, the imaging device further includes a third laser emitting device. After displaying a second grid corresponding to the first grid in the imaging image according to the first grid, the control method of the imaging device further includes: indicating the second marker point on the first grid through the third laser emitting device according to the first marker point marked by the user in the imaging image; wherein the first marker point is located in the second grid, the first marker point is associated with the second marker point, and the relative positional relationship between the first marker point and the imaging image and the relative positional relationship between the second marker point and the target body are the same.

[0052] In this technical solution, the imaging device also includes a third laser emitting device, which is a laser emitting device capable of generating laser at the needle insertion point. After the imaging device draws a first grid on the target through the second laser emitting device, and displays a second grid in the imaging image that corresponds to the positional relationship of the first grid, the user can mark a first marker point in the imaging image. The imaging device can use the position of the first marker point in the imaging image to enable the third laser emitting device to indicate the second marker point in the first grid on the target. The positional relationship between the second marker point and the first grid is the same as the positional relationship between the first marker point and the second grid in the imaging image.

[0053] In the control method of the imaging device in this technical solution, the user first marks a first marker point on the imaging image. The imaging device can indicate a second marker point according to the corresponding position of the first marker point on the target body, so that the imaging device can indicate the corresponding position on the target body according to the user's marking position, thereby enabling the user to directly obtain the actual marker point position on the target body corresponding to the position of the virtual marker point on the imaging image.

[0054] In the above technical solution example, based on the first marker point marked by the user in the imaging image, the second marker point is indicated on the first grid by the third laser emitting device. Specifically, this includes: obtaining the position information of the first marker point in the second grid; obtaining the position of the third marker point on the flat panel detector based on the position information; obtaining the preset motion trajectory of the ray emitted by the third laser emitting device based on the position of the third marker point, and determining the second marker point where the preset motion trajectory intersects with the first grid.

[0055] In this technical solution, after the imaging device draws a first grid on the target body using a second laser emitting device, and displays a second grid corresponding to the positional relationship of the first grid in the imaging image, the imaging device can obtain the position of a corresponding third marker point on the flat panel detector based on the position of a first marker point determined by the user in the second grid. It then determines the spatial trajectory of the ray passing through the third marker point, thereby obtaining the intersection of the ray trajectory with the first grid. This intersection point is the second marker point on the target body corresponding to the first marker point. Subsequently, the laser emitting device controls its movement based on the spatial position of the second marker point, directing the laser beam towards the second marker point located in the first grid. This serves as the starting point for the ray emission of the third laser emitting device, obtaining a preset trajectory for the emitted ray. The second marker point on the target body is then obtained based on the intersection of this preset trajectory with the first grid on the target body.

[0056] The control method of the imaging device in this technical solution enables the imaging device to determine the third marker point on the flat panel detector based on the position of the first marker point on the second grid, and to use the third marker point as the endpoint of the ray emission. The device then determines the ray trajectory through this endpoint and controls the third laser emitting device to emit a ray towards the target. The second marker point is then determined by the intersection of this ray trajectory and the first grid, allowing the user to directly obtain the actual marker point position on the target that corresponds to the position of the virtual marker point on the imaging image.

[0057] According to a second aspect of the present invention, a control device for an imaging apparatus is provided. The imaging apparatus includes a rotating boom and an image display device. The control device includes: a detection module for detecting a first direction of motion of the rotating boom during its movement around a target body and determining the imaging image displayed by the image display device; and a control module for determining a second direction of motion of the imaging image based on the correspondence between the first direction of motion and the imaging image, and displaying the second direction of motion on the imaging image. The second direction of motion is used to indicate the direction of motion presented in the imaging image when the rotating boom moves in the first direction of motion.

[0058] In this technical solution, the imaging device includes a detection module and a control module. The detection module can detect a first direction of motion of the rotating boom, and the control module can display a second direction of motion in the imaging image based on the correspondence between the first direction of motion and the direction of the imaging image.

[0059] The control device of the imaging apparatus in this technical solution enables the imaging apparatus to indicate the actual movement direction of the imaging image under the detected motion information of the rotating boom on the image display device. This allows the user to intuitively obtain the actual movement direction corresponding to the imaging image on the image display device while controlling the movement of the rotating boom, simplifying the problem of identifying the movement direction of components during the operation of the imaging apparatus and reducing the operational error rate of the imaging apparatus.

[0060] According to a third aspect of the present invention, a control device for an imaging apparatus is provided, comprising a processor and a memory, wherein the memory stores a program or instructions, which, when executed by the processor, implement the steps of the control method for the imaging apparatus as described in any of the above-described technical solutions. Therefore, this imaging apparatus possesses all the beneficial effects of the control method for the imaging apparatus in any of the above-described technical solutions, which will not be elaborated further here.

[0061] According to a fourth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, implement the control method of the imaging apparatus as described in any of the above-described technical solutions. Therefore, this readable storage medium possesses all the beneficial effects of the control method of the imaging apparatus in any of the above-described technical solutions, which will not be elaborated further here.

[0062] According to a fifth aspect of the present invention, an imaging apparatus is provided, comprising: a control device for an imaging apparatus as defined in the second aspect above, or a control device for an imaging apparatus as defined in the third aspect above, and / or a readable storage medium as defined in the fourth aspect above, thereby having all the beneficial technical effects of the control device for an imaging apparatus as defined in the second aspect above, or the control device for an imaging apparatus as defined in the third aspect above, and / or the readable storage medium as defined in the fourth aspect above, which will not be elaborated further here.

[0063] The imaging apparatus according to the present invention may further have the following additional technical features:

[0064] In the above technical solution, the imaging device includes: a body; a rotating arm rotatably mounted on the body, the rotating arm having a detection area for accommodating the target, and the rotating arm capable of rotating around the target; a flat panel detector mounted on the rotating arm, located at one end of the rotating arm, and capable of acquiring image data of the target; an image display device capable of displaying the image data acquired by the flat panel detector; a first laser emitting device mounted on one end of the flat panel detector on the rotating arm, capable of generating an indicator laser; a second laser emitting device mounted on one end of the flat panel detector on the rotating arm, capable of generating a grid laser; a third laser emitting device mounted on one end of the flat panel detector on the rotating arm, capable of generating a needle insertion point laser; and an X-ray tube mounted on the rotating arm, located at both ends of the rotating arm, and capable of generating X-rays.

[0065] The imaging device in this technical solution displays the image data of the target object collected by the flat panel detector when the rotating boom rotates around the target object. This allows the user to intuitively obtain the actual movement direction corresponding to the imaging image in the image display device while controlling the movement of the rotating boom. This simplifies the problem of identifying the movement direction of the components when the imaging device is working and reduces the operation error rate of the imaging device.

[0066] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0067] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0068] Figure 1 A schematic flowchart of a control method for an imaging apparatus according to the first aspect of the present invention is shown;

[0069] Figure 2 One schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown;

[0070] Figure 3 A second schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown;

[0071] Figure 4 A third schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown;

[0072] Figure 5 A fourth schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown;

[0073] Figure 6 A second schematic flowchart of the control method for the imaging apparatus of the first aspect of the present invention is shown;

[0074] Figure 7 A third schematic flowchart of the control method for the imaging apparatus of the first aspect of the present invention is shown;

[0075] Figure 8 A fourth schematic flowchart of the control method for the imaging apparatus of the first aspect of the present invention is shown;

[0076] Figure 9 Fifth schematic flowchart of the control method of the imaging apparatus of the first aspect of the present invention is shown;

[0077] Figure 10 Fifth schematic diagram showing the control method of the imaging apparatus of the first aspect of the present invention;

[0078] Figure 11 A schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown in Figure 6.

[0079] Figure 12 A schematic flowchart of the control method for the imaging apparatus of the first aspect of the present invention is shown in Figure 6.

[0080] Figure 13 A flowchart illustrating the control method of the imaging apparatus of the first aspect of the present invention is shown in diagram seven.

[0081] Figure 14 A schematic diagram (seventh) shows a control method for an imaging apparatus according to the first aspect of the present invention;

[0082] Figure 15 Eighth schematic flowchart of the control method of the imaging apparatus of the first aspect of the present invention is shown;

[0083] Figure 16 A schematic flowchart of the control method of the imaging apparatus of the first aspect of the present invention is shown in Figure 9.

[0084] Figure 17 A schematic block diagram of the control device of the imaging apparatus of the second aspect of the present invention is shown;

[0085] Figure 18 A schematic block diagram of the control device of the imaging apparatus of the third aspect of the present invention is shown;

[0086] Figure 19 A schematic diagram of the imaging apparatus of the fifth aspect of the present invention is shown.

[0087] in, Figure 19 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0088] 1900 Imaging device, 1902 Body, 1904 Rotating boom, 1906 Flat panel detector, 1908 Image display device, 1910 First laser emitting device, 1912 Second laser emitting device, 1914 Third laser emitting device, 1916 X-ray tube. Detailed Implementation

[0089] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0090] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0091] The following is combined Figures 1 to 19 The control method, control device, and imaging device of the imaging device provided in this application will be described in detail through specific embodiments and application scenarios.

[0092] Example 1:

[0093] like Figure 1 As shown, a control method for an imaging device is provided in the first embodiment of the present invention. The imaging device includes a rotating arm and an image display device. The control method for the imaging device includes:

[0094] Step 102: Detect the first direction of motion of the rotating boom during its movement around the target body, and determine the imaging image displayed by the image display device;

[0095] Step 104: Determine the second motion direction of the imaging image based on the correspondence between the first motion direction and the imaging image, and display the second motion direction on the imaging image.

[0096] The second direction of motion is used to indicate the direction of motion presented in the imaging image when the rotating boom moves in the first direction of motion.

[0097] In this embodiment, the imaging device may include: a body and a rotating arm, the rotating arm being rotatably mounted on the body, the rotating arm having a detection area for accommodating a target body, the rotating arm being able to rotate around the target body, the rotating arm being able to swing left and right relative to the body, move up and down relative to the body, and rotate back and forth relative to the body; an X-ray tube, mounted on the rotating arm, the X-ray tube being able to generate rays that can pass through the target body, wherein the target body may specifically be the torso or organs of a human body; and a flat panel detector, mounted on the rotating arm and located on both sides of the detection area respectively with the X-ray tube, the flat panel detector being able to acquire image data formed by the rays, the image data being image data reflecting the body condition of the target body.

[0098] Specifically, when the imaging device is in operation, the rotating boom can rotate, swing, or move under the user's operation. During the process of the imaging device controlling the movement of the rotating boom, the imaging device can detect the first movement direction of the rotating boom. At the same time, the imaging device can display the imaging image acquired by the imaging device during operation in the image display device. The imaging device can display a second movement direction in the imaging image according to the correspondence between the first movement direction of the rotating boom and the imaging image. The second movement direction can represent the corresponding movement direction presented in the imaging image when the rotating boom moves in the first movement direction.

[0099] The first direction of motion can be the rotation, swing, or movement direction of the rotating boom when the imaging device is working. An angle detection device can be configured in the imaging device to detect the first direction of motion of the rotating boom and obtain information such as the displacement of the rotating boom.

[0100] Furthermore, the imaging image can be the image information detected by the flat panel detector. During the rotation of the rotating boom, the flat panel detector and the X-ray tube rotate synchronously with the rotating boom. The image data collected by the flat panel detector changes, so the content of the imaging image in the image display device will change with the rotation of the rotating boom. It should be noted that the content of the imaging image in the image display device will also change when the user rotates, zooms, or flips the image.

[0101] Furthermore, the imaging image displayed by the image display device corresponds to the first direction of motion of the rotating boom. When the rotating boom moves around the target body in the first direction of motion, the imaging image can be translated in the image display device following the first direction of motion. The imaging device can indicate the corresponding direction of motion of the imaging image in the image display device according to the correspondence and the motion information of the rotating boom, i.e., the first direction of motion.

[0102] For example, Figure 2A schematic diagram of a control method for an imaging apparatus according to a first aspect of the present invention is shown. Figure 2 As shown, when the user rotates the boom to the right of the anatomical position in the image, or rotates the boom to the right while controlling the boom to move after turning, a first marker 202 pointing to the right will appear in the imaging image 200.

[0103] For example, Figure 3 A second schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown. Figure 3 As shown, when the user rotates the rotating arm to the upper anatomical position in the image, or rotates the rotating arm upward while controlling the rotation of the rotating arm to move, an upward-pointing first marker 302 will appear in the imaging image 300.

[0104] For example, Figure 4 A third schematic diagram shows a control method for the imaging apparatus of the first aspect of the present invention. (See diagram below.) Figure 4 As shown, when the user rotates the boom to the left of the anatomical position in the image, or rotates the boom to the left while controlling the boom to turn and move, a first marker 402 pointing to the left will appear in the imaging image 400.

[0105] For example, Figure 5 A fourth schematic diagram shows a control method for an imaging apparatus according to the first aspect of the present invention. (See diagram below.) Figure 5 As shown, after the imaging image 500 is flipped up and down, when the user rotates the rotating arm to the upper anatomical position of the image, or controls the rotating arm to turn and move backward, a downward-pointing first marker 502 will appear in the imaging image 500.

[0106] In some embodiments, the imaging device may specifically include a rotating boom and an image acquisition device, wherein the image display device may specifically be a display, and the rotating boom may specifically be a curved boom with an X-ray tube on one side and a flat panel detector on the other side.

[0107] The control method of the imaging device in this embodiment enables the imaging device to indicate the actual movement direction of the imaging image under the detected motion information of the rotating boom in the image display device. This allows the user to intuitively obtain the actual movement direction of the imaging image in the image display device while controlling the movement of the rotating boom, simplifying the problem of component movement direction identification during imaging device operation and reducing the operational error rate of the imaging device.

[0108] like Figure 6 As shown, in any of the above embodiments, the imaging device further includes a first laser emitting device, and the control method of the imaging device includes:

[0109] Step 602: Detect the first direction of motion of the rotating boom during its movement around the target body, and determine the imaging image displayed by the image display device;

[0110] Step 604: Determine the second motion direction of the imaging image based on the correspondence between the first motion direction and the imaging image, and display the second motion direction on the imaging image;

[0111] Step 606: According to the second direction of motion, control the first laser emitting device to project a first mark on the target body. The first mark is used to indicate the second direction of motion.

[0112] In this technical solution, the imaging device also includes a first laser emitting device, which can emit an indicator laser. After the imaging device indicates the second motion direction of the imaging image under the first motion direction in the image display device according to the detected first motion direction of the rotating arm, the imaging device can also control the first laser emitting device to project a first mark onto the target body according to the relative positional relationship between the imaging image and the second motion direction.

[0113] The first identifier can be a directional identifier displayed on the target body with a directional indication function, which can indicate the second direction of movement on the target body.

[0114] Furthermore, the direction indicated by the first mark on the target is the physical manifestation of the second direction of motion in the imaging image.

[0115] In some embodiments, the target body can be a human body, and the imaging device can provide the image support required for surgery.

[0116] The control method of the imaging device provided in this embodiment of the invention enables the imaging device to draw a first mark on the target body to indicate a second direction of movement by emitting a first laser. This allows the target body to display the first mark corresponding to the direction indicated by the second direction of movement in the imaging image. As a result, the user can obtain directional information on the target body that corresponds to the actual direction of movement in the imaging image. This simplifies the problem of identifying the direction of movement of components when the imaging device is working, synchronizes the image direction and actual direction of movement of the doctor, technician and imaging device during the operation, and reduces the user's error rate in rotating the boom.

[0117] In any of the above embodiments, the first direction of motion is the direction of motion of the rotating arm in the spatial coordinate system, and the second direction of motion is the direction of motion of the pixels of the image in the image coordinate system.

[0118] In this embodiment, the first direction of motion can represent the direction of motion of the rotating boom in the spatial coordinate system, wherein the spatial coordinate system is a rectangular coordinate system of physical space, which can determine the coordinate parameters of any point in the space.

[0119] Furthermore, the second direction of motion can represent the direction of motion of the pixels in the image in the image coordinate system, where the image coordinate system is a rectangular coordinate system in the image system, which can determine the coordinate parameters of any point in the image system.

[0120] The control method of the imaging device in this embodiment establishes a spatial coordinate system and an image coordinate system, thereby determining the correspondence between the first motion direction and the second motion direction. This avoids the problem of identifying the motion direction of the components when the imaging device is working and reduces the difficulty of operating the imaging device.

[0121] like Figure 7 As shown, in any of the above embodiments, the control method of the imaging device includes:

[0122] Step 702: Detect the first direction of motion of the rotating boom during its movement around the target body, and determine the imaging image displayed by the image display device;

[0123] Step 704: Determine the first coordinate parameters of the target pixel in the image coordinate system;

[0124] Step 706: Determine the second coordinate parameters of the target pixel in the image coordinate system based on the first direction of motion and the mapping relationship between the spatial coordinate system and the image coordinate system;

[0125] Step 708: Determine the second motion direction based on the first coordinate parameters and the second coordinate parameters.

[0126] In this embodiment, the imaging device determines the target pixel in the image, which is a reference pixel for determining the second direction of motion, and determines the first coordinate parameter of the target pixel in the image coordinate system, wherein the first coordinate parameter is the initial coordinate parameter of the target pixel in the image coordinate system.

[0127] Furthermore, based on the first direction of motion and the mapping relationship between the spatial coordinate system and the image coordinate system, the imaging device can determine the second coordinate parameters of the target pixel, wherein the second coordinate parameters are the coordinate parameters of the target pixel after its motion in the image coordinate system.

[0128] Furthermore, the imaging device can determine the motion direction of the target pixel based on the first coordinate parameter and the second coordinate parameter, and then determine the second motion direction.

[0129] In some embodiments, the image may specifically be an image acquired by an X-ray flat panel detector and displayed on an image display device. The X-ray flat panel detector is a device that receives X-rays and forms an image. The imaging device can determine the coordinates (Xip, Yip) of the target pixel in the X-ray flat panel detector in the spatial coordinate system, directly acquire the X-ray flat panel detector image, and display the image at a fixed position on the image display device. The coordinates (Xis, Yis) of the target pixel in the X-ray flat panel detector in the image coordinate system are also determined. These two coordinate systems have a corresponding relationship: (Xis, Yis) = (Xip, Yip) × Mp²s, where Mp²s is the mapping relationship between the spatial coordinate system and the image coordinate system.

[0130] In some other embodiments, the rotating boom can specifically be a curved boom. During operation, the imaging device can obtain the first direction of motion of the rotating boom in the spatial coordinate system. If the user moves along the rotating boom in the first direction of motion, the target pixel moves along the first direction of motion in the spatial coordinate system, and the distance moved can be obtained by a sensor. When the rotating boom has not yet moved, the moving distance can be defined as a unit distance. The coordinate parameters of the moved target pixel in the spatial coordinate system are (Xip, Yip)' = (Xip, Yip)' × Mmov, and then the second coordinate parameters (Xis, Yis)' = (Xip, Yip)' × Mmov × Mp2s can be obtained, where Mmov is the moving distance and Mp2s is the mapping relationship between the spatial coordinate system and the image coordinate system. Based on the second coordinate parameters (Xis, Yis)' and the first coordinate parameters (Xis, Yis), the direction of motion of the target pixel can be calculated, and thus the second direction of motion can be determined.

[0131] In some other embodiments, the second direction of motion can be displayed on the image by drawing arrows, which can be done using OpenGL (a graphics library).

[0132] The control method of the imaging device in this embodiment determines the first coordinate parameter and the second coordinate parameter of the target pixel in the image coordinate system, thereby determining the second motion direction, ensuring the accuracy of determining the second motion direction of the imaging image, and thus ensuring the accuracy of determining the motion direction of the components when the imaging device is working.

[0133] like Figure 8 As shown, in any of the above embodiments, the control method of the imaging device includes:

[0134] Step 802: Detect the first direction of motion of the rotating boom during its movement around the target body, and determine the imaging image displayed by the image display device;

[0135] Step 804: Determine the second motion direction of the imaging image based on the correspondence between the first motion direction and the imaging image, and display the second motion direction on the imaging image;

[0136] Step 806: Determine the first normal vector of the image in the image coordinate system;

[0137] Step 808: Determine the second normal vector of the first normal vector in the spatial coordinate system according to the mapping relationship between the spatial coordinate system and the image coordinate system;

[0138] Step 810: Determine the third motion direction of the first laser emitting device based on the second normal vector and the second motion direction;

[0139] Step 812: After controlling the first laser emitting device to move in the third direction of motion, control the first laser emitting device to project the first mark.

[0140] In this embodiment, the imaging device determines the first normal vector of the image center point of the image in the image coordinate system, wherein the first normal vector is the normal vector of the image center point of the image in the image coordinate system.

[0141] Furthermore, after determining the second direction of motion, the imaging device determines the second normal vector of the first normal vector in the spatial coordinate system according to the mapping relationship between the spatial coordinate system and the image coordinate system. The second normal vector is the normal vector of the image center point of the image in the image spatial system.

[0142] Furthermore, the imaging device adjusts the included angle of the second normal vector according to the second direction of motion, thereby determining the third direction of motion of the first laser emitting device, wherein the third direction of motion is the direction of motion in which the imaging device controls the motion of the first laser emitting device.

[0143] Furthermore, the imaging device controls the first laser emitting device to move in the third direction of motion, so that the first laser emitting device can be aligned with the target, and then controls the first laser emitting device to project the first mark onto the target.

[0144] In some embodiments, when a user clicks on the second motion direction on the image display device, the imaging device determines the first normal vector (Xs, Ys) of the image center point of the image, and determines the second normal vector (Xp, Yp) of the first normal vector in the spatial coordinate system according to the mapping relationship between the spatial coordinate system and the image coordinate system, (Xp, Yp) = (Xs, Ys) × Mp2s, where Mp2s is the mapping relationship between the spatial coordinate system and the image coordinate system. The imaging device then converts the second normal vector (Xp, Yp) into an angle θ, which can represent the third motion direction. The imaging device controls the first laser emitting device to move in the third motion direction so that the first laser emitting device can be aligned with the target body, and then controls the first laser emitting device to project the first mark onto the target body.

[0145] The control method of the imaging device in this embodiment determines the first normal vector and the second normal vector of the imaging image, and then determines the third motion direction of the first laser emitting device, which ensures that the first laser emitting device can project the first mark on the target body, and thus ensures that doctors and technicians can determine the image direction of the imaging device in real time during the operation of the imaging device.

[0146] like Figure 9 As shown, in any of the above embodiments, the imaging device further includes a second laser emitting device, and the control method of the imaging device includes:

[0147] Step 902: Project the first grid onto the target using the second laser emitting device;

[0148] Step 904: Based on the first grid, display a second grid in the imaging image that corresponds to the first grid.

[0149] In this embodiment, the imaging device can draw a first grid on the target using a laser emitting device and simultaneously display a second grid on the imaging image. The relative positional relationship between the second grid and the imaging image is the same as the relative positional relationship between the first grid and the target.

[0150] The first grid can be a laser grid image emitted by a laser emitting device, which can be used to virtually locate the target.

[0151] Furthermore, the second grid can be an electronic grid image displayed on the imaging image based on the relative position of the first grid and the target. The second grid is capable of positioning the imaging image, and the relative positional relationship between the second grid and the imaging image is the same as the relative positional relationship between the first grid and the target.

[0152] It should be noted that the relative positional relationship between the second grid and the image is the same as the relative positional relationship between the first grid and the target body. This can be understood as follows: the first grid projected onto the target body performs virtual positioning of the target body. For example, if the first grid includes region A, and region A corresponds to the target point on the spine of the target body, then on the image, the position of the target point on the spine of the target body is region B. There is a first relative positional relationship between region A and the first grid, and a second relative positional relationship between region B and the second grid. These two corresponding positional relationships are consistent.

[0153] For example, Figure 10 Fifth schematic diagram shows a control method for an imaging apparatus according to the first aspect of the present invention. Figure 10 As shown, the laser outlet 1000 is divided into a vertical laser outlet group 1002 and a horizontal laser outlet group 1004. The vertical laser outlet group 1002 includes two vertical laser outlets, and the horizontal laser outlet group 1004 includes 16 horizontal laser outlets.

[0154] For example, different laser emission effects can be achieved by using different filters at the laser exit. Figure 11 A sixth schematic diagram of a control method for an imaging apparatus according to the first aspect of the present invention is shown. Figure 11 As shown, the first grid 1100 is composed of different types of laser line segment groups 1102.

[0155] The control method of the imaging device provided in this embodiment of the invention enables the imaging device to draw a first grid on the target through a laser emitting device, and display a second grid in the imaging image that corresponds to the positional relationship of the first grid. This allows the user to divide the target body into positions and display the division relationship in the imaging image accordingly. The same positional division is performed on the imaging image, which makes it convenient for the user to observe the positional relationship between the target body and the imaging image at the same time.

[0156] like Figure 12 As shown, in any of the above embodiments, the imaging device further includes a flat panel detector for acquiring images, the flat panel detector being disposed on the rotating arm, and the control method of the imaging device including:

[0157] Step 1202: Project the first grid onto the target using the second laser emitting device;

[0158] Step 1204, obtain the first grid;

[0159] Step 1206: Determine the projection position of the first grid onto the flat panel detector;

[0160] Step 1208: Generate a second grid in the image based on the projection position.

[0161] In this embodiment, after the laser emitting device projects a first grid onto the target, the imaging device can determine the projection position of the first grid on the flat panel detector and generate a second grid on the target image.

[0162] The control method of the imaging device provided in this embodiment of the invention enables the imaging device to generate a corresponding second grid in the imaging image based on the projection position of the first grid projected on the target by the second laser emitting device on the flat panel detector. This ensures that the relative position of the first grid and the target is consistent with the relative position of the second grid in the imaging image, thereby allowing the user to directly obtain the positional relationship of the first grid on the target based on the second grid in the imaging image.

[0163] like Figure 13 As shown, in any of the above embodiments, the imaging device further includes an X-ray tube, with the X-ray tube and the flat panel detector located at opposite ends of the rotating arm, and the target object can be placed between the X-ray tube and the flat panel detector. The control method of the imaging device includes:

[0164] Step 1302: Project the first grid onto the target using the second laser emitting device;

[0165] Step 1304, obtain the first grid;

[0166] Step 1306: Obtain the distance between the grid feature points in the first grid and the flat panel detector;

[0167] Step 1308: Convert the distance between the grid feature points and the flat panel detector into the distance between the grid feature points and the X-ray tube;

[0168] Step 1310: Determine the geometric relationship between the grid feature points and the X-ray tube based on the distance between the grid feature points and the X-ray tube and the relative positional relationship between the flat panel detector and the X-ray tube;

[0169] Step 1312: Determine the projection position based on the geometric relationship between the feature points of the first grid and the projection position;

[0170] Step 1314: Generate a second grid in the image based on the projection position.

[0171] In this embodiment, after the second laser emitting device projects the first grid onto the target, the imaging device can first calculate the distance between each grid feature point in the first grid and the flat panel detector, and determine the geometric relationship between each grid feature point in the first grid and the projection position based on the distance and the relative positional relationship between the flat panel detector and the X-ray tube. Finally, the projection position of the first grid onto the flat panel detector is determined by the geometric relationship between each grid feature point in the first grid and the projection position.

[0172] It should be noted that the geometric relationship between the grid feature points and the projected positions in the first grid is the spatial relationship between each grid feature point and its projected position in the first grid.

[0173] In some embodiments, such as Figure 14 As shown, the process of determining the projection position can be specifically as follows: First, the user determines the grid feature points in the first grid on the image display device and determines the grid feature points in the spatial coordinate system as Ps(Xs,Ys). Second, Ps is transformed into coordinates Pp(Xp,Yp,Zp) in the spatial coordinate system. It should be noted that the spatial coordinate system takes the X-ray emission focus 1412 as the origin. Since the X-ray focus 1412 on the rotating arm and the installation position of the flat panel detector 1402 are fixed, the transformation relationship Pp(Xp,Yp,Zp)=F(Ps(Xs,Ys)) can be determined, and then the position point 1404 on the flat panel detector 1402 is determined. The third step is to determine the line 1406 connecting the focal point 1412 and the position point 1404 of the flat panel detector. This line 1406 can be determined using the coordinate point Pp(Xp,Yp,Zp). Specifically, the formula for calculating the line 1406 connecting the focal point 1412 and the position point 1404 of the flat panel detector is Z = aX + b = cY + d, where a, b, c, and d are coefficients of a univariate equation. The fourth step is to determine the fixed position of the depth camera in the spatial coordinate system. The depth camera is a camera capable of acquiring depth information. The target surface 1408 that can be detected by the depth camera is Z = aX + bY + c, where a, b, and c are coefficients of a bivariate equation. The sixth step is to determine the position information of the needle insertion point 1410 on the target surface 1408 using the equations Z = aX + b = cY + d and Z = aX + bY + c, where the position information of the needle insertion point 1410 is Pr(X,Y,Z). Step 6: Determine the fixed position Pl(X,Y,Z) of the needle entry point laser emitting device in the spatial coordinate system. The needle entry point laser emitting device is the device capable of emitting laser light at the needle entry point. Step 7: Connect Pr(X,Y,Z) and Pl(X,Y,Z) to determine the pointing angle of the needle entry point laser emitting device. The imaging device controls the needle entry point laser emitting device to emit laser light according to the aforementioned pointing angle. The position information of the laser light pointing towards the needle entry point 1410 is Pr(X,Y,Z).

[0174] The control method of the imaging device in this embodiment enables the imaging device to convert the distance between each grid in the first grid projected onto the target by the second laser emitting device and the flat panel detector into a geometric relationship between each grid feature point and the projection position. Based on the distance between each grid feature point and the flat panel detector and the X-ray tube, the projection position of the first grid onto the flat panel detector is calculated. Based on the projection position, a second grid is generated in the imaging image accordingly. This ensures that the relative position of the first grid to the target body is consistent with the relative position of the second grid in the anatomical position on the imaging image. As a result, the user can directly obtain the correspondence between the first grid and the anatomical position on the target body based on the second grid in the imaging image.

[0175] like Figure 15 As shown, in any of the above embodiments, the imaging device further includes a third laser emitting device, and the control method of the imaging device includes:

[0176] Step 1502: Project the first grid onto the target using the second laser emitting device;

[0177] Step 1504: Based on the first grid, display a second grid in the imaging image that corresponds to the first grid;

[0178] Step 1506: Based on the first marker point marked by the user in the image, the second marker point is indicated on the first grid by the third laser emitting device.

[0179] The first marker point is located within the second grid, and the first marker point is associated with the second marker point. The relative positional relationship between the first marker point and the image and the relative positional relationship between the second marker point and the target are the same.

[0180] In this embodiment, after the imaging device draws a first grid on the target using the second laser emitting device, and displays a second grid in the imaging image that corresponds to the positional relationship of the first grid, the user can mark a first marker point in the imaging image. The imaging device can use the position of the first marker point in the imaging image to enable the third laser emitting device to indicate the second marker point in the first grid on the target. The positional relationship between the second marker point and the first grid is the same as the positional relationship between the first marker point and the second grid in the imaging image.

[0181] For example, in actual minimally invasive spinal surgery, the first marker point can be a virtual needle insertion point marked by the doctor on the imaging image, and the second marker point can be the actual needle insertion point indicated by the laser emitting device on the spine of the patient to be operated on according to the first marker point indicated by the doctor.

[0182] The control method of the imaging device provided in this embodiment of the invention allows the user to first mark a first marker point on the imaging image. The imaging device can then indicate a second marker point based on the corresponding position of the first marker point on the target body. This enables the imaging device to indicate the corresponding position on the target body based on the user's marking position, thereby allowing the user to directly obtain the actual marker point position on the target body that corresponds to the virtual marker point position on the imaging image.

[0183] like Figure 16 As shown, in any of the above embodiments, the control method of the imaging device includes:

[0184] Step 1602: Project the first grid onto the target using the second laser emitting device;

[0185] Step 1604: Based on the first grid, display a second grid in the imaging image that corresponds to the first grid;

[0186] Step 1606: Obtain the position information of the first marker point in the second grid;

[0187] Step 1608: Obtain the position of the third marker point on the flat panel detector based on the location information;

[0188] Step 1610: Based on the position of the third marker point, obtain the preset motion trajectory of the ray emitted by the third laser emitting device, and determine the second marker point where the preset motion trajectory intersects with the first grid.

[0189] In this embodiment, after the imaging device draws a first grid on the target using a laser emitting device, and displays a second grid in the imaging image that corresponds to the position of the first grid, the imaging device can obtain the position of the corresponding third marker on the flat panel detector based on the position of the first marker determined by the user in the second grid. The third marker position is then used as the starting point for the laser emitting device to obtain the preset motion trajectory of the emitted ray. The second marker on the target is obtained based on the intersection of the preset motion trajectory and the first grid on the target.

[0190] In some embodiments, the second marking point may specifically be the needle insertion point, such as... Figure 14As shown, the process of determining the second marker point can be specifically as follows: First, the user determines the grid feature points in the first grid on the image display device and determines the grid feature points in the spatial coordinate system as Ps(Xs,Ys). Second, Ps is transformed into coordinates Pp(Xp,Yp,Zp) in the spatial coordinate system. It should be noted that the spatial coordinate system takes the X-ray emission focus 1412 as the origin. Since the X-ray focus 1412 on the rotating arm and the installation position of the flat panel detector 1402 are fixed, the transformation relationship Pp(Xp,Yp,Zp)=F(Ps(Xs,Ys)) can be determined, and then the position point 1404 on the flat panel detector 1402 is determined. The third step is to determine the line 1406 connecting the focal point 1412 and the position point 1404 of the flat panel detector. This line 1406 can be determined using the coordinate point Pp(Xp,Yp,Zp). Specifically, the formula for calculating the line 1406 connecting the focal point 1412 and the position point 1404 of the flat panel detector is Z = aX + b = cY + d, where a, b, c, and d are coefficients of a univariate equation. The fourth step is to determine the fixed position of the depth camera in the spatial coordinate system. The depth camera is a camera capable of acquiring depth information. The target surface 1408 that can be detected by the depth camera is Z = aX + bY + c, where a, b, and c are coefficients of a bivariate equation. The sixth step is to determine the position information of the needle insertion point 1410 on the target surface 1408 using the equations Z = aX + b = cY + d and Z = aX + bY + c, where the position information of the needle insertion point 1410 is Pr(X,Y,Z). Step 6: Determine the fixed position Pl(X,Y,Z) of the third laser emitting device in the spatial coordinate system. The third laser emitting device is capable of emitting laser light at the needle insertion point. Step 7: Connect Pr(X,Y,Z) and Pl(X,Y,Z) to determine the pointing angle of the third laser emitting device. The imaging device controls the third laser emitting device to emit laser light based on this pointing angle, and the laser light points to the needle insertion point 1410 at position Pr(X,Y,Z).

[0191] The control method of the imaging device provided in this embodiment of the invention enables the imaging device to determine the third marker point on the flat panel detector based on the position of the first marker point on the second grid, and to control the third laser emitting device to emit rays toward the target body using the third marker point as the ray emission starting point, thereby determining the second marker point through the intersection of the ray and the first grid, so that the user can directly obtain the actual marker point position on the target body corresponding to the position of the virtual marker point on the imaging image.

[0192] Example 2:

[0193] like Figure 17As shown, in a second embodiment of the present invention, a control device 1700 for an imaging apparatus is provided. The imaging apparatus includes a rotating arm and an image display device. The control device 1700 for the imaging apparatus includes:

[0194] The detection module 1702 is used to detect the first direction of motion of the rotating boom during its movement around the target body, and to determine the imaging image displayed by the image display device.

[0195] The control module 1704 is used to determine the second motion direction of the imaging image based on the correspondence between the first motion direction and the imaging image, and to display the second motion direction on the imaging image.

[0196] The second direction of motion is used to indicate the direction of motion presented in the imaging image when the rotating boom moves in the first direction of motion.

[0197] In this embodiment, the imaging device includes a detection module and a control module. The detection module can detect a first direction of motion of the rotating boom, and the control module can display a second direction of motion in the imaging image based on the correspondence between the first direction of motion and the direction of the imaging image.

[0198] The control device of the imaging apparatus in this embodiment enables the imaging apparatus to indicate the actual movement direction of the imaging image under the detected motion information of the rotating boom on the image display device. This allows the user to intuitively obtain the actual movement direction of the imaging image on the image display device while controlling the movement of the rotating boom, simplifying the problem of identifying the movement direction of components during imaging apparatus operation and reducing the operational error rate of the imaging apparatus.

[0199] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0200] The control module 1704 is used to control the first laser emitting device to project a laser mark on the target body according to the second direction of movement. The laser mark is used to indicate the second direction of movement.

[0201] The control device of the imaging apparatus provided in this embodiment of the invention enables the imaging apparatus to draw a first mark on the target body to indicate a second direction of movement by emitting a first laser. This allows the target body to display the first mark corresponding to the direction indicated by the second direction of movement in the imaging image, thereby enabling the user to obtain directional information on the target body that corresponds to the actual direction of movement in the imaging image. This simplifies the problem of identifying the direction of movement of components during the operation of the imaging apparatus, synchronizes the image direction and actual direction of movement of the doctor, technician, and imaging apparatus during the surgical process, and reduces the user's error rate in operating the rotating arm.

[0202] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0203] The processing module is used to determine the first coordinate parameters of the target pixel in the image coordinate system.

[0204] The processing module is also used to determine the second coordinate parameters of the target pixel in the image coordinate system according to the first direction of motion and the mapping relationship between the spatial coordinate system and the image coordinate system;

[0205] The processing module is also used to determine the second motion direction based on the first coordinate parameters and the second coordinate parameters.

[0206] In this embodiment, the control device of the imaging apparatus determines the first coordinate parameter and the second coordinate parameter of the target pixel in the image coordinate system, thereby determining the second motion direction, ensuring the accuracy of determining the second motion direction of the imaging image, and thus ensuring the accuracy of determining the motion direction of the components when the imaging apparatus is working.

[0207] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0208] The processing module is used to determine the first normal vector of the image in the image coordinate system;

[0209] The processing module is also used to determine the second normal vector of the first normal vector in the spatial coordinate system according to the second direction of motion and the mapping relationship between the spatial coordinate system and the image coordinate system;

[0210] The processing module is also used to determine the third motion direction of the first laser emitting device based on the second normal vector;

[0211] The processing module is also used to control the first laser emitting device to project a laser mark after controlling the first laser emitting device to move in the third direction of motion.

[0212] In this embodiment, the control device of the imaging device determines the first normal vector and the second normal vector of the imaging image, and then determines the third motion direction of the first laser emitting device, ensuring that the first laser emitting device can project the first mark on the target body, and thus ensuring that doctors and technicians can determine the image direction of the imaging device in real time during the operation of the imaging device.

[0213] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0214] Control module 1704 is used to project the first grid onto the target body via the second laser emitting device;

[0215] The control module 1704 is also used to display a second grid in the imaging image that corresponds to the first grid, based on the first grid.

[0216] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0217] The processing module is used to acquire the first grid.

[0218] The processing module is also used to determine the projection position of the first grid onto the flat panel detector;

[0219] The processing module is also used to generate a second grid in the imaging image based on the projection position.

[0220] The control device of the imaging apparatus provided in this embodiment of the invention enables the imaging apparatus to generate a corresponding second grid in the imaging image based on the projection position of the first grid projected on the target body by the second laser emitting device on the flat panel detector. This makes the relative position of the first grid and the target body consistent with the relative position of the second grid in the imaging image, so that the user can directly obtain the positional relationship of the first grid on the target body based on the second grid in the imaging image.

[0221] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0222] The processing module is used to obtain the distance between the grid feature points in the first grid and the flat panel detector;

[0223] The processing module is also used to convert the distance between the grid feature points and the flat panel detector into the distance between the grid feature points and the X-ray tube;

[0224] The processing module is also used to determine the geometric relationship between the grid feature points and the projected positions in the first grid based on the distance between the grid feature points and the X-ray tube and the relative positional relationship between the flat panel detector and the X-ray tube.

[0225] The processing module is also used to determine the projection position based on the geometric relationship between the grid feature points and the projection position in the first grid.

[0226] The control device of the imaging apparatus in this embodiment enables the imaging apparatus to convert the distance between each grid in the first grid projected onto the target by the second laser emitting device and the flat panel detector into a geometric relationship between each grid feature point and the projection position. Based on the distance between each grid feature point and the flat panel detector and the X-ray tube, the imaging apparatus calculates the projection position of the first grid onto the flat panel detector and generates a second grid in the imaging image accordingly. This ensures that the relative position of the first grid to the target body is consistent with the relative position of the second grid in the anatomical position on the imaging image, allowing the user to directly obtain the correspondence between the first grid and the anatomical position on the target body based on the second grid in the imaging image.

[0227] In some embodiments, the control device 1700 of the imaging apparatus includes:

[0228] Control module 1704 is used to indicate a second marker point on a first grid via a third laser emitting device based on a first marker point marked by the user in the image.

[0229] The first marker point is located within the second grid, and the first marker point is associated with the second marker point. The relative positional relationship between the first marker point and the image and the relative positional relationship between the second marker point and the target are the same.

[0230] The control device of the imaging apparatus provided in this embodiment of the invention allows the user to first mark a first marker point on the imaging image. The imaging apparatus can then indicate a second marker point based on the corresponding position of the first marker point on the target body. This enables the imaging apparatus to indicate the corresponding position on the target body based on the user's marking position, thereby allowing the user to directly obtain the actual marker point position on the target body that corresponds to the virtual marker point position on the imaging image.

[0231] In some embodiments, the control device for the imaging apparatus includes:

[0232] The processing module is used to obtain the position information of the first marker point in the second grid;

[0233] The processing module is also used to obtain the position of the third marker point on the flat panel detector based on the location information;

[0234] The processing module is also used to obtain the preset motion trajectory of the ray emitted by the third laser emitting device based on the position of the third marker point, and to determine the second marker point where the preset motion trajectory intersects with the first grid.

[0235] The control device of the imaging apparatus provided in this embodiment of the invention enables the imaging apparatus to determine the third marker point on the flat panel detector based on the position of the first marker point on the second grid, and to control the third laser emitting device to emit rays toward the target body using the third marker point as the ray emission starting point, thereby determining the second marker point through the intersection of the ray and the first grid, so that the user can directly obtain the actual marker point position on the target body corresponding to the position of the virtual marker point on the imaging image.

[0236] Example 3:

[0237] like Figure 18As shown, a third embodiment of the present invention provides a control device for an imaging apparatus. The control device 1800 includes a processor 1802 and a memory 1804. The memory 1804 stores a program or instructions. When the processor 1802 executes the program or instructions in the memory 1804, it implements the steps of the control method for the imaging apparatus as described in any of the above embodiments. Therefore, this control device for the imaging apparatus possesses all the beneficial effects of the control method for the imaging apparatus in any of the above technical solutions, which will not be elaborated further here.

[0238] Example 4:

[0239] In a fourth embodiment of the present invention, a readable storage medium is provided, on which a program is stored. When the program is executed by a processor, it implements the control method of the imaging device as described in any of the above embodiments, and thus has all the beneficial technical effects of the control method of the imaging device in any of the above embodiments.

[0240] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0241] Example 5:

[0242] A fifth embodiment of the present invention provides an imaging apparatus, comprising: a control device of the imaging apparatus as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, thus having all the beneficial technical effects of the control device of the imaging apparatus as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, which will not be elaborated further here.

[0243] like Figure 19 As shown, in any of the above embodiments, the imaging device 1900 includes:

[0244] Body 1902; Rotary arm 1904, rotatably mounted on body 1902, the rotating arm 1904 has a detection area for accommodating the target, and the rotating arm 1904 is capable of rotating around the target;

[0245] Flat panel detector 1906 is mounted on rotating arm 1904. Flat panel detector 1906 is located at one end of rotating arm 1904 and can acquire image data of target object.

[0246] Image display device 1908, which is capable of displaying image data acquired by flat panel detector 1906;

[0247] The first laser emitting device 1910 is mounted on one end of the flat plate detector 1906 on the rotating arm 1904. The first laser emitting device 1910 is capable of generating an indicator laser.

[0248] The second laser emitting device 1912 is mounted on one end of the flat plate detector 1906 on the rotating arm 1904. The second laser emitting device 1912 is capable of generating grid lasers.

[0249] The third laser emitting device 1914 is located at one end of the flat plate detector 1906 on the rotating arm 1904. The third laser emitting device 1914 can generate laser at the needle entry point.

[0250] The X-ray tube 1916 is mounted on the rotating arm 1904 and is located at both ends of the rotating arm 1904, along with the flat panel detector 1906. The X-ray tube 1916 is capable of generating X-rays.

[0251] In this embodiment, the imaging device displays the image data of the target object collected by the flat panel detector when the rotating boom rotates around the target object. This allows the user to intuitively obtain the actual movement direction corresponding to the imaging image in the image display device while controlling the movement of the rotating boom. This simplifies the problem of identifying the movement direction of the components when the imaging device is working and reduces the operation error rate of the imaging device.

[0252] It should be clarified that in the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances of the above data.

[0253] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0254] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for an imaging device, characterized in that, The imaging device includes a rotating arm and an image display device, and the control method of the imaging device includes: The first direction of motion of the rotating boom during its movement around the target body is detected, and the imaging image displayed by the image display device is determined. Based on the correspondence between the first direction of motion and the imaging image, a second direction of motion of the imaging image is determined and displayed on the imaging image. The second direction of motion is used to indicate the direction of motion presented in the imaging image when the rotating boom moves in the first direction of motion. Wherein, the first direction of motion is the direction of motion of the rotating arm in the spatial coordinate system, and the second direction of motion is the direction of motion of the pixels of the image in the image coordinate system.

2. The control method for the imaging device according to claim 1, characterized in that, The imaging device further includes a first laser emitting device, and the control method for the imaging device further includes: According to the second direction of movement, the first laser emitting device is controlled to project a laser mark onto the target body, and the laser mark is used to indicate the second direction of movement.

3. The control method for the imaging device according to claim 2, characterized in that, The first direction of motion is the direction of motion of the rotating arm in the spatial coordinate system, and the second direction of motion is the direction of motion of the pixels of the image in the image coordinate system. Determining the second direction of motion of the image based on the correspondence between the first direction of motion and the image specifically includes: Determine the first coordinate parameter of the target pixel in the image coordinate system; Based on the first direction of motion, and according to the mapping relationship between the spatial coordinate system and the image coordinate system, the second coordinate parameters of the target pixel in the image coordinate system are determined; The second direction of motion is determined based on the first coordinate parameter and the second coordinate parameter.

4. The control method for the imaging device according to claim 3, characterized in that, The step of controlling the first laser emitting device to project a laser mark onto the target body according to the second direction of motion specifically includes: Determine the first normal vector of the image in the image coordinate system; Based on the second direction of motion, and according to the mapping relationship between the spatial coordinate system and the image coordinate system, the second normal vector of the first normal vector in the spatial coordinate system is determined; Based on the second normal vector, determine the third direction of motion of the first laser emitting device; After controlling the first laser emitting device to move in the third direction of motion, the first laser emitting device is controlled to project the laser mark.

5. The control method for the imaging apparatus according to any one of claims 1 to 4, characterized in that, The imaging device further includes a second laser emitting device, and the control method for the imaging device further includes: The first grid is projected onto the target body through the second laser emitting device; Based on the first grid, a second grid corresponding to the first grid is displayed in the imaging image.

6. The control method for the imaging device according to claim 5, characterized in that, The imaging device further includes a flat panel detector for acquiring images, the flat panel detector being disposed on the rotating arm, and the step of displaying a second grid corresponding to the first grid in the imaging image according to the first grid specifically includes: Obtain the first grid; Determine the projection position of the first grid onto the flat panel detector; The second grid is generated in the imaging image based on the projection position.

7. The control method for the imaging device according to claim 6, characterized in that, The imaging device further includes an X-ray tube, which is located at one end of the rotating arm, and the flat panel detector is located at the other end of the X-ray tube. The target can be placed between the X-ray tube and the flat panel detector. Determining the projection position of the first grid onto the flat panel detector specifically includes: Obtain the distance between the grid feature points in the first grid and the flat panel detector; The distance between the grid feature points and the flat panel detector is converted into the distance between the grid feature points and the X-ray tube; Based on the distance between the grid feature points and the X-ray tube and the relative positional relationship between the flat panel detector and the X-ray tube, the geometric relationship between the grid feature points and the projected positions in the first grid is determined; The projection position is determined based on the geometric relationship between the grid feature points in the first grid and the projection position.

8. The control method for the imaging device according to claim 5, characterized in that, The imaging device further includes a third laser emitting device, and after displaying a second grid corresponding to the first grid in the imaging image according to the first grid, the control method of the imaging device further includes: Based on the first marker point marked by the user in the imaging image, the second marker point is indicated on the first grid by the third laser emitting device; Wherein, the first marker point is located within the second grid, the first marker point is associated with the second marker point, and the relative positional relationship between the first marker point and the image is the same as the relative positional relationship between the second marker point and the target body; The step of indicating a second marker point on the second grid using the third laser emitting device based on a first marker point marked by the user in the imaged image specifically includes: Obtain the position information of the first marker point in the second grid; Based on the location information, obtain the position of the third marker point on the flat panel detector; Based on the location of the third marker point, the preset motion trajectory of the ray emitted by the third laser emitting device is obtained, and the second marker point where the preset motion trajectory intersects with the first grid is determined.

9. A control device for an imaging apparatus, characterized in that, The imaging device includes a rotating arm and an image display device, and the control device of the imaging device further includes: The detection module is used to detect the first direction of motion of the rotating boom during its movement around the target body, and to determine the imaging image displayed by the image display device. The control module is used to determine the second motion direction of the imaging image based on the correspondence between the first motion direction and the imaging image, and to display the second motion direction on the imaging image. The second motion direction is used to indicate the motion direction presented in the imaging image when the rotating boom moves in the first motion direction. Wherein, the first direction of motion is the direction of motion of the rotating arm in the spatial coordinate system, and the second direction of motion is the direction of motion of the pixels of the image in the image coordinate system.

10. An imaging device, characterized in that, The imaging device employs the control method for an imaging device as described in any one of claims 1 to 8, and the imaging device comprises: Organism; A rotating boom is rotatably mounted on the machine body, the rotating boom having a detection area for accommodating a target, and the rotating boom being able to rotate around the target; A flat panel detector is mounted on the rotating arm, located at one end of the rotating arm, and is capable of acquiring image data of the target object. An image display device, which is capable of displaying the image data acquired by the flat panel detector; A first laser emitting device is disposed at one end of the flat plate detector on the rotating arm, and the first laser emitting device is capable of generating an indicator laser. A second laser emitting device is disposed at one end of the flat plate detector on the rotating arm. The second laser emitting device is capable of generating grid lasers. A third laser emitting device is disposed at one end of the flat plate detector on the rotating arm, and the third laser emitting device is capable of generating laser at the needle entry point. An X-ray tube is mounted on the rotating arm and located at both ends of the rotating arm, along with the flat panel detector. The X-ray tube is capable of generating X-rays.

Images