Posture control method and device, electronic equipment and storage medium

Abstract

This application relates to the field of medical assistive technology, specifically to a posture control method, device, electronic device, and storage medium. The posture control method provided in this application includes: acquiring a pre-detection image of a target body surface region on the subject when the subject is in a target body posture; a reference point is set in the target body surface region to indicate the puncture needle insertion position for a lesion site under the target body surface region when the subject is in the target body posture; acquiring a standard position of the reference point based on the pre-detection image; tracking the reference point in real time to obtain its real-time position; and generating posture indication information based on the real-time position and the standard position. The posture indication information is used to instruct the subject to control its body posture so that the deviation between the final position of the reference point and the standard position is within a target deviation range. The posture control method, device, and storage medium provided in this application can improve the accuracy of puncture surgery.

Description

Technical Field

[0001] This invention relates to the field of medical assistive technology, specifically to a posture control method, device, electronic device, and storage medium. Background Technology

[0002] During a biopsy, the needle insertion point is typically located automatically or semi-automatically to avoid damage to non-lesion areas. Currently, the positioning method usually involves first acquiring images of the patient's lesion, then analyzing these images to obtain the theoretical spatial location of the lesion, which serves as the basis for selecting the needle insertion point.

[0003] However, during the puncture procedure, changes in the patient's body posture (e.g., limb movement, changes in posture, or changes in breathing) can affect the actual spatial location of the lesion, causing a deviation between the theoretical and actual spatial locations. This results in the actual puncture needle insertion point not corresponding to the lesion site, thus affecting the accuracy of the puncture procedure. Summary of the Invention

[0004] This application provides a posture control method, device, and storage medium that can improve the accuracy of puncture surgery.

[0005] The attitude control method provided in this application includes:

[0006] When the subject to be tested is in the target body posture, a pre-detection image of the target body surface area on the subject to be tested is acquired. The target body surface area is set with reference points, which are used to indicate the puncture needle position for the lesion site under the target body surface area when the subject to be tested is in the target body posture.

[0007] Based on the pre-detected image, obtain the standard position of the reference point;

[0008] Real-time tracking of reference points to obtain their real-time location;

[0009] Based on the real-time position and the standard position, attitude indication information is generated. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0010] In some embodiments, the posture indication information includes breathing adjustment indication information, which is generated based on real-time location and standard location, including:

[0011] When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired.

[0012] After obtaining multiple coordinate deviations, obtain the changes in these multiple coordinate deviations;

[0013] Based on the changes, breathing adjustment instruction information is generated, which is used to instruct the subject to adjust its breathing state.

[0014] In some embodiments, coordinate deviation includes coordinate deviation amount, and the change includes deviation difference. Obtaining the change of multiple coordinate deviations includes:

[0015] The coordinate deviation included in the first coordinate deviation is used as the first unused deviation. The first coordinate deviation is the coordinate deviation with the latest acquisition time among multiple coordinate deviations.

[0016] The coordinate deviation included in the second coordinate deviation is used as the second available deviation. The second coordinate deviation is the coordinate deviation whose acquisition time is adjacent to the acquisition time of the first coordinate deviation among multiple coordinate deviations.

[0017] Obtain the difference in deviation between the first and second available deviations.

[0018] In some embodiments, the coordinate deviation further includes the coordinate deviation direction, and based on the change, breathing adjustment indication information is generated, including:

[0019] Based on the coordinate deviation direction included in the first coordinate deviation, breathing mode indication information is generated;

[0020] Based on the relationship between the first available deviation and the difference between the deviations, respiratory volume indication information is generated;

[0021] Generate respiratory adjustment instructions that include respiratory mode indication information and respiratory volume indication information.

[0022] In some embodiments, breathing mode indication information is generated based on the coordinate deviation direction included in the first coordinate deviation, including:

[0023] If the direction of coordinate deviation is opposite to the direction of chest expansion of the object to be tested, a first breathing mode indication information is generated, which is used to indicate the object to be tested to inhale.

[0024] If the direction of coordinate deviation is the same as the direction of chest expansion of the subject being tested, a second breathing mode indication information is generated, which is used to indicate the subject being tested to exhale.

[0025] In some embodiments, respiratory volume indication information is generated based on the relationship between a first available deviation and the deviation difference, including:

[0026] If the first available deviation is greater than the deviation difference, a first respiratory volume indication is generated. The first respiratory volume indication is used to instruct the subject to increase its respiratory volume.

[0027] If the first available deviation is equal to the deviation difference, then the second respiratory volume indication information is generated. The second respiratory volume indication information is used to instruct the subject to maintain the respiratory volume.

[0028] If the first available deviation is less than the deviation difference, a third respiratory volume indication is generated, which is used to instruct the subject to reduce its respiratory volume.

[0029] In some embodiments, the attitude indication information further includes pose adjustment indication information, and the coordinate deviation includes the coordinate deviation direction and the coordinate deviation amount. When a real-time position is obtained, after acquiring the coordinate deviation between the real-time position and the standard position, the generation of attitude indication information based on the real-time position and the standard position further includes:

[0030] If the coordinate deviation exceeds the preset position deviation range, a pose adjustment instruction is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction is used to instruct the object to be detected to adjust its body pose.

[0031] If the coordinate deviation is within the preset position deviation range but exceeds the target deviation range, then the step of obtaining the changes in multiple coordinate deviations is executed.

[0032] In some embodiments, before obtaining the changes in multiple coordinate deviations, the attitude control method further includes:

[0033] Obtain the first distance information between the reference point and the chest cavity location of the object to be tested;

[0034] Obtain the second distance information between the reference point and the abdominal cavity location of the object to be tested;

[0035] If the first distance information is greater than the second distance information, then chest breathing method indication information is generated. The chest breathing method indication information is used to instruct the subject to breathe according to the chest breathing method.

[0036] If the first distance information is less than the second distance information, then abdominal breathing method indication information is generated. The abdominal breathing method indication information is used to instruct the subject to breathe according to the abdominal breathing method.

[0037] In some embodiments, the attitude indication information includes pose adjustment indication information, which is generated based on the real-time position and a standard position, including:

[0038] When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired. The coordinate deviation includes the direction of the coordinate deviation and the amount of the coordinate deviation.

[0039] If the coordinate deviation exceeds the target deviation range, pose adjustment instruction information is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose.

[0040] In some embodiments, after generating attitude indication information based on real-time location and standard location, the attitude control method further includes:

[0041] The attitude indication information is broadcast so that the object to be tested can control its body posture according to the instructions of the attitude indication information, so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0042] The attitude control device provided in this application includes:

[0043] The image acquisition module is used to acquire a pre-detection image of the target body surface area on the target body when the subject to be detected is in the target body posture. The target body surface area is provided with reference points, which are used to indicate the puncture needle insertion position for the lesion site under the target body surface area when the subject to be detected is in the target body posture.

[0044] The standard position acquisition module is used to acquire the standard position of the reference point based on the pre-detection image;

[0045] The real-time location acquisition module is used to track reference points in real time and obtain the real-time location of the reference points;

[0046] The instruction information generation module is used to generate attitude instruction information based on the real-time position and the standard position. The attitude instruction information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0047] The electronic device provided in this application includes a memory and a processor;

[0048] The memory stores an application program, and the processor runs the application program in the memory to perform the steps in any of the attitude control methods provided in the embodiments of this application.

[0049] The embodiments of this application provide storage for multiple instructions, which are adapted for a processor to load and execute the steps in any of the attitude control methods provided in the embodiments of this application.

[0050] This application embodiment can acquire a pre-detection image of the target body surface area when the subject is in the target body posture. A reference point is set in the target body surface area to indicate the puncture needle insertion position for the lesion site under the target body surface area when the subject is in the target body posture. Based on the pre-detection image, the standard position of the reference point is obtained. During the subsequent puncture procedure, the reference point is tracked in real time to obtain its real-time position. Posture indication information is generated based on the real-time position and the standard position. This posture indication information instructs the subject to control their body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. In other words, during the puncture procedure, posture indication information can be generated based on the real-time and standard positions of the reference point, and the subject can control their body posture according to this information to maintain consistency between the real-time and target body postures as much as possible. This ensures that the deviation between the final position of the reference point and the standard position is within the target deviation range, thereby avoiding a mismatch between the actual puncture needle insertion position and the lesion site and improving the accuracy of the puncture procedure. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1a A flowchart illustrating an attitude control method provided in an embodiment of this application;

[0053] Figure 1b for Figure 1a Auxiliary illustration of the attitude control method shown;

[0054] Figure 1c for Figure 1a Auxiliary illustration of the attitude control method shown;

[0055] Figure 1d for Figure 1a Auxiliary illustration of the attitude control method shown;

[0056] Figure 1e for Figure 1a Auxiliary illustration of the attitude control method shown;

[0057] Figure 2 A schematic structural block diagram of an attitude control device provided in an embodiment of this application;

[0058] Figure 3This is a schematic structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] Furthermore, it should be noted that the relational terms such as "first," "second," and "third" described below are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0061] This application provides an attitude control method, device, electronic device, and storage medium.

[0062] The attitude control device can be integrated into an electronic device, which is a medical auxiliary device, specifically a computer.

[0063] In this embodiment of the application, the electronic device can:

[0064] When the subject to be tested is in the target body posture, a pre-detection image of the target body surface area on the subject to be tested is acquired. The target body surface area is set with reference points, which are used to indicate the puncture needle position for the lesion site under the target body surface area when the subject to be tested is in the target body posture.

[0065] Based on the pre-detected image, obtain the standard position of the reference point;

[0066] Real-time tracking of reference points to obtain their real-time location;

[0067] Based on the real-time position and the standard position, attitude indication information is generated. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0068] Please see Figure 1a , Figure 1a This is a flowchart illustrating an attitude control method provided in an embodiment of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here. In this embodiment, the attitude control method includes steps S100, S200, S300, and S400, wherein:

[0069] Step S100: When the subject to be tested is in the target body posture, a pre-detection image of the target body surface area on the subject to be tested is acquired. The target body surface area is provided with reference points, which are used to indicate the puncture needle insertion position for the lesion site under the target body surface area when the subject to be tested is in the target body posture.

[0070] The subjects to be tested are patients who need to undergo puncture surgery, and the reference point can be an optical target with reflective properties, which can be spherical or sheet-like.

[0071] Before implementing posture control methods, medical personnel need to set reference points on the target body surface area corresponding to the lesion site when the subject is in the target body posture. These reference points indicate the puncture needle insertion point for the lesion site under the target body surface area when the subject is in the target body posture. Specifically, medical personnel can apply reference points to the target body surface area based on puncture surgery experience and / or surgical manuals, according to the lesion site, when the subject is in the target body posture.

[0072] The target body posture can include the target body position (position and posture) and the target breathing state.

[0073] Regarding the determination of the target body posture, in this embodiment of the application, as an optional implementation method, it can be determined by medical personnel, who then guide the subject to be tested to adjust their body posture. Specifically, medical personnel can determine the target body posture based on their puncture surgery experience and / or surgical medical manual, according to the location of the lesion, and guide the subject to be tested to adjust their body posture to maintain consistency with the target body posture. Similarly, medical personnel can determine the target breathing method based on their puncture surgery experience and / or surgical medical manual, according to the location of the lesion, and guide the subject to be tested to breathe according to the target breathing method, then use any subsequent breathing state as the target breathing state. The target breathing method can be either thoracic breathing or abdominal breathing. For example, if the lesion is closer to the thoracic cavity than the abdominal cavity, the target breathing method can be determined as thoracic breathing; if the lesion is closer to the abdominal cavity than the thoracic cavity, the target breathing method can be determined as abdominal breathing.

[0074] Regarding the determination of the target body posture, as another optional implementation method in this application embodiment, it can also be automatically achieved by an electronic device. For example, the electronic device can pre-store the correspondence between multiple body parts and multiple body postures. Then, after determining the lesion site from the multiple body parts, the target body posture corresponding to the lesion location can be determined from the multiple body postures based on the correspondence, including the target body position and target breathing state. The subject can then be guided to adjust their body posture through voice playback or image display. Taking the lung as an example, the corresponding target body position is "lying supine in the center of the operating table," and the target breathing state is any breathing state using abdominal breathing. Taking the lumbar spine as another example, the corresponding target body position is "lying on one's side in the center of the operating table," and the target breathing state is any breathing state using thoracic breathing.

[0075] Furthermore, in actual implementation, one or more reference points can be set, and this application embodiment does not impose specific restrictions on this.

[0076] After the object to be detected is in the target body posture and reference points are set on the target body surface area of ​​the object to be detected, a pre-detection image of the target body surface area of ​​the object to be detected can be acquired by a computed tomography (CT) device and sent to the electronic device that executes the posture control method.

[0077] Step S200: Based on the pre-detection image, obtain the standard position of the reference point.

[0078] After acquiring the pre-detection image, the electronic device can determine the standard position of the reference point based on the pre-detection image. For example, the electronic device can determine the reference point from the pre-detection image using a pre-trained reference point recognition model, and then calculate the position information of the reference point in the CT coordinate system as the standard position, which can be specifically represented by a three-dimensional coordinate system.

[0079] The reference point identification model can be obtained in the following ways:

[0080] Acquire sample images. The training sample images include reference points, and the reference points have corresponding feature labels.

[0081] The sample images are input into a deep learning neural network to obtain the recognition results;

[0082] Based on feature labeling and recognition results, the loss function of the deep learning neural network is obtained, which is used to adjust the network parameters of the deep learning neural network.

[0083] Repeat the above steps until the loss function converges to obtain the trained deep learning neural network, which can be used as a reference point recognition model.

[0084] Furthermore, it should be noted that in this embodiment of the application, if multiple reference points are set, when executing step S200, the first position information of multiple reference points can be obtained respectively, and after fitting, the final standard position can be obtained. Alternatively, a target reference point can be selected from multiple reference points through a pre-trained reference point selection model, and the position information of the target reference point can be used as the final standard position.

[0085] Step S300: Track the reference point in real time to obtain its real-time position.

[0086] During the puncture procedure, it is necessary to track the reference point in real time to obtain its real-time position. In practice, an optical camera can acquire real-time detection images of the target body surface area at preset time intervals and send them to the electronic device executing the attitude control method. The preset time interval can be in the millisecond range, such as 100ms, 200ms, etc.

[0087] After acquiring the real-time detection image, the electronic device then uses the real-time detection image to obtain the real-time position of the reference point. For example, the electronic device can use the aforementioned trained reference point recognition model to determine the reference point from the real-time detection image, and then calculate the position information of the reference point in the camera coordinate system as the real-time position, which can be specifically represented by a three-dimensional coordinate system.

[0088] Furthermore, it should be noted that in the embodiments of this application, after executing steps S200 and S300, the real-time position and the standard position need to be adjusted to the same target coordinate system. For example, the standard position can be adjusted to the camera coordinate system so that the standard position and the real-time position are in the same camera coordinate system. Alternatively, the real-time position can be adjusted to the CT coordinate system so that the standard position and the real-time position are in the same CT coordinate system. Or, both the standard position and the real-time position can be adjusted to the world coordinate system so that the standard position and the real-time position are in the same world coordinate system.

[0089] Furthermore, it should be noted that in this embodiment of the application, if multiple reference points are set, the second position information of multiple reference points can be obtained when executing step S300, and the final real-time position can be obtained after fitting. If the target reference point is selected from multiple reference points by a pre-trained reference point selection model when executing step S200, and the first position information of the target reference point is used as the final standard position, then the second position information of the target reference point is used as the final real-time position when executing step S300.

[0090] Step S400: Generate attitude indication information based on the real-time position and the standard position. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0091] The posture indication information may include only breathing adjustment indication information, which is used to instruct the subject to adjust its breathing state; it may include only position adjustment indication information, which is used to instruct the subject to adjust its body position; or it may include both breathing adjustment indication information and position adjustment indication information.

[0092] If the posture indication information only includes breathing adjustment indication information, the subject to be tested needs to be guided to adjust his / her body posture before the puncture procedure to maintain consistency with the target body posture. After that, step S400 may include steps S410, S420 and S430 to generate breathing adjustment indication information.

[0093] Step S410: When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired.

[0094] The coordinate deviation can include the direction of the coordinate deviation and the amount of the coordinate deviation.

[0095] The direction of coordinate deviation can be determined in the following way in this embodiment:

[0096] Obtain the center position of the thoracic cavity of the object to be tested;

[0097] If the real-time position is between the standard position and the center position of the thorax, then the direction of coordinate deviation is determined to be opposite to the direction of thorax expansion of the object being tested;

[0098] If the standard position is located between the real-time position and the center position of the thorax, then the direction of coordinate deviation is determined to be the same as the direction of thorax expansion of the object being tested.

[0099] In practice, during step S100, the image acquisition field of the CT equipment can be adjusted so that the pre-detection image simultaneously includes the target body surface area and the thoracic cavity of the subject to be detected. Based on the pre-detection image, the center position of the thoracic cavity can be obtained, which can be represented by a three-dimensional coordinate system. Alternatively, when the subject to be detected is in the target body posture, a thoracic CT image of the subject's thoracic cavity can be acquired, and the center position of the thoracic cavity can be obtained based on the thoracic CT image.

[0100] For example, in the target coordinate system O-XYZ, the real-time position A1 is represented by three-dimensional coordinates (X1, Y1, Z1), the standard position A2 is represented by three-dimensional coordinates (X2, Y2, Z2), and the thoracic center position A3 is represented by three-dimensional coordinates (X3, Y3, Z3). If the real-time position A1 is located between the standard position A2 and the thoracic center position A3, then the direction of coordinate deviation is determined to be opposite to the direction of thoracic expansion of the object being detected (in conjunction with...). Figure 1b and Figure 1c As shown, and Figure 1c In the middle, the thoracic angle is Figure 1b (The opposite direction of the X-axis in the coordinate system), if the standard position A1 is located between the real-time position A2 and the center position A3 of the thorax, then the direction of the coordinate deviation is determined to be the same as the direction of thorax expansion of the object being tested (combined with the direction of the X-axis). Figure 1b and Figure 1d As shown, and Figure 1d In the middle, the thoracic angle is Figure 1b (The opposite direction of the X-axis in the diagram).

[0101] The coordinate deviation can be obtained through the following calculation logic in this embodiment:

[0102] D = Sqrt[(X1-X2)] 2 +(Y1-Y2) 2 +(Z1-Z2) 2 ]

[0103] Wherein, D is used to characterize the coordinate deviation between the real-time position and the standard position. The real-time position is characterized by three-dimensional coordinates (X1, Y1, Z1), and the standard position is characterized by three-dimensional coordinates (X2, Y2, Z2).

[0104] Step S420: After obtaining multiple coordinate deviations, obtain the changes in the multiple coordinate deviations.

[0105] In this embodiment of the application, the changes include the deviation difference, and in actual implementation, the deviation difference can be obtained in the following manner:

[0106] The coordinate deviation included in the first coordinate deviation is used as the first unused deviation. The first coordinate deviation is the coordinate deviation with the latest acquisition time among multiple coordinate deviations.

[0107] The coordinate deviation included in the second coordinate deviation is used as the second available deviation. The second coordinate deviation is the coordinate deviation whose acquisition time is adjacent to the acquisition time of the first coordinate deviation among multiple coordinate deviations.

[0108] Obtain the difference in deviation between the first and second available deviations.

[0109] It is understood that, in the embodiments of this application, the deviation difference is the amount of coordinate change in the real-time position caused by the change in the breathing state of the object to be detected between the two position tracking moments closest to the current moment. It can be used to characterize the amount of breathing of the object to be detected between these two position tracking moments.

[0110] like Figure 1e As shown, for example, at the first position tracking time, the real-time position A11 (X11, Y11, Z11) of the reference point is obtained, and at the second position tracking time after a preset time interval, the real-time position A12 (X12, Y12, Z12) of the reference point is obtained. Then, the first unused deviation is the coordinate deviation between the real-time position A12 and the standard position A2 (X2, Y2, Z2), denoted as L12-2, and the second unused deviation is the coordinate deviation between the real-time position A11 and the standard position A2 (X2, Y2, Z2), denoted as L11-2. The difference L between the first unused deviation L12-2 and the second unused deviation L11-2 is used to characterize the respiratory volume of the object to be detected between the first position tracking time and the second position tracking time.

[0111] Step S430: Based on the changes, generate breathing adjustment instruction information, which is used to instruct the subject to adjust its breathing state.

[0112] The breathing adjustment indication information may include breathing mode indication information and breathing volume indication information.

[0113] In practice, breathing adjustment instruction information can be generated in the following manner:

[0114] Based on the coordinate deviation direction included in the first coordinate deviation, breathing mode indication information is generated;

[0115] Based on the relationship between the first available deviation and the difference between the deviations, respiratory volume indication information is generated;

[0116] Generate respiratory adjustment instructions that include respiratory mode indication information and respiratory volume indication information.

[0117] Normally, during inhalation, the thoracic cavity expands outward 360 degrees due to the increase in thoracic cavity volume; conversely, during exhalation, the thoracic cavity contracts inward 360 degrees due to the decrease in thoracic cavity volume. Based on this, if the coordinate deviation direction is opposite to the direction of thoracic expansion of the subject, a first breathing mode indication is generated. This first breathing mode indication is used to instruct the subject to inhale, causing the thoracic cavity to expand outward 360 degrees, gradually bringing the real-time position closer to the standard position. If the coordinate deviation direction is the same as the direction of thoracic expansion of the subject, a second breathing mode indication is generated. This second breathing mode indication is used to instruct the subject to exhale, causing the thoracic cavity to contract inward 360 degrees, gradually bringing the real-time position closer to the standard position.

[0118] Combination Figure 1b and Figure 1c The real-time position A1 is located between the standard position A2 and the center position of the thorax A3. That is, the direction of the coordinate deviation is opposite to the direction of the thorax expansion of the subject being tested. This can generate the first breathing mode indication information, which is used to instruct the subject being tested to inhale. The thorax will expand outward 360 degrees, so that the real-time position A1 gradually approaches the standard position A2.

[0119] Combined Figure 1b and Figure 1d The standard position A1 is located between the real-time position A2 and the center position of the thorax A3. That is, the direction of coordinate deviation is the same as the direction of thorax expansion of the subject being tested. This can generate the second breathing mode indication information, which is used to instruct the subject to exhale. The thorax will compress inward 360 degrees, so that the real-time position A1 gradually approaches the standard position A2.

[0120] Furthermore, in this embodiment, if the first available deviation is greater than the deviation difference, a first respiratory volume indication is generated, which is used to instruct the subject to increase its respiratory volume. If the first available deviation is equal to the deviation difference, a second respiratory volume indication is generated, which is used to instruct the subject to maintain its respiratory volume. If the first available deviation is less than the deviation difference, a third respiratory volume indication is generated, which is used to instruct the subject to reduce its respiratory volume.

[0121] Combination Figure 1e As shown in the example, if the first available deviation L12-2 is greater than the deviation difference L, it means that the subject needs to increase its breathing volume. Therefore, a first breathing volume indication is generated. If the first available deviation L12-2 is equal to the deviation difference L, it means that the subject needs to maintain its breathing volume. Therefore, a second breathing volume indication is generated. If the first available deviation L12-2 is less than the deviation difference L, it means that the subject needs to decrease its breathing volume. Therefore, a third breathing volume indication is generated.

[0122] Under the guidance of the posture indication information, the object to be detected controls its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. In the case that step S400 includes steps S410, S420 and S430, the target deviation range can be determined according to the size of the lesion area.

[0123] Furthermore, in this embodiment of the application, if the posture indication information includes both breathing adjustment indication information and pose adjustment indication information, then after executing step S410, that is, after obtaining the coordinate deviation between the real-time position and the standard position each time a real-time position is obtained, step S400 may also include steps S411 and S412.

[0124] Step S411: If the coordinate deviation exceeds the preset position deviation range, then generate pose adjustment instruction information based on the coordinate deviation direction and coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose.

[0125] If the coordinate deviation exceeds the preset position deviation range, it means that the body pose of the object to be detected is not consistent with the target body pose. Therefore, step S411 needs to be executed, that is, generate pose adjustment instruction information according to the coordinate deviation direction and coordinate deviation amount, which is used to instruct the object to be detected to adjust its body pose first in order to maintain consistency with the target body pose.

[0126] In this embodiment of the application, the preset position deviation range can be characterized by the length interval [0, L'], where L' can be obtained in the following way:

[0127] When the object to be tested is in a deep inhalation state, obtain the first reference position of the reference point;

[0128] When the subject is in a deep exhalation state, obtain the second reference position of the reference point;

[0129] The coordinate deviation between the first reference position and the second reference position is taken as the maximum length value within the preset position deviation range, that is, L'.

[0130] When the subject is in a deep inhalation state, it means that the subject's ribcage has expanded outward to its limit 360 degrees. Similarly, when the subject is in a deep exhalation state, it means that the subject's ribcage has compressed inward to its limit 360 degrees. Therefore, when the coordinate deviation exceeds the preset position deviation range, it is no longer possible to adjust the breathing state to make the deviation between the final position of the reference point and the standard position within the target deviation range. Therefore, it is necessary to instruct the subject to adjust the body posture first to maintain consistency with the target body posture.

[0131] In practice, pose adjustment instruction information can be generated in the following manner:

[0132] Obtain the unidirectional coordinate deviation along the three coordinate axes in the target coordinate system;

[0133] Determine the relative positional relationship between each coordinate axis direction and the object to be detected;

[0134] For each coordinate axis, based on the relative positional relationship and unidirectional coordinate deviation corresponding to that coordinate axis, movement indication information corresponding to that coordinate axis is generated;

[0135] Based on the three obtained movement indications, pose adjustment indications are generated.

[0136] For example, if it is determined that in the target coordinate system O-XYZ, the direction of the X-axis is the same as the direction from the foot position to the head position of the object to be detected, and the unidirectional coordinate deviation in the X-axis direction is L", then the movement indication information corresponding to the X-axis is "move L towards the head".

[0137] Step S412: If the coordinate deviation is within the preset position deviation range and exceeds the target deviation range, then execute the step of obtaining the changes in multiple coordinate deviations.

[0138] In this embodiment of the application, if the coordinate deviation is within the preset position deviation range and exceeds the target deviation range, the step of obtaining the changes in multiple coordinate deviations is executed. That is, step S420 and subsequent steps (step S430) are started to generate breathing adjustment indication information to instruct the subject to be detected to adjust its breathing state.

[0139] When step S400 includes steps S410, S411, S412, S420, and S430, before instructing the subject to adjust their breathing state, the subject can also be instructed to breathe according to the target breathing method to further improve the accuracy of the puncture procedure. This can be achieved in the following way:

[0140] Obtain the first distance information between the reference point and the chest cavity location of the object to be tested;

[0141] Obtain the second distance information between the reference point and the abdominal cavity location of the object to be tested;

[0142] If the first distance information is greater than the second distance information, then chest breathing method indication information is generated. The chest breathing method indication information is used to instruct the subject to breathe according to the chest breathing method.

[0143] If the first distance information is less than the second distance information, then abdominal breathing method indication information is generated. The abdominal breathing method indication information is used to instruct the subject to breathe according to the abdominal breathing method.

[0144] In practice, during step S100, the image acquisition field of the CT equipment can be adjusted so that the pre-detection image simultaneously includes the target body surface area, the thoracic cavity, and the abdominal cavity of the subject. Based on the pre-detection image, the center position of the thoracic cavity is obtained as the location of the subject's thoracic cavity, which can be represented by a three-dimensional coordinate system. Simultaneously, the location of the abdominal cavity is also obtained based on the pre-detection image. Alternatively, when the subject is in the target body posture, a thoracic CT image of the subject's thoracic region can be acquired, and the center position of the thoracic cavity can be obtained as the location of the subject's thoracic cavity. Simultaneously, an abdominal CT image of the subject's abdominal region can be acquired, and the location of the abdominal cavity is obtained based on the abdominal CT image.

[0145] In this embodiment of the application, if step S400 includes steps S410, S420 and S430, but does not include steps S411 and S412, then the above steps can be performed before step S410, instructing the subject to be tested to breathe according to the target breathing method, so as to further improve the accuracy of the puncture surgery.

[0146] In this embodiment of the application, if the posture indication information only includes posture adjustment indication information, then step S400 may include steps S440 and S450.

[0147] Step S440: When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired. The coordinate deviation includes the direction of the coordinate deviation and the amount of the coordinate deviation.

[0148] Step S450: If the coordinate deviation exceeds the target deviation range, then generate pose adjustment instruction information based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose.

[0149] It is understandable that in step S450, the target deviation range is equivalent to the preset position deviation range in steps S411 and S412. Therefore, in step S450, if the coordinate deviation exceeds the target deviation range, it indicates that the body pose of the object to be detected is not consistent with the target body pose. Therefore, it is necessary to generate pose adjustment instruction information based on the coordinate deviation direction and coordinate deviation amount to instruct the object to be detected to adjust its body pose to maintain consistency with the target body pose.

[0150] In step S450, the method for obtaining the target deviation range can be the same as the method for obtaining the preset position deviation range in step S411, and will not be described in detail here. Similarly, in step S450, the method for generating the pose adjustment indication information can also be the same as the method for generating the pose adjustment indication information in step S411, and will not be described in detail here.

[0151] In this embodiment of the application, after obtaining the posture indication information, the posture indication information can be broadcast (through voice wave amplification or image display) so that the object to be detected can control its body posture according to the instructions of the posture indication information, so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0152] The posture control method provided in this application can acquire a pre-detection image of the target body surface region on the subject when the subject is in the target body posture. A reference point is set on the target body surface region to indicate the puncture needle insertion position for the lesion site under the target body surface region when the subject is in the target body posture. Based on the pre-detection image, a standard position of the reference point is obtained. During the subsequent puncture procedure, the reference point is tracked in real time to obtain its real-time position. Posture indication information is generated based on the real-time position and the standard position. This posture indication information instructs the subject to control its body posture so that the deviation between the final position of the reference point and the standard position is within a target deviation range. In other words, during the puncture procedure, posture indication information can be generated based on the real-time and standard positions of the reference point, and the subject can control its body posture according to this information to maintain consistency between the real-time and target body postures as much as possible. This ensures that the deviation between the final position of the reference point and the standard position is within the target deviation range, thereby avoiding a mismatch between the actual puncture needle insertion position and the lesion site and improving the accuracy of the puncture procedure.

[0153] To better implement the above-described attitude control method, this application also provides an attitude control device 100, which can be integrated into an electronic device. The following will be combined with... Figure 2 The attitude control device 100 will be described in detail.

[0154] The attitude control device 100 provided in this application embodiment includes:

[0155] The image acquisition module 110 is used to acquire a pre-detection image of the target body surface area on the target body when the object to be detected is in the target body posture. The target body surface area is provided with reference points, which are used to indicate the puncture needle position for the lesion site under the target body surface area when the object to be detected is in the target body posture.

[0156] The standard position acquisition module 120 is used to acquire the standard position of the reference point based on the pre-detection image;

[0157] The real-time location acquisition module 130 is used to track the reference point in real time and obtain the real-time location of the reference point.

[0158] The instruction information generation module 140 is used to generate attitude instruction information based on the real-time position and the standard position. The attitude instruction information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0159] In some embodiments, the posture indication information includes breathing adjustment indication information, and the indication information generation module 140 is specifically used for:

[0160] When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired.

[0161] After obtaining multiple coordinate deviations, obtain the changes in these multiple coordinate deviations;

[0162] Based on the changes, breathing adjustment instruction information is generated, which is used to instruct the subject to adjust its breathing state.

[0163] In some embodiments, coordinate deviation includes coordinate deviation amount, and the change includes deviation difference. The indication information generation module 140 is specifically used for:

[0164] The coordinate deviation included in the first coordinate deviation is used as the first unused deviation. The first coordinate deviation is the coordinate deviation with the latest acquisition time among multiple coordinate deviations.

[0165] The coordinate deviation included in the second coordinate deviation is used as the second available deviation. The second coordinate deviation is the coordinate deviation whose acquisition time is adjacent to the acquisition time of the first coordinate deviation among multiple coordinate deviations.

[0166] Obtain the difference in deviation between the first and second available deviations.

[0167] In some embodiments, the coordinate deviation further includes the coordinate deviation direction, and the information generation module 140 is specifically used for:

[0168] Based on the coordinate deviation direction included in the first coordinate deviation, breathing mode indication information is generated;

[0169] Based on the relationship between the first available deviation and the difference between the deviations, respiratory volume indication information is generated;

[0170] Generate respiratory adjustment instructions that include respiratory mode indication information and respiratory volume indication information.

[0171] In some embodiments, the instruction information generation module 140 is specifically used for:

[0172] If the direction of coordinate deviation is opposite to the direction of chest expansion of the object to be tested, a first breathing mode indication information is generated, which is used to indicate the object to be tested to inhale.

[0173] If the direction of coordinate deviation is the same as the direction of chest expansion of the subject being tested, a second breathing mode indication information is generated, which is used to indicate the subject being tested to exhale.

[0174] In some embodiments, the instruction information generation module 140 is specifically used for:

[0175] If the first available deviation is greater than the deviation difference, a first respiratory volume indication is generated. The first respiratory volume indication is used to instruct the subject to increase its respiratory volume.

[0176] If the first available deviation is equal to the deviation difference, then the second respiratory volume indication information is generated. The second respiratory volume indication information is used to instruct the subject to maintain the respiratory volume.

[0177] If the first available deviation is less than the deviation difference, a third respiratory volume indication is generated, which is used to instruct the subject to reduce its respiratory volume.

[0178] In some embodiments, the attitude indication information further includes pose adjustment indication information, and the coordinate deviation includes the coordinate deviation direction and the coordinate deviation amount. After obtaining the coordinate deviation between the real-time position and the standard position each time a real-time position is obtained, the indication information generation module 140 is further configured to:

[0179] If the coordinate deviation exceeds the preset position deviation range, a pose adjustment instruction is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction is used to instruct the object to be detected to adjust its body pose.

[0180] If the coordinate deviation is within the preset position deviation range but exceeds the target deviation range, then the step of obtaining the changes in multiple coordinate deviations is executed.

[0181] In some embodiments, the attitude control device 100 further includes a breathing method indication module, which, before the indication information generation module 140 performs the step of acquiring changes in multiple coordinate deviations, allows the following:

[0182] Obtain the first distance information between the reference point and the chest cavity location of the object to be tested;

[0183] Obtain the second distance information between the reference point and the abdominal cavity location of the object to be tested;

[0184] If the first distance information is greater than the second distance information, then chest breathing method indication information is generated. The chest breathing method indication information is used to instruct the subject to breathe according to the chest breathing method.

[0185] If the first distance information is less than the second distance information, then abdominal breathing method indication information is generated. The abdominal breathing method indication information is used to instruct the subject to breathe according to the abdominal breathing method.

[0186] In some embodiments, the indication information generation module 140 is specifically used for:

[0187] When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired. The coordinate deviation includes the direction of the coordinate deviation and the amount of the coordinate deviation.

[0188] If the coordinate deviation exceeds the target deviation range, pose adjustment instruction information is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose.

[0189] In some embodiments, the attitude control device 100 further includes an information broadcasting module, used for:

[0190] The attitude indication information is broadcast so that the object to be tested can control its body posture according to the instructions of the attitude indication information, so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0191] In practice, the above modules can be implemented as independent entities or combined arbitrarily as the same or several entities. For specific implementation of the above modules, please refer to the attitude control method embodiment, which will not be elaborated here.

[0192] In this embodiment of the application, the attitude control device 100100 has the same beneficial effects as the attitude control method described above, namely:

[0193] A pre-detection image of the target body surface region can be acquired when the subject is in the target body posture. Reference points are set in the target body surface region to indicate the puncture needle insertion position for the lesion site under the target body surface region when the subject is in the target body posture. Based on the pre-detection image, the standard position of the reference points is then obtained. During the subsequent puncture procedure, the reference points are tracked in real time to obtain their real-time position. Posture indication information is generated based on the real-time and standard positions. This posture indication information instructs the subject to control their body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. In other words, during the puncture procedure, posture indication information can be generated based on the real-time and standard positions of the reference points. The subject can then control their body posture according to this information to maintain consistency between the real-time and target body postures, ensuring that the deviation between the final position of the reference point and the standard position is within the target deviation range. This avoids discrepancies between the actual puncture needle insertion position and the lesion site, improving the accuracy of the puncture procedure.

[0194] Accordingly, this application also provides an electronic device 200, which may be a computer.

[0195] Please see Figure 3 , Figure 3 This is a schematic structural block diagram of an electronic device 200 provided in an embodiment of this application. The electronic device 200 includes a processor 210 with one or more processing cores, a memory 220 with one or more computer-readable storage media, and a computer program stored in the memory 220 and executable on the processor. The processor 210 and the memory 220 are electrically connected. Those skilled in the art will understand that... Figure 3 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0196] The processor 210 is the control center of the electronic device 200. It connects various parts of the electronic device 200 through various interfaces and lines. By running or loading software programs and / or modules stored in the memory 220, and calling data stored in the memory 220, it performs various functions of the electronic device 200 and processes data, thereby monitoring the electronic device 200 as a whole.

[0197] In this embodiment of the application, the processor 210 in the electronic device 200 loads the instructions corresponding to the processes of one or more applications into the memory 220 according to the following steps, and the processor 210 runs the applications stored in the memory 220 to realize various functions.

[0198] For example, it can be achieved:

[0199] When the subject to be tested is in the target body posture, a pre-detection image of the target body surface area on the subject to be tested is acquired. The target body surface area is set with reference points, which are used to indicate the puncture needle position for the lesion site under the target body surface area when the subject to be tested is in the target body posture.

[0200] Based on the pre-detected image, obtain the standard position of the reference point;

[0201] Real-time tracking of reference points to obtain their real-time location;

[0202] Based on the real-time position and the standard position, attitude indication information is generated. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0203] For details on the specific implementation of each of the above operations, please refer to the previous method implementation examples, which will not be repeated here.

[0204] like Figure 3 As shown, the electronic device 200 may further include: a touch display screen 230, a radio frequency circuit 240, an audio circuit 250, an input unit 260, and a power supply 270. The processor 210 is electrically connected to the touch display screen 230, the radio frequency circuit 240, the audio circuit 250, the input unit 260, and the power supply 270. Those skilled in the art will understand that... Figure 3 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0205] The touch display screen 230 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 230 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the electronic device. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (e.g., operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), and generate corresponding operation commands, which then execute the corresponding program. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 210. It can also receive and execute commands from the processor 210. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 210 to determine the type of touch event. Subsequently, the processor 210 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 230 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 230 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 230 can also be used as part of the input unit 260 to achieve input functions.

[0206] The radio frequency circuit 240 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other electronic devices, and to transmit and receive signals with network devices or other electronic devices.

[0207] Audio circuitry 250 can be used to provide an audio interface between a user and an electronic device via a speaker and a microphone. Audio circuitry 250 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuitry 250, converted back into audio data, and then processed by processor 210 before being transmitted via radio frequency circuitry 240 to, for example, another electronic device, or output to memory 220 for further processing. Audio circuitry 250 may also include an earphone jack to provide communication between peripheral headphones and electronic devices.

[0208] The input unit 260 can be used to receive input numbers, characters, or user characteristic information (e.g., fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0209] Power supply 270 is used to supply power to various components of electronic device 200. Optionally, power supply 270 can be logically connected to processor 210 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. Power supply 270 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0210] although Figure 3 As not shown in the diagram, the electronic device 200 may also include a camera, sensor, wireless fidelity module, Bluetooth module, etc., which will not be elaborated here.

[0211] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0212] Since the processor 210 in the electronic device 200 loads the instructions corresponding to a process of one or more applications into the memory 220 according to the steps of any attitude control method provided in the embodiments of this application, and the processor 210 runs the applications stored in the memory 220 to realize various functions, the beneficial effects that any attitude control method provided in the embodiments of this application can achieve can be realized, that is:

[0213] A pre-detection image of the target body surface region can be acquired when the subject is in the target body posture. Reference points are set in the target body surface region to indicate the puncture needle insertion position for the lesion site under the target body surface region when the subject is in the target body posture. Based on the pre-detection image, the standard position of the reference points is then obtained. During the subsequent puncture procedure, the reference points are tracked in real time to obtain their real-time position. Posture indication information is generated based on the real-time and standard positions. This posture indication information instructs the subject to control their body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. In other words, during the puncture procedure, posture indication information can be generated based on the real-time and standard positions of the reference points. The subject can then control their body posture according to this information to maintain consistency between the real-time and target body postures, ensuring that the deviation between the final position of the reference point and the standard position is within the target deviation range. This avoids discrepancies between the actual puncture needle insertion position and the lesion site, improving the accuracy of the puncture procedure.

[0214] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by instructions, or by controlling related hardware by instructions. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0215] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of computer programs that can be loaded by a processor to execute steps in any of the attitude control methods provided in embodiments of this application.

[0216] For example, the computer program can perform the following steps:

[0217] When the subject to be tested is in the target body posture, a pre-detection image of the target body surface area on the subject to be tested is acquired. The target body surface area is set with reference points, which are used to indicate the puncture needle position for the lesion site under the target body surface area when the subject to be tested is in the target body posture.

[0218] Based on the pre-detected image, obtain the standard position of the reference point;

[0219] Real-time tracking of reference points to obtain their real-time location;

[0220] Based on the real-time position and the standard position, attitude indication information is generated. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

[0221] The specific implementation of each of the above operations can be found in the above embodiments, and will not be repeated here.

[0222] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0223] Since the computer program stored in the storage medium can execute the steps of any of the attitude control methods provided in the embodiments of this application, the beneficial effects that any of the attitude control methods provided in the embodiments of this application can achieve can be realized, that is:

[0224] A pre-detection image of the target body surface region can be acquired when the subject is in the target body posture. Reference points are set in the target body surface region to indicate the puncture needle insertion position for the lesion site under the target body surface region when the subject is in the target body posture. Based on the pre-detection image, the standard position of the reference points is then obtained. During the subsequent puncture procedure, the reference points are tracked in real time to obtain their real-time position. Posture indication information is generated based on the real-time and standard positions. This posture indication information instructs the subject to control their body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. In other words, during the puncture procedure, posture indication information can be generated based on the real-time and standard positions of the reference points. The subject can then control their body posture according to this information to maintain consistency between the real-time and target body postures, ensuring that the deviation between the final position of the reference point and the standard position is within the target deviation range. This avoids discrepancies between the actual puncture needle insertion position and the lesion site, improving the accuracy of the puncture procedure.

[0225] The foregoing has provided a detailed description of an attitude control method, apparatus, storage medium, and electronic device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An attitude control method, characterized in that, include: When the object to be tested is in the target body posture, a pre-detection image of the target body surface area on the object to be tested is acquired. The target body surface area is provided with reference points, which are used to indicate the puncture needle insertion position for the lesion site under the target body surface area when the object to be tested is in the target body posture. Based on the pre-detected image, the standard position of the reference point is obtained; The reference point is tracked in real time to obtain its real-time position. Based on the real-time position and the standard position, attitude indication information is generated. The attitude indication information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. The posture indication information includes breathing adjustment indication information. Generating the posture indication information based on the real-time position and the standard position includes: When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired; After obtaining multiple coordinate deviations, the changes in the multiple coordinate deviations are obtained; Based on the changes, the breathing adjustment indication information is generated, which is used to instruct the subject to adjust its breathing state. The breathing adjustment indication information includes breathing mode indication information determined based on the direction of coordinate deviation and breathing volume indication information determined based on the difference in the amount of the coordinate deviation.

2. The attitude control method according to claim 1, characterized in that, The coordinate deviation includes the amount of coordinate deviation, and the change includes the difference in the amount of deviation. Obtaining the change in the multiple coordinate deviations includes: The coordinate deviation included in the first coordinate deviation is used as the first unused deviation. The first coordinate deviation is the coordinate deviation with the latest acquisition time among the plurality of coordinate deviations. The coordinate deviation included in the second coordinate deviation is used as the second available deviation. The second coordinate deviation is the coordinate deviation whose acquisition time is adjacent to the acquisition time of the first coordinate deviation among the plurality of coordinate deviations. Obtain the difference in deviation between the first available deviation and the second available deviation.

3. The attitude control method according to claim 2, characterized in that, The coordinate deviation also includes the coordinate deviation direction, and the generation of the breathing adjustment indication information based on the change includes: Based on the coordinate deviation direction included in the first coordinate deviation, breathing mode indication information is generated; Based on the relationship between the first available deviation and the difference between the deviations, respiratory volume indication information is generated; Generate respiratory adjustment indication information that includes the breathing mode indication information and the respiratory volume indication information.

4. The attitude control method according to claim 3, characterized in that, The step of generating breathing mode indication information based on the coordinate deviation direction included in the first coordinate deviation includes: If the direction of the coordinate deviation is opposite to the direction of the chest expansion of the object to be detected, a first breathing mode indication information is generated, which is used to indicate that the object to be detected is inhaling. If the direction of the coordinate deviation is the same as the direction of the chest expansion of the object to be tested, then a second breathing mode indication information is generated, which is used to indicate the exhalation of the object to be tested.

5. The attitude control method according to claim 3, characterized in that, The step of generating respiratory volume indication information based on the relationship between the first available deviation and the difference in the deviation includes: If the first available deviation is greater than the deviation difference, then a first respiratory volume indication is generated, which is used to instruct the subject to be tested to increase its respiratory volume. If the first available deviation is equal to the deviation difference, then a second respiratory volume indication is generated, which is used to instruct the subject to maintain a respiratory volume. If the first available deviation is less than the deviation difference, a third respiratory volume indication is generated, which is used to instruct the subject to reduce its respiratory volume.

6. The attitude control method according to claim 1, characterized in that, The attitude indication information further includes pose adjustment indication information, and the coordinate deviation includes the coordinate deviation direction and the coordinate deviation amount. After obtaining the coordinate deviation between the real-time position and the standard position each time a real-time position is obtained, the generation of attitude indication information based on the real-time position and the standard position further includes: If the coordinate deviation exceeds the preset position deviation range, the pose adjustment instruction information is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose. If the coordinate deviation is within the preset position deviation range and exceeds the target deviation range, then the step of obtaining the changes in the multiple coordinate deviations is executed.

7. The attitude control method according to claim 6, characterized in that, Before acquiring the changes in the multiple coordinate deviations, the attitude control method further includes: Obtain the first distance information between the reference point and the chest cavity position of the object to be detected; Obtain the second distance information between the reference point and the abdominal cavity location of the object to be detected; If the first distance information is greater than the second distance information, then chest breathing method indication information is generated, which is used to instruct the subject to be tested to breathe according to the chest breathing method. If the first distance information is less than the second distance information, then abdominal breathing method indication information is generated, which is used to instruct the subject to be tested to breathe according to the abdominal breathing method.

8. The attitude control method according to claim 1, characterized in that, The attitude indication information includes pose adjustment indication information. Generating the attitude indication information based on the real-time position and the standard position includes: When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired, and the coordinate deviation includes the coordinate deviation direction and the coordinate deviation amount. If the coordinate deviation exceeds the target deviation range, the pose adjustment instruction information is generated based on the coordinate deviation direction and the coordinate deviation amount. The pose adjustment instruction information is used to instruct the object to be detected to adjust its body pose.

9. The attitude control method according to claim 1, characterized in that, After generating attitude indication information based on the real-time position and the standard position, the attitude control method further includes: The posture indication information is broadcast so that the object to be detected can control its body posture according to the posture indication information, so that the deviation between the final position of the reference point and the standard position is within the target deviation range.

10. An attitude control device, characterized in that, include: The image acquisition module is used to acquire a pre-detection image of the target body surface area on the target body surface area when the object to be detected is in the target body posture. The target body surface area is provided with a reference point, which is used to indicate the puncture needle position for the lesion site under the target body surface area when the object to be detected is in the target body posture. A standard position acquisition module is used to acquire the standard position of the reference point based on the pre-detection image; The real-time location acquisition module is used to track the reference point in real time and obtain the real-time location of the reference point; The instruction information generation module is used to generate posture instruction information based on the real-time position and the standard position. The posture instruction information is used to instruct the object to be detected to control its body posture so that the deviation between the final position of the reference point and the standard position is within the target deviation range. The posture indication information includes breathing adjustment indication information. Generating the posture indication information based on the real-time position and the standard position includes: When a real-time position is obtained, the coordinate deviation between the real-time position and the standard position is acquired; After obtaining multiple coordinate deviations, the changes in the multiple coordinate deviations are obtained; Based on the changes, the breathing adjustment indication information is generated, which is used to instruct the subject to adjust its breathing state. The breathing adjustment indication information includes breathing mode indication information determined based on the direction of coordinate deviation and breathing volume indication information determined based on the difference in the amount of the coordinate deviation.

11. An electronic device, characterized in that, Including memory and processor; The memory stores an application program, and the processor runs the application program in the memory to perform the steps of the attitude control method according to any one of claims 1 to 9.

12. A storage medium, characterized in that, The storage medium stores a plurality of instructions adapted for loading by a processor to execute the steps of the attitude control method according to any one of claims 1 to 9.

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