A chest lead control method, device, electronic device and storage medium

Abstract

An embodiment of the present invention discloses a method, device, electronic device, and storage medium for controlling chest leads. The method includes: constructing a three-dimensional image model corresponding to a target user; wherein the three-dimensional image model is an image model including the correspondence between the respiratory cycle phase of the target user and the chest and abdomen contour shapes; based on the three-dimensional image model, determining the coordinate paths of each chest lead corresponding to the respiratory cycle; based on the coordinate paths, determining the current placement coordinates of the chest leads on the chest and abdomen of the target user, and controlling the placement of each chest lead according to the current placement coordinates. The technical solution of the embodiment of the present invention can solve the problems of chest lead position adjustment and excessive or insufficient pressure applied to the target user during the electrocardiogram detection process, and achieves the effects of improving the accuracy of chest lead placement, the quality of electrocardiogram signal acquisition, and the comfort of the user during electrocardiogram examination.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of medical control technology, and in particular to a chest lead control method, device, electronic equipment and storage medium. Background Art

[0002] Electrocardiogram examination is a commonly used medical method, which usually obtains the electrocardiogram activity of the subject by placing chest leads on the subject's chest. In the prior art, when performing an electrocardiogram examination on a subject, each chest lead is fixedly placed at the corresponding coordinate of the chest according to conventional placement rules to detect the electrocardiogram corresponding to each respiratory cycle of the subject.

[0003] However, in the process of implementing the present invention, it was found that the prior art has at least the following technical problems: due to the periodic rise and fall of the chest during the subject's breathing, the chest expands when the subject inhales. If the position of the chest lead does not change, the pressure between the chest lead and the chest will be too high, causing a feeling of oppression to the subject; when the subject exhales, the chest shrinks. If the position of the chest lead does not change, the pressure between the chest lead and the chest will be too low or even out of contact, affecting the quality of ECG signal acquisition. Summary of the invention

[0004] The embodiments of the present invention provide a chest lead control method, device, electronic device and storage medium to solve the problems of chest lead position adjustment and excessive or insufficient pressure on the target user during ECG detection, thereby achieving the purpose of improving the accuracy of chest lead placement, the quality of ECG signal acquisition and the user's comfort during ECG examination.

[0005] According to one aspect of the present invention, there is provided a chest lead control method, comprising:

[0006] Constructing a three-dimensional image model corresponding to the target user; wherein the three-dimensional image model is an image model including the corresponding relationship between the respiratory cycle phase and the chest and abdomen contour shape of the target user;

[0007] Based on the three-dimensional image model, determining the coordinate path of each of the chest leads corresponding to the respiratory cycle;

[0008] Based on the coordinate path, the current placement coordinates of the chest leads on the chest and abdomen of the target user are determined, and the placement of each chest lead is controlled according to the current placement coordinates.

[0009] According to another aspect of the present invention, a chest lead control device is provided, the device comprising:

[0010] A three-dimensional image model construction module for constructing a three-dimensional image model corresponding to a target user; wherein, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes;

[0011] A coordinate path determination module for determining the coordinate paths of the respective chest leads corresponding to the respiratory cycle based on the three-dimensional image model;

[0012] A current placement coordinate determination module for determining the current placement coordinates of the chest leads on the chest and abdomen of the target user based on the coordinate paths, and controlling the placement of the respective chest leads according to the current placement coordinates.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the chest lead control method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the chest lead control method according to any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention constructs a three-dimensional image model corresponding to a target user; wherein, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes; through the three-dimensional image model, the coordinate paths of the placement coordinates of the respective chest leads at each respiratory phase of the respiratory cycle of the target user are determined, so as to determine the coordinate paths of the chest leads while considering the respiratory state of the target user; and based on the coordinate paths, the current placement coordinates of the chest leads on the chest and abdomen of the target user are determined, and the placement of the respective chest leads is controlled according to the current placement coordinates. It solves the problems of chest lead position adjustment and excessive or too low pressure on the target user during the electrocardiogram detection in the prior art, and achieves the effects of improving the placement accuracy of the chest leads, the electrocardiogram signal acquisition quality, and the comfort of the user during the electrocardiogram examination.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 is a flowchart of a chest lead control method provided according to an embodiment of the present invention;

[0022] Figure 2 is a flowchart of another chest lead control method provided according to an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of a chest lead control device provided according to an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of an electronic device for implementing the chest lead control method of the embodiment of the present invention. Detailed Embodiments

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including", "etc." and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 It is a flowchart of a chest lead control method provided according to an embodiment of the present invention. This method can be executed by a chest lead control device, which can be implemented in the form of hardware and / or software. As Figure 1 shown, this method includes:

[0028] As Figure 1 shown, the method of this embodiment may specifically include:

[0029] S110. Construct a three-dimensional image model corresponding to the target user.

[0030] Among them, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes. Through the three-dimensional image model, the chest and abdomen contour shapes corresponding to each phase in the respiratory cycle of the target user can be reflected.

[0031] In specific implementation, to construct a three-dimensional image model corresponding to the target user, the following two methods can be adopted:

[0032] The first method is: Obtain the three-dimensional coordinate data of the chest and abdomen of the target user corresponding to each respiratory phase in the respiratory cycle collected by a three-dimensional scanner. Based on the three-dimensional coordinate data, construct a first three-dimensional image; Based on three-dimensional image recognition technology, perform human contour recognition on the first three-dimensional image to obtain the first chest and abdomen contour graphics of the target user corresponding to each respiratory phase; For the first chest and abdomen contour graphics corresponding to each respiratory phase, establish a three-dimensional image model.

[0033] Specifically, when constructing the three-dimensional image model, the target user can lie flat on the examination bed, breathe smoothly, and expose the chest and abdomen skin. A three-dimensional scanner is set above the examination bed, which can collect the three-dimensional coordinate data of the human chest and abdomen at high frequency, so as to obtain the three-dimensional coordinate data of the human chest and abdomen corresponding to different collection moments.

[0034] For the three-dimensional coordinate data of each collection moment, a first three-dimensional image can be constructed to reflect the contour shapes of each position of the chest and abdomen. Use the first three-dimensional image recognition technology to perform human contour recognition calculation, identify the chest and abdomen contours in the first three-dimensional image, and obtain the first chest and abdomen contour graphics of the target user corresponding to each collection moment, that is, the first chest and abdomen contour images corresponding to each respiratory phase. Thus, based on the correspondence between the respiratory phase and the first chest and abdomen contour images, a three-dimensional image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes is established.

[0035] The second method is as follows: Obtain the image data of the chest and abdomen of the target user corresponding to each breathing moment in the breathing cycle of the target user collected by at least one image acquisition device, and construct a second three-dimensional image of the chest and abdomen of the target user corresponding to each breathing moment based on image modeling and rendering techniques and the image data; use three-dimensional vision measurement techniques to determine the three-dimensional contour data of the chest and abdomen in each second three-dimensional image; establish a three-dimensional image model for the three-dimensional contour data corresponding to each breathing moment.

[0036] Among them, the image acquisition device can be a camera. Specifically, the target user can lie flat on the examination bed, breathe steadily, and expose the chest and abdomen skin. At least one image acquisition device is arranged above the examination bed to synchronously acquire the image data of the chest and abdomen of the target user at high frequency.

[0037] The image data collected by each image acquisition device at each acquisition moment can be processed based on image-based modeling and rendering (IBMR) techniques to construct a second three-dimensional image of the chest and abdomen of the target user corresponding to each acquisition moment, that is, a second three-dimensional image of the chest and abdomen of the target user corresponding to each breathing moment. Use three-dimensional image recognition technology to perform human contour recognition calculations to identify the chest and abdomen contours in the second three-dimensional image, and use three-dimensional vision measurement techniques to determine the three-dimensional contour data of the chest and abdomen contours. Among them, the three-dimensional contour data is the coordinate data of the chest and abdomen. Based on the coordinate data corresponding to each breathing moment in the breathing cycle, a three-dimensional image model is constructed.

[0038] S120. Based on the three-dimensional image model, determine the coordinate paths of the respective chest leads corresponding to the breathing cycle.

[0039] Among them, the coordinate path is a path composed of the placement coordinates of the chest leads corresponding to each breathing moment. The placement coordinate is the coordinate position where the chest lead is placed on the chest and abdomen contour. Exemplarily, the number of chest leads can be six, which can be distinguished by different numbers and / or different colors. There are six placement coordinates corresponding to each breathing phase respectively, and the placement coordinates corresponding to each breathing moment constitute the coordinate path of the chest leads in the entire breathing cycle.

[0040] In this embodiment, through the three-dimensional image model, the chest and abdomen contour shapes corresponding to each moment in the breathing cycle of the target user can be reflected. According to the changes in the chest and abdomen contour shapes with the breathing cycle, the placement coordinates corresponding to the chest leads in different breathing phases can be determined. From the placement coordinates corresponding to each breathing moment, the change path of the placement coordinates of the chest leads in the entire breathing cycle, that is, the coordinate path, can be determined.

[0041] In a specific implementation, based on the three-dimensional image model, determining the coordinate paths of the respective chest leads corresponding to the respiratory cycle includes: based on the three-dimensional image model, determining the stable chest and abdominal contour shape of the target user in the stable state and the corresponding stable respiratory phase; based on the chest lead placement requirements and the stable chest and abdominal contour shape, determining the stable placement coordinates of the respective chest leads in the stable state; and determining the coordinate paths based on the correspondence between the stable placement coordinates and the stable respiratory phase.

[0042] Among them, the stable state can be the state of the target user when the chest and abdominal contour shape remains stable; exemplarily, the stable state can be the state when the inspiratory volume is 1 / 2 of the tidal volume.

[0043] Optionally, determining the stable chest and abdominal contour shape of the target user in the stable state and the corresponding stable respiratory phase includes: determining the stable chest and abdominal contour shape and the stable respiratory phase when the inspiratory volume of the target user is 1 / 2 of the tidal volume.

[0044] It should be noted that at the end-inspiratory phase of the human body, the sum of the thoracic volume and the abdominal volume is the largest. According to the three-dimensional image model, the end-inspiratory phase of the human body and the corresponding chest and abdominal contour shape can be determined; at the end-expiratory phase of the human body, the sum of the thoracic volume and the abdominal volume is the smallest. According to the three-dimensional image model, the end-expiratory phase of the human body and the corresponding chest and abdominal contour shape can be determined.

[0045] According to the three-dimensional image model, the tidal volume of the human body can be determined. The tidal volume can be set as: (thoracic volume at end-inspiration + abdominal volume at end-inspiration) - (thoracic volume at end-expiration + abdominal volume at end-expiration); it should be noted that under the same pressure change, the volume change degrees of the lung tissue and the intra-abdominal tissue are different. According to the three-dimensional image model, during the respiratory cycle of the human body, the inspiratory volume corresponding to each respiratory phase can be determined. The inspiratory volume can be set as: (thoracic volume + abdominal volume) - (thoracic volume at end-expiration + abdominal volume at end-expiration); thus, the respiratory phase when the inspiratory volume of the human body can be set as 1 / 2 of the tidal volume can be determined. When the stable state is the state when the inspiratory volume is 1 / 2 of the tidal volume, the respiratory phase at 1 / 2 of the tidal volume is the stable respiratory phase.

[0046] Exemplarily, the identification colors of the chest leads are red, yellow, green, brown, black, and purple, numbered as V1, V2, V3, V4, V5, and V6 respectively. The chest lead placement requirements can be: V1 lead - the 4th intercostal space on the right margin of the sternum; V2 lead - the 4th intercostal space on the left margin of the sternum; V3 lead - the midpoint of the connection line between V2 and V4. V4 lead - at the intersection of the left midclavicular line and the 5th intercostal space; V5 lead - at the same level as V4 on the left anterior axillary line; V6 lead - at the same level as V4 on the midaxillary line.

[0047] In specific implementation, based on the three-dimensional image model, the stable chest and abdomen contour shapes corresponding to stable breathing can be determined; based on the chest lead placement requirements and the stable chest and abdomen contour shapes, the stable placement coordinates of each chest lead in the stable state can be determined, and thus the corresponding relationship between the stable placement coordinates and the stable breathing phase can be established. And taking the corresponding relationship between the stable placement coordinates and the stable breathing phase as a reference standard, the coordinate path is determined, that is, the corresponding relationship between each breathing phase in the breathing cycle and the placement coordinates of each chest lead is determined. For example, according to the three-dimensional image model and the corresponding relationship between the stable placement coordinates and the stable breathing phase, the three-dimensional coordinates of the contact points between each chest lead and the chest wall in each breathing phase are determined, and the three-dimensional coordinates of the contact points between each chest lead and the chest wall in the cases of deep inspiration and deep expiration are calculated; for each chest lead, connecting the three-dimensional coordinates of the contact points between the chest lead and the chest wall in each breathing phase forms a breathing cycle phase-chest lead path, that is, the coordinate path.

[0048] S130. Based on the coordinate path, determine the current placement coordinates of the chest leads on the chest and abdomen of the target user, and control the placement of each chest lead according to the current placement coordinates.

[0049] In specific implementation, based on the coordinate path, the current placement coordinates of each chest lead on the chest and abdomen of the target user at the current moment can be determined. Specifically, the breathing phase of the breathing cycle of the target user corresponding to the current moment can be determined; and based on the coordinate path, the placement coordinates corresponding to this breathing phase are determined, and the placement coordinates are determined as the current placement coordinates corresponding to the current moment, so that the placement of each chest lead can be controlled according to the current placement coordinates.

[0050] The technical solution of the embodiment of the present invention constructs a three-dimensional image model corresponding to the target user; wherein, the three-dimensional image model is an image model including the corresponding relationship between the breathing cycle phase of the target user and the chest and abdomen contour shape; through the three-dimensional image model, the coordinate path of each chest lead corresponding to the breathing cycle is determined, so that the coordinate path of the chest lead is determined considering the breathing state of the target user; and based on the coordinate path, the current placement coordinates of the chest leads on the chest and abdomen of the target user are determined, and the placement of each chest lead is controlled according to the current placement coordinates. It solves the problems of the position adjustment of the chest leads and the excessive or too low pressure applied to the target user in the existing electrocardiogram detection process, and realizes the effects of improving the placement accuracy of the chest leads, the electrocardiogram signal acquisition quality and the comfort of the user in the electrocardiogram examination.

[0051] Figure 2It is a flowchart of another chest lead control method provided according to an embodiment of the present invention. Optionally, after controlling each chest lead to be placed according to the current placement coordinates, it further includes: obtaining pressure data collected by a pressure sensor corresponding to the current placement coordinates of each chest lead; wherein, the pressure sensor is disposed between the robotic arm and the chest lead; based on the pressure data, determining the target placement coordinates of each chest lead, and controlling the movement of the robotic arm to drive each chest lead to be placed according to the target placement coordinates. Among them, the explanations of the same or corresponding terms as those in the above embodiments will not be repeated here. As Figure 2 shown, the method includes:

[0052] S210. Construct a three-dimensional image model corresponding to the target user.

[0053] Among them, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the contour shapes of the chest and abdomen.

[0054] S220. Based on the three-dimensional image model, determine the coordinate paths of each of the chest leads corresponding to the respiratory cycle.

[0055] S230. Based on the coordinate paths, determine the current placement coordinates of the chest leads on the chest and abdomen of the target user, and control each chest lead to be placed according to the current placement coordinates.

[0056] S240. Obtain pressure data collected by the pressure sensor corresponding to the current placement coordinates of each chest lead; wherein, the pressure sensor is disposed between the robotic arm and the chest lead.

[0057] Specifically, the pressure sensor is disposed between the robotic arm and the chest lead, and can collect the pressure data between the robotic arm and the chest lead at a high frequency. Since both the robotic arm and the chest lead are made of non-elastic materials, therefore, the pressure data between the chest lead and the robotic arm is the pressure data between the chest lead and the current placement coordinates of the chest and abdomen of the target user. The pressure data corresponding to the current placement coordinates of the chest leads collected by the pressure sensor at each respiratory phase can be obtained to understand the force condition of the target user during electrocardiogram detection.

[0058] S250. Based on the pressure data, determine the target placement coordinates of each chest lead, and control the movement of the robotic arm to drive each chest lead to be placed according to the target placement coordinates.

[0059] In specific implementation, the target placement coordinates can be determined according to the principle of negative feedback control and the pressure data. It should be noted that when the pressure data is large, it indicates that the current placement coordinates of the chest lead are too close to the chest and abdomen, squeezing the chest and abdomen of the target user. To improve the comfort of the target user, the target placement coordinates can be determined so that when the chest lead is at the target placement coordinates, the corresponding pressure data decreases. Further, when the pressure data is small, it indicates that the current placement coordinates of the chest lead may not fit well with the chest and abdomen, which is likely to cause the chest lead to fall off or the obtained electrocardiogram detection data to be inaccurate. To improve the detection accuracy, the target placement coordinates can be determined so that when the chest lead is at the target placement coordinates, the corresponding pressure data can increase and remain within the range of reasonable pressure data.

[0060] Optionally, based on the pressure data, determining the target placement coordinates of each chest lead includes: if the pressure data exceeds the preset pressure range, determining the exceeded value corresponding to the pressure data and the magnitude relationship between the pressure data and the pressure range; and determining the target placement coordinates of each chest lead based on the exceeded value, the magnitude relationship, and the current placement coordinates.

[0061] Among them, the preset pressure range can be the range of pressure values that can ensure the accuracy of electrocardiogram detection data and at the same time the target user does not feel squeezed. Those skilled in the art can set the pressure range according to the actual application situation, and this embodiment does not limit it.

[0062] In specific implementation, the target placement coordinates can be determined according to the exceeded value of the pressure data exceeding the pressure range and the magnitude relationship between the pressure data and the pressure range. Exemplarily, when the pressure data exceeds the maximum value of the pressure range, it indicates that the current pressure on the target user is too large. Then, the target placement coordinates should be adjusted to reduce the pressure on the target user. The target placement position can be determined based on the exceeded value and the current placement coordinates in the direction that can make the pressure smaller.

[0063] In the embodiment of the present invention, the pressure sensor disposed between the robotic arm and the chest lead is used to determine the pressure situation of the target user during electrocardiogram detection. Based on the principle of negative feedback, the target placement coordinates of the chest lead are determined through the pressure data, so that after the chest lead is placed according to the target placement coordinates, the pressure data received by the target user can be within a reasonable range and ensure that it does not fall off, and can accurately detect the electrocardiogram data of the target user.

[0064] Figure 3FIG. 0 is a schematic structural diagram of a chest lead control device provided according to an embodiment of the present invention. The device is used to execute the chest lead control method provided in any of the above embodiments. The device and the chest lead control methods in the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the chest lead control device can refer to the embodiments of the above chest lead control method. As Figure 3 shown, the device includes:

[0065] A three-dimensional image model construction module 10 for constructing a three-dimensional image model corresponding to a target user; wherein, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes;

[0066] A coordinate path determination module 11 for determining the coordinate paths of the respective chest leads corresponding to the respiratory cycle based on the three-dimensional image model;

[0067] A current placement coordinate determination module 12 for determining the current placement coordinates of the chest leads on the chest and abdomen of the target user based on the coordinate paths, and controlling the placement of the respective chest leads according to the current placement coordinates.

[0068] Based on any optional technical solution in the embodiment of the present invention, optionally, the three-dimensional image model construction module 10 includes:

[0069] A first three-dimensional image construction unit for obtaining the three-dimensional coordinate data of the chest and abdomen of the target user corresponding to each respiratory phase in the respiratory cycle collected by a three-dimensional scanner, and constructing a first three-dimensional image based on the three-dimensional coordinate data;

[0070] A human body contour recognition unit for performing human body contour recognition on the first three-dimensional image based on three-dimensional image recognition technology to obtain the first chest and abdomen contour graphics of the target user corresponding to each respiratory phase;

[0071] A first three-dimensional image model establishment unit for establishing a three-dimensional image model for the first chest and abdomen contour graphics corresponding to each respiratory phase.

[0072] Based on any optional technical solution in the embodiment of the present invention, optionally, the three-dimensional image model construction module 10 includes:

[0073] An image data acquisition unit for obtaining the image data of the chest and abdomen of the target user corresponding to each respiratory phase in the respiratory cycle collected by at least one image acquisition device,

[0074] A second three-dimensional image construction unit for constructing a second three-dimensional image of the chest and abdomen of the target user corresponding to each respiratory phase based on image modeling and rendering technology and the image data;

[0075] A three-dimensional contour data determination unit for determining the three-dimensional contour data of the chest and abdomen in each second three-dimensional image by using three-dimensional vision measurement technology;

[0076] A second three-dimensional image model establishment unit for establishing a three-dimensional image model for the three-dimensional contour data corresponding to each breathing phase; wherein, the three-dimensional contour data is the coordinate data of the chest and abdomen.

[0077] Based on any optional technical solution in the embodiment of the present invention, optionally, the coordinate path determination module 11 includes:

[0078] A stable breathing phase determination unit for determining the stable chest and abdomen contour shape and the corresponding stable breathing phase of the target user in a stable state based on the three-dimensional image model;

[0079] A stable placement coordinate determination unit for determining the stable placement coordinates of each chest lead in a stable state based on the chest lead placement requirements and the stable chest and abdomen contour shape;

[0080] A coordinate path determination unit for determining a coordinate path based on the correspondence between the stable placement coordinates and the stable breathing phase.

[0081] Based on any optional technical solution in the embodiment of the present invention, optionally, the stable breathing phase determination unit includes:

[0082] A stable breathing phase determination subunit for determining the stable chest and abdomen contour shape and the stable breathing phase when the inspiratory volume of the target user is 1 / 2 tidal volume.

[0083] Based on any optional technical solution in the embodiment of the present invention, optionally, it further includes:

[0084] A pressure data acquisition module for acquiring the pressure data collected by the pressure sensor corresponding to the current placement coordinates of each chest lead after controlling the placement of each chest lead according to the current placement coordinates; wherein, the pressure sensor is arranged between the robotic arm and the chest lead;

[0085] A target placement coordinate determination module for determining the target placement coordinates of each chest lead based on the pressure data and controlling the movement of the robotic arm to drive each chest lead to be placed according to the target placement coordinates.

[0086] Based on any optional technical solution in the embodiment of the present invention, optionally, the target placement coordinate determination module includes:

[0087] A magnitude relationship determination unit for determining the exceeded value corresponding to the pressure data and the magnitude relationship between the pressure data and the pressure range if the pressure data exceeds the preset pressure range;

[0088] A target placement coordinate determination unit, configured to determine the target placement coordinates of each chest lead based on an excess value, a size relationship, and current placement coordinates.

[0089] The chest lead control device provided by an embodiment of the present invention can execute the chest lead control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution of the method.

[0090] It should be noted that in the embodiments of the above chest lead control device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0091] Figure 4 It is a schematic structural diagram of an electronic device for implementing the chest lead control method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0092] As Figure 4 shown, the electronic device 20 includes at least one processor 21, and a memory communicatively connected to the at least one processor 21, such as a read-only memory (ROM) 22, a random access memory (RAM) 23, etc. Among them, the memory stores a computer program executable by the at least one processor, and the processor 21 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 22 or the computer program loaded from the storage unit 28 into the random access memory (RAM) 23. In the RAM 23, various programs and data required for the operation of the electronic device 20 can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other through a bus 24. The input / output (I / O) interface 25 is also connected to the bus 24.

[0093] Multiple components in the electronic device 20 are connected to the I / O interface 25, including: an input unit 26, such as a keyboard, a mouse, etc.; an output unit 27, such as various types of displays, speakers, etc.; a storage unit 28, such as a magnetic disk, an optical disc, etc.; and a communication unit 29, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 29 allows the electronic device 20 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 21 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 21 executes the various methods and processes described above.

[0095] In some embodiments, the chest lead control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 20 via the ROM 22 and / or the communication unit 29. When the computer program is loaded into the RAM 23 and executed by the processor 21, one or more steps of the chest lead control method described above can be executed. Alternatively, in other embodiments, the processor 21 can be configured to execute the chest lead control method by any other suitable means (e.g., by means of firmware).

[0096] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-chip systems (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs, the one or more computer programs can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a special or general-purpose programmable processor, can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0101] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0102] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0103] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for controlling chest leads, characterized in that, Including: Constructing a three-dimensional image model corresponding to a target user; wherein, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes; Based on the three-dimensional image model, determining the coordinate paths of the respective chest leads corresponding to the respiratory cycle; Based on the coordinate paths, determining the current placement coordinates of the chest leads on the chest and abdomen of the target user, and controlling the placement of the respective chest leads according to the current placement coordinates.

2. The method according to claim 1, characterized in that, The constructing of the three-dimensional image model corresponding to the target user includes: Obtaining the three-dimensional coordinate data of the chest and abdomen of the target user corresponding to each respiratory phase in the respiratory cycle collected by a three-dimensional scanner, and constructing a first three-dimensional image based on the three-dimensional coordinate data; Based on three-dimensional image recognition technology, performing human contour recognition on the first three-dimensional image to obtain the first chest and abdomen contour graphics of the target user corresponding to each respiratory phase; For each of the first chest and abdomen contour graphics corresponding to the respective respiratory phases, establishing the three-dimensional image model.

3. The method according to claim 1, wherein The constructing of the three-dimensional image model corresponding to the target user includes: Obtaining the image data of the chest and abdomen of the target user corresponding to each respiratory phase in the respiratory cycle collected by at least one image acquisition device, Based on image modeling and rendering technology and the image data, constructing a second three-dimensional image of the chest and abdomen of the target user corresponding to each respiratory phase; Using three-dimensional vision measurement technology to determine the three-dimensional contour data of the chest and abdomen in each of the second three-dimensional images; For each of the three-dimensional contour data corresponding to the respective respiratory phases, establishing the three-dimensional image model; wherein, the three-dimensional contour data is the coordinate data of the chest and abdomen.

4. The method according to claim 2 or 3, characterized in that The determining of the coordinate paths of the respective chest leads corresponding to the respiratory cycle based on the three-dimensional image model includes: Based on the three-dimensional image model, determining the stable chest and abdomen contour shape of the target user in the stable state and the corresponding stable respiratory phase; Based on the chest lead placement requirements and the stable chest and abdomen contour shape, determining the stable placement coordinates of the respective chest leads in the stable state; Based on the correspondence between the stable placement coordinates and the stable respiratory phase, determining the coordinate paths.

5. The method according to claim 4, characterized in that, The determining of the stable chest and abdomen contour shape of the target user in the stable state and the corresponding stable respiratory phase includes: Determining the stable chest and abdomen contour shape and the stable respiratory phase when the inspiratory volume of the target user is 1 / 2 tidal volume.

6. The method according to claim 1, characterized in that After controlling the placement of the respective chest leads according to the current placement coordinates, it further includes: Obtaining the pressure data collected by a pressure sensor corresponding to the current placement coordinates of the respective chest leads; wherein, the pressure sensor is arranged between the robotic arm and the chest leads; Based on the pressure data, determining the target placement coordinates of the respective chest leads, and controlling the movement of the robotic arm to drive the respective chest leads to be placed according to the target placement coordinates.

7. The method according to claim 6, characterized in that, The determining of the target placement coordinates of the respective chest leads based on the pressure data includes: If the pressure data exceeds a preset pressure range, determine the exceeded value corresponding to the pressure data and the magnitude relationship between the pressure data and the pressure range; Based on the exceeded value, the magnitude relationship, and the current placement coordinates, determine the target placement coordinates of each of the chest leads.

8. A chest lead control device, characterized in that, Comprising: A three-dimensional image model construction module for constructing a three-dimensional image model corresponding to a target user; wherein, the three-dimensional image model is an image model including the correspondence between the respiratory cycle phases of the target user and the chest and abdomen contour shapes; A coordinate path determination module for determining the coordinate paths of each of the chest leads corresponding to the respiratory cycle based on the three-dimensional image model; A current placement coordinate determination module for determining the current placement coordinates of the chest leads on the chest and abdomen of the target user based on the coordinate paths, and controlling the placement of each of the chest leads according to the current placement coordinates.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the chest lead control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to implement the chest lead control method according to any one of claims 1-7 when executed.

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