Target tracking method and device, CT imaging equipment and storage medium

Abstract

The present invention discloses a target tracking method and device, a CT imaging device, and a storage medium. The target tracking method includes the following steps: during the process of emitting X-rays to a target object located between an X-ray emitting device and an X-ray receiving device, obtaining a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object moving to a second position; determining a movement distance and a movement direction based on the distance between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of a first pixel and a third pixel in the first two-dimensional image, and the coordinates of a second pixel and a fourth pixel in the second two-dimensional image; and controlling the movement of the first and second robotic arms based on the movement distance and the movement direction to achieve tracking imaging of the target object. This method can be used to assist doctors in diagnosing the target object, thereby improving diagnostic efficiency.

Description

Technical Field

[0001] The present invention relates to the field of CT (Computed Tomography) imaging technology, and in particular to a target tracking method and device, CT imaging equipment and a storage medium. Background Art

[0002] The continuous development of medical orthopedic technology has put forward new demands on CT imaging technology. Currently, in the fields of orthopedic preoperative planning, postoperative rehabilitation, and gait analysis, there is a strong demand for dynamic images of joints and other parts of the body during human movement (such as squatting, walking, running and jumping). Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the above-mentioned defects in the prior art and provide a target tracking method and device, a CT imaging device and a storage medium.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] A first aspect of the present invention provides a target tracking method applied to a CT imaging device, the CT imaging device comprising a first robotic arm, an X-ray transmitting device provided on the first robotic arm, a second robotic arm, and an X-ray receiving device provided on the second robotic arm; the X-ray transmitting device is configured to transmit X-rays, and the X-ray receiving device is configured to receive X-rays;

[0006] The target tracking method comprises the following steps:

[0007] In a process of emitting X-rays to a target object located between the X-ray emitting device and the X-ray receiving device, respectively acquiring a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object when the target object moves to a second position;

[0008] determining a moving distance and a moving direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, respectively, the coordinates of a first pixel point and a third pixel point in the first two-dimensional image, and the coordinates of a second pixel point and a fourth pixel point in the second two-dimensional image; wherein the first pixel point and the second pixel point correspond to the same position of the target object, and the third pixel point and the fourth pixel point correspond to the same position of the target object;

[0009] The first robotic arm and the second robotic arm are controlled to move according to the moving distance and the moving direction.

[0010] Optionally, the target tracking method further includes the following steps:

[0011] Acquire a first three-dimensional image of the target object at the first position;

[0012] determining an offset of the second position relative to the first position;

[0013] Processing the first three-dimensional image according to the offset to obtain a second three-dimensional image;

[0014] The first three-dimensional image and the second three-dimensional image are displayed in sequence.

[0015] Optionally, the specific step of determining the offset of the second position relative to the first position includes:

[0016] Determine the offset of the second position relative to the first position based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point, the third pixel point and the fifth pixel point in the first two-dimensional image, and the coordinates of the second pixel point, the fourth pixel point and the sixth pixel point in the second two-dimensional image; wherein the fifth pixel point and the sixth pixel point correspond to the same position of the target object.

[0017] Optionally, the target tracking method further comprises the following steps: determining an offset angle of the second position relative to the first position;

[0018] The step of processing the first three-dimensional image according to the offset specifically includes:

[0019] The first three-dimensional image is processed according to the offset amount and the offset angle.

[0020] A second aspect of the present invention provides a target tracking device, which is applied to a CT imaging device. The CT imaging device includes a first robotic arm, an X-ray transmitting device provided on the first robotic arm, a second robotic arm, and an X-ray receiving device provided on the second robotic arm; the X-ray transmitting device is configured to transmit X-rays, and the X-ray receiving device is configured to receive X-rays.

[0021] The target tracking device comprises:

[0022] a two-dimensional image acquisition module, configured to acquire, during a process of emitting X-rays to a target object located between the X-ray emitting device and the X-ray receiving device, a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object when the target object moves to a second position;

[0023] a movement determination module, configured to determine a movement distance and a movement direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, respectively, the coordinates of a first pixel and a third pixel in the first two-dimensional image, and the coordinates of a second pixel and a fourth pixel in the second two-dimensional image; wherein the first pixel and the second pixel correspond to the same position of the target object, and the third pixel and the fourth pixel correspond to the same position of the target object;

[0024] The robotic arm control module is used to control the movement of the first robotic arm and the second robotic arm according to the movement distance and the movement direction.

[0025] Optionally, the target tracking device further includes:

[0026] a three-dimensional image acquisition module, configured to acquire a first three-dimensional image of the target object at the first position;

[0027] an offset determination module, configured to determine an offset of the second position relative to the first position;

[0028] a three-dimensional image processing module, configured to process the first three-dimensional image according to the offset to obtain a second three-dimensional image;

[0029] The three-dimensional image display module is used to display the first three-dimensional image and the second three-dimensional image in sequence.

[0030] Optionally, the offset determination module is specifically used to determine the offset of the second position relative to the first position based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point, the third pixel point and the fifth pixel point in the first two-dimensional image, and the coordinates of the second pixel point, the fourth pixel point and the sixth pixel point in the second two-dimensional image; wherein the fifth pixel point and the sixth pixel point correspond to the same position of the target object.

[0031] Optionally, the target tracking device further includes an offset angle determination module, configured to determine an offset angle of the second position relative to the first position;

[0032] The three-dimensional image processing module is specifically configured to process the first three-dimensional image according to the offset amount and the offset angle.

[0033] A third aspect of the present invention provides a CT imaging device, comprising a first robotic arm, an X-ray emitting device provided on the first robotic arm, a second robotic arm, an X-ray receiving device provided on the second robotic arm, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the X-ray emitting device is used to emit X-rays, the X-ray receiving device is used to receive X-rays, and when the processor executes the computer program, the target tracking method described in the first aspect is implemented.

[0034] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the target tracking method as described in the first aspect.

[0035] The positive progressive effect of the present invention is that by acquiring two two-dimensional images of the target object at different positions, and determining the moving distance and moving direction according to the spatial position of the target object and the coordinates of at least two pixel points at the same position of the target object, and controlling the movement of the first robotic arm and the second robotic arm according to the moving distance and the moving direction, tracking imaging of the target object is achieved. Applying it in the medical field can assist doctors in diagnosing the target object, thereby improving diagnostic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flowchart of a target tracking method provided in Example 1 of the present invention.

[0037] Figure 2 This is a schematic diagram of a target object at a first position provided by Example 1 of the present invention.

[0038] Figure 3 This is a schematic diagram of a target object at a second position provided by Example 1 of the present invention.

[0039] Figure 4 A schematic diagram of determining a moving distance and a moving direction provided in Example 1 of the present invention.

[0040] Figure 5 A schematic diagram of the movement of a target object provided in Example 1 of the present invention.

[0041] Figure 6 This is a flowchart of another target tracking method provided in Example 1 of the present invention.

[0042] Figure 7 This is a structural block diagram of a target tracking device provided in Example 1 of the present invention.

[0043] Figure 8 This is a structural schematic diagram of a CT imaging device provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0044] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0045] Example 1

[0046] Figure 1 This is a flow chart of a target tracking method provided in this embodiment. The target tracking method can be executed by a target tracking device, which can be implemented by software and / or hardware. The target tracking device can be part or all of a CT imaging device.

[0047] The CT imaging device in this embodiment includes an X-ray emitting device for emitting X-rays, an X-ray receiving device for receiving X-rays, a first robotic arm, and a second robotic arm. The X-ray emitting device is disposed on the first robotic arm, and the X-ray receiving device is disposed on the second robotic arm. A target object is located between the X-ray emitting device and the X-ray receiving device. The X-ray emitting device emits X-rays at the target object to scan a layer of a certain thickness. The X-ray receiving device, such as a detector, receives the X-rays that pass through the layer, converts them into visible light, and then converts them into electrical signals through photoelectric conversion. After processing the electrical signals, a cross-sectional or three-dimensional image of the target object is obtained. This embodiment achieves tracking imaging of the target object by controlling the movement distance and direction of the first and second robotic arms.

[0048] The target tracking method provided by this embodiment is described below using a CT imaging device as an execution subject.

[0049] like Figure 1 As shown, the target tracking method provided in this embodiment may include the following steps S101 to S103:

[0050] Step S101 : in a process of emitting X-rays to a target object, respectively acquiring a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object when the target object moves to a second position.

[0051] In a specific implementation, the target object may be a certain part or organ of a patient, which may also be referred to as a region of interest.

[0052] Figure 2 A schematic diagram showing the target object in a first position. Figure 3 A schematic diagram showing the target object in a second position. Figure 2The target object 10 is located at a first position P1 between the X-ray emitting device 21 and the X-ray receiving device 22. The X-ray emitting device 21 emits X-rays to the target object 10 to obtain a first two-dimensional image of the target object 10 at the first position P1. Figure 3 The target object 10 moves from the first position P1 to the second position P2. The X-ray emitting device 21 emits X-rays to the target object 10 to obtain a second two-dimensional image of the target object 10 at the second position P2.

[0053] Step S102: determine the moving distance and moving direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point and the third pixel point in the first two-dimensional image, and the coordinates of the second pixel point and the fourth pixel point in the second two-dimensional image.

[0054] The first pixel point and the second pixel point correspond to the same position of the target object, and the third pixel point and the fourth pixel point correspond to the same position of the target object.

[0055] It should be noted that the distance between the first position and the X-ray emitting device, and the distance between the first position and the X-ray receiving device are known in advance. In addition, the distance between the X-ray emitting device and the X-ray receiving device is fixed.

[0056] In an optional embodiment, the first two-dimensional image is input into the image processing model to obtain the pixel point used to represent the first position of the target object, that is, the position of the first pixel point, and then the coordinates of the first pixel point can be obtained; the second two-dimensional image is input into the image processing model to obtain the pixel point used to represent the second position of the target object, that is, the position of the second pixel point, and then the coordinates of the second pixel point can be obtained.

[0057] Figure 4 A schematic diagram for illustrating a method of determining a moving distance and a moving direction. Figure 4 In the example shown, the first pixel A in the first two-dimensional image and the second pixel C in the second two-dimensional image correspond to the same position on the target object's knee joint, and the third pixel B in the first two-dimensional image and the fourth pixel D in the second two-dimensional image correspond to the same position on the target object's calf. Assuming that the movement time is short, the first position P1 is parallel to the second position P2, and the distance d between a and b is ab The distance d from cd cd The center of the X-ray receiving device is taken as the origin, the pixel size is p*p mm, and the corresponding feature points are A(x A ,y A ), B(x B ,y B), C(x C ,y C ), D(x D ,y D ), the distance from the X-ray emitting device to the X-ray receiving device is d SD , the distance from the X-ray emitting device to the first position P1 is d1, and the distance from the X-ray emitting device to the second position P2 is d2. According to the geometric relationship, d1 / d SD =d ab / d AB , d2 / d SD =d cd / d CD , then d1=d*d SD / d AB , d2=d*d SD / d CD The target object moves parallel to the projection direction as dz = d2 - d1 = (1 / d CD -1 / d AB )*d SD *d,d CD =a*sqrt((x D -x C ) 2 +(y D -y C ) 2 ), d AB =p*sqrt((x B -x A ) 2 +(y B -y A ) 2 ); The movement of the target object in the x direction perpendicular to the projection direction is dx=p*((x C +x D )*d2-(x A +x B )*d1) / (2*d SD ), the target object moves in the y direction perpendicular to the projection direction as dy=p*((y C +y D )*d2-(y A +y B )*d1) / (2*d SD ); the displacement vector of the target object in the projected world coordinate system is (dx, dy, dz), and the moving distance and direction of the target object can be determined based on the displacement vector.

[0058] Step S103: Control the first and second robotic arms to move according to the movement distance and the movement direction. Specifically, the first and second robotic arms are controlled to move together along the movement direction by the movement distance, thereby achieving tracking imaging of the target object. This can be applied in the medical field to assist doctors in diagnosing the target object, thereby improving diagnostic efficiency.

[0059] Figure 5 A schematic diagram used to illustrate the movement of a target object. Figure 5 , controlling the first robotic arm and the second robotic arm to move along with the movement of the target object to achieve tracking imaging of the target object.

[0060] In an optional embodiment, as Figure 6 As shown, the target tracking method further includes the following steps S201 to S204:

[0061] Step S201: Acquire a first three-dimensional image of the target object at the first position. In a specific implementation, the first three-dimensional image can be acquired by rotating the target object and emitting X-rays to the target object multiple times.

[0062] Step S202: Determine an offset of the second position relative to the first position, wherein the offset is a spatial offset, specifically including offsets along the x-axis, y-axis, and z-axis.

[0063] In an optional embodiment of step S202, an offset of the second position relative to the first position is determined based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel, the third pixel, and the fifth pixel in the first two-dimensional image, and the coordinates of the second pixel, the fourth pixel, and the sixth pixel in the second two-dimensional image, wherein the fifth pixel and the sixth pixel correspond to the same position on the target object.

[0064] Step S203: Process the first three-dimensional image according to the offset to obtain a second three-dimensional image. Specifically, the first three-dimensional image is offset according to the offset, and the x-coordinate value of each pixel point on the first three-dimensional image is uniformly added to the x-axis offset, the y-coordinate value is uniformly added to the y-axis offset, and the z-coordinate value is uniformly added to the z-axis offset to obtain the coordinates of each pixel point on the second three-dimensional image.

[0065] In an optional embodiment, the target tracking method further includes: determining an offset angle of the second position relative to the first position. In this embodiment, step S203 specifically includes: processing the first three-dimensional image according to the offset and the offset angle.

[0066] In this embodiment, the first three-dimensional image is shifted according to the shift amount, and the first three-dimensional image is rotated according to the shift angle to obtain the second three-dimensional image.

[0067] Step S204: display the first 3D image and the second 3D image in sequence. It should be noted that as the target object moves to several positions, the corresponding three-dimensional images are displayed in sequence.

[0068] In this embodiment, as the target object moves from the first position to the second position, the first three-dimensional image and the second three-dimensional image can be displayed in sequence to achieve three-dimensional image tracking of the target object. Applying it in the medical field can assist doctors in diagnosing the target object, thereby improving diagnostic efficiency.

[0069] This embodiment also provides a target tracking device, which is applied to CT imaging equipment, such as Figure 7 As shown, the target tracking device 80 includes a two-dimensional image acquisition module 81 , a movement determination module 82 and a robotic arm control module 83 .

[0070] The two-dimensional image acquisition module 81 is used to acquire a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object moving to a second position during the process of emitting X-rays to the target object located between the X-ray emitting device and the X-ray receiving device.

[0071] The movement determination module 82 is configured to determine a movement distance and a movement direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, respectively, the coordinates of a first pixel and a third pixel in the first two-dimensional image, and the coordinates of a second pixel and a fourth pixel in the second two-dimensional image, wherein the first pixel and the second pixel correspond to the same position on the target object, and the third pixel and the fourth pixel correspond to the same position on the target object.

[0072] The robotic arm control module 83 is configured to control the first robotic arm and the second robotic arm to move according to the moving distance and the moving direction.

[0073] In an optional embodiment, the target tracking device further includes a three-dimensional image acquisition module, an offset determination module, a three-dimensional image processing module, and a three-dimensional image display module.

[0074] The three-dimensional image acquisition module is used to acquire a first three-dimensional image of the target object at the first position.

[0075] The offset determination module is configured to determine an offset of the second position relative to the first position.

[0076] In an optional embodiment, the offset determination module is specifically used to determine the offset of the second position relative to the first position based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point, the third pixel point and the fifth pixel point in the first two-dimensional image, and the coordinates of the second pixel point, the fourth pixel point and the sixth pixel point in the second two-dimensional image; wherein the fifth pixel point and the sixth pixel point correspond to the same position of the target object.

[0077] The three-dimensional image processing module is used to process the first three-dimensional image according to the offset to obtain a second three-dimensional image.

[0078] In an optional embodiment, the target tracking device further includes an offset angle determination module for determining an offset angle of the second position relative to the first position. In this embodiment, the three-dimensional image processing module is specifically configured to process the first three-dimensional image based on the offset and the offset angle.

[0079] The three-dimensional image display module is used to display the first three-dimensional image and the second three-dimensional image in sequence.

[0080] It should be noted that, in this embodiment, the target tracking device may be a separate chip, a chip module or a CT imaging device, or may be a chip or a chip module integrated into a CT imaging device.

[0081] The various modules / units included in the target tracking device described in this embodiment may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units.

[0082] Example 2

[0083] Figure 8 A schematic diagram of the structure of a CT imaging device provided in this embodiment. The CT imaging device includes a first robotic arm, an X-ray emitting device disposed on the first robotic arm, a second robotic arm, an X-ray receiving device disposed on the second robotic arm, at least one processor, and a memory communicatively connected to the at least one processor. The X-ray emitting device is configured to emit X-rays, the X-ray receiving device is configured to receive X-rays, and the memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the target tracking method of Example 1. Figure 8 The CT imaging device 3 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0084] The components of the CT imaging device 3 may include but are not limited to: the above-mentioned at least one processor 4, the above-mentioned at least one memory 5, a bus 6 connecting different system components (including the memory 5 and the processor 4), a first robotic arm, an X-ray emitting device, a second robotic arm and an X-ray receiving device.

[0085] The bus 6 includes a data bus, an address bus, and a control bus.

[0086] The memory 5 may include a volatile memory, such as a random access memory (RAM) 51 and / or a cache memory 52 , and may further include a read-only memory (ROM) 53 .

[0087] The memory 5 may also include a program / utility 55 having a set (at least one) of program modules 54, such program modules 54 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0088] The processor 4 executes various functional applications and data processing, such as the target tracking method described above, by running computer programs stored in the memory 5 .

[0089] The CT imaging device 3 can also communicate with one or more external devices 7 (e.g., a keyboard, a pointing device, etc.). Such communication can be performed via an input / output (I / O) interface 8. Furthermore, the CT imaging device 3 can also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 9. Figure 8 As shown, the network adapter 9 communicates with other modules of the CT imaging device 3 via the bus 6. It should be understood that although Figure 8 Not shown, other hardware and / or software modules may be used in conjunction with the CT imaging device 3, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0090] It should be noted that while the detailed description above refers to several units / modules or sub-units / modules of a CT imaging device, this division is merely exemplary and not mandatory. In practice, depending on embodiments of the present invention, the features and functions of two or more units / modules described above may be embodied in a single unit / module. Conversely, the features and functions of a single unit / module described above may be further divided and embodied by multiple units / modules.

[0091] Example 3

[0092] This embodiment provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the target tracking method of embodiment 1 is implemented.

[0093] The readable storage medium may include, but is not limited to, a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0094] In a possible implementation manner, the present invention may also be implemented in the form of a program product, which includes program code. When the program product is run on a CT imaging device, the program code is used to enable the CT imaging device to execute the target tracking method of embodiment 1.

[0095] The program code for executing the present invention may be written in any combination of one or more programming languages, and the program code may be executed entirely on the CT imaging device, partially on the CT imaging device, as an independent software package, partially on the CT imaging device and partially on a remote device, or entirely on the remote device.

[0096] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A target tracking method, characterized in that: Applicable to a CT imaging device, the CT imaging device comprising a first robotic arm, an X-ray emitting device provided on the first robotic arm, a second robotic arm, and an X-ray receiving device provided on the second robotic arm; The X-ray emitting device is used to emit X-rays, and the X-ray receiving device is used to receive X-rays; The target tracking method comprises the following steps: In a process of emitting X-rays to a target object located between the X-ray emitting device and the X-ray receiving device, respectively acquiring a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object when the target object moves to a second position; determining a moving distance and a moving direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, respectively, the coordinates of a first pixel point and a third pixel point in the first two-dimensional image, and the coordinates of a second pixel point and a fourth pixel point in the second two-dimensional image; wherein the first pixel point and the second pixel point correspond to the same position of the target object, and the third pixel point and the fourth pixel point correspond to the same position of the target object; The first robotic arm and the second robotic arm are controlled to move according to the moving distance and the moving direction.

2. The target tracking method according to claim 1, wherein: The target tracking method further comprises the following steps: Acquire a first three-dimensional image of the target object at the first position; determining an offset of the second position relative to the first position; Processing the first three-dimensional image according to the offset to obtain a second three-dimensional image; The first three-dimensional image and the second three-dimensional image are displayed in sequence.

3. The target tracking method according to claim 2, wherein: The specific step of determining the offset of the second position relative to the first position includes: Determine the offset of the second position relative to the first position based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point, the third pixel point and the fifth pixel point in the first two-dimensional image, and the coordinates of the second pixel point, the fourth pixel point and the sixth pixel point in the second two-dimensional image; wherein the fifth pixel point and the sixth pixel point correspond to the same position of the target object.

4. The target tracking method according to claim 2, wherein: The target tracking method further comprises the following steps: determining an offset angle of the second position relative to the first position; The step of processing the first three-dimensional image according to the offset specifically includes: The first three-dimensional image is processed according to the offset amount and the offset angle.

5. A target tracking device, characterized in that: Applicable to a CT imaging device, the CT imaging device comprising a first robotic arm, an X-ray emitting device provided on the first robotic arm, a second robotic arm, and an X-ray receiving device provided on the second robotic arm; The X-ray emitting device is used to emit X-rays, and the X-ray receiving device is used to receive X-rays; The target tracking device comprises: a two-dimensional image acquisition module, configured to acquire, during a process of emitting X-rays to a target object located between the X-ray emitting device and the X-ray receiving device, a first two-dimensional image of the target object at a first position and a second two-dimensional image of the target object when the target object moves to a second position; a movement determination module, configured to determine a movement distance and a movement direction based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, respectively, the coordinates of a first pixel and a third pixel in the first two-dimensional image, and the coordinates of a second pixel and a fourth pixel in the second two-dimensional image; wherein the first pixel and the second pixel correspond to the same position of the target object, and the third pixel and the fourth pixel correspond to the same position of the target object; The robotic arm control module is used to control the movement of the first robotic arm and the second robotic arm according to the movement distance and the movement direction.

6. The target tracking device according to claim 5, wherein: The target tracking device further includes: a three-dimensional image acquisition module, configured to acquire a first three-dimensional image of the target object at the first position; an offset determination module, configured to determine an offset of the second position relative to the first position; a three-dimensional image processing module, configured to process the first three-dimensional image according to the offset to obtain a second three-dimensional image; The three-dimensional image display module is used to display the first three-dimensional image and the second three-dimensional image in sequence.

7. The target tracking device according to claim 6, wherein: The offset determination module is specifically used to determine the offset of the second position relative to the first position based on the distances between the first position and the X-ray emitting device and the X-ray receiving device, the coordinates of the first pixel point, the third pixel point and the fifth pixel point in the first two-dimensional image, and the coordinates of the second pixel point, the fourth pixel point and the sixth pixel point in the second two-dimensional image; wherein the fifth pixel point and the sixth pixel point correspond to the same position of the target object.

8. The target tracking device according to claim 6, wherein: The target tracking device further includes an offset angle determination module, configured to determine an offset angle of the second position relative to the first position; The three-dimensional image processing module is specifically configured to process the first three-dimensional image according to the offset amount and the offset angle.

9. A CT imaging device, characterized in that: The target tracking method comprises a first robotic arm, an X-ray emitting device provided on the first robotic arm, a second robotic arm, an X-ray receiving device provided on the second robotic arm, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the X-ray emitting device is used to emit X-rays, the X-ray receiving device is used to receive X-rays, and when the processor executes the computer program, the target tracking method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the target tracking method according to any one of claims 1 to 4 is implemented.

Images