Collision detection method, apparatus, medical system, and computer-readable storage medium for medical systems

Abstract

This application relates to a collision detection method, apparatus, medical system, and computer-readable storage medium for a medical system. The method includes: determining a target object; acquiring a target object detection point; the target object detection point being on the target object's envelope surface; determining a target object reference line based on the target object detection point; acquiring a target object collision detection cross section; wherein the target object collision detection cross section is perpendicular to the axis of the receiving cavity, and the target object collision detection cross section is tangent to at least one end face of the target object's envelope surface; determining a target object collision detection point based on the intersection of the target object reference line and the target object collision detection cross section; and determining whether a collision has occurred based on the positional relationship between the target object collision detection point and a preset boundary contour. This application performs collision detection by comparing the positional relationship between the target object collision detection point and the preset boundary contour, eliminating the need for additional distance sensors and avoiding interference with the normal operation of the medical equipment.

Description

Technical Field

[0001] This application relates to the field of medical system control technology, and in particular to a collision detection method, device, medical system, and computer-readable storage medium for a medical system. Background Technology

[0002] With continuous technological advancements, various medical devices with cavities have emerged to provide patients with high-precision, real-time guided non-invasive diagnostic and treatment solutions. However, due to the hardware structure of these devices, the patient and medical bed must always remain within the cavity of the device, rather than in a free and open space. Therefore, preventing the cavity from being impacted during the diagnostic and treatment process is of paramount importance.

[0003] Traditional technology uses distance sensors placed on the inner wall of the cavity to directly detect and warn of collisions. However, since these distance sensors are located within the working area of ​​the medical device, they can interfere with its normal operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a collision detection method, device, medical system, and computer-readable storage medium for medical systems that can prevent collisions from affecting the normal operation of medical equipment, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a collision detection method for a medical system, the medical system comprising: a medical device and a medical bed, the medical device having a receiving cavity, and the medical bed having a bed board capable of moving within the receiving cavity;

[0006] The method includes: determining a target object; acquiring a target object detection point; the target object detection point being on the target object's envelope surface; determining a target object reference line based on the target object detection point; wherein the target object reference line is parallel to the bed board and passes through the target object detection point; acquiring a target object collision detection section; wherein the target object collision detection section is perpendicular to the axis of the receiving cavity; determining a target object collision detection point based on the intersection of the target object reference line and the target object collision detection section; and determining whether a collision has occurred based on the positional relationship between the target object collision detection point and a preset boundary contour.

[0007] In some embodiments, the target object includes the object to be tested and / or the bed board.

[0008] In some embodiments, when the target object is the object to be tested and the bed board, the target object envelope is the fused envelope of the object to be tested and the bed board envelope.

[0009] In some embodiments, determining the target object reference line based on the target object detection point includes: acquiring the relative position information of the target object detection point relative to the bed board; acquiring the posture information of the bed board relative to the medical device; performing coordinate transformation on the relative position information based on the posture information to obtain the absolute position information of the target object detection point relative to the medical device; and determining the target object reference line based on the absolute position information.

[0010] In some embodiments, the target object collision detection section includes a section tangent to the end face of the target object's envelope surface, and / or a section tangent to the end face of the receiving cavity.

[0011] In some embodiments, the step of determining whether a collision has occurred based on the positional relationship between the target object collision detection point and the preset boundary contour includes: if the target object collision detection point exceeds the preset boundary contour, then a collision is determined to have occurred; if the target object collision detection point is within the preset boundary contour, then a collision is determined not to have occurred.

[0012] In some embodiments, the preset boundary contour is smaller than the boundary contour between the receiving cavity and the target object collision detection section in the target object collision detection section.

[0013] Secondly, this application provides a collision detection device for a medical system. The medical system includes: a medical device and a medical bed, the medical device having a receiving cavity, and the medical bed having a bed board capable of moving within the receiving cavity;

[0014] The collision detection device includes: an object determination module for determining a target object; a detection point determination module for acquiring a detection point of the target object; the detection point of the target object is on the envelope surface of the target object; a reference line determination module for determining a reference line of the target object based on the detection point of the target object; wherein the reference line of the target object is parallel to the bed board and passes through the detection point of the target object; a detection section determination module for acquiring a collision detection section of the target object; wherein the collision detection section of the target object is perpendicular to the axis of the receiving cavity; a detection point determination module for determining a collision detection point of the target object based on the intersection of the reference line of the target object and the collision detection section of the target object; and a collision detection module for determining whether a collision has occurred based on the positional relationship between the collision detection point of the target object and a preset boundary contour.

[0015] Thirdly, this application also provides a medical system comprising: a medical device and a medical bed, the medical device having a receiving cavity, the medical bed having a bed board capable of moving within the receiving cavity, the bed board being used to support an object to be tested, the medical system further comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the collision detection method of the medical system described in the first aspect embodiment.

[0016] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the collision detection method for the medical system described in the first aspect embodiment.

[0017] The aforementioned collision detection method, apparatus, medical system, and computer-readable storage medium for a medical system determine a target object reference line by using a target object detection point on the target object's envelope surface. Then, by combining this with a preset target object collision detection cross-section, a target object collision detection point is determined. This target object collision detection point represents the position of the target object reference line within the target object collision detection cross-section. Finally, by comparing the positional relationship between the target object collision detection point and a preset boundary contour, it can be determined whether the target object will collide with the receiving cavity. This application performs collision detection by comparing the positional relationship between the target object collision detection point and the preset boundary contour, eliminating the need for an additional distance sensor and avoiding interference with the normal operation of the medical equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the medical system in some embodiments of this application;

[0019] Figure 2 This is a flowchart illustrating a collision detection method when the target object is the object to be tested, as shown in some embodiments of this application.

[0020] Figure 3 This is a schematic diagram of the reference line of the object under test in some embodiments of this application;

[0021] Figure 4 This is a schematic diagram of the detection points of the object under test in some embodiments of this application;

[0022] Figure 5 This is a schematic diagram of the collision detection point of the object under test and the preset boundary contour in some embodiments of this application;

[0023] Figure 6 This is a schematic diagram of the collision detection point of the object under test and the preset boundary contour in some other embodiments of this application;

[0024] Figure 7This is a flowchart illustrating the process of determining the reference line of the object under test in some embodiments of this application;

[0025] Figure 8 This is a schematic diagram of the coordinate system of the envelope surface of the object under test in some embodiments of this application;

[0026] Figure 9 This is a schematic diagram of the collision detection cross section of the object under test in some embodiments of this application;

[0027] Figure 10 This is a schematic diagram of the collision detection cross section of the object under test in some other embodiments of this application;

[0028] Figure 11 This is a flowchart illustrating a collision detection method when the target object is a bed board in some embodiments of this application;

[0029] Figure 12 This is a schematic diagram of the bed board reference lines in some embodiments of this application;

[0030] Figure 13 This is a schematic diagram of the bed board detection points in some embodiments of this application;

[0031] Figure 14 This is a schematic diagram of the collision detection points of the bed board and the preset boundary contour in some embodiments of this application;

[0032] Figure 15 This is a schematic diagram of the collision detection points of the bed board and the preset boundary contour in some other embodiments of this application;

[0033] Figure 16 This is a flowchart illustrating the process of determining the bed board reference line in some embodiments of this application;

[0034] Figure 17 This is a schematic diagram of the coordinate system of the bed board envelope surface in some embodiments of this application;

[0035] Figure 18 This is a flowchart illustrating a collision detection method in some embodiments of this application when the target objects are the object to be tested and the bed board;

[0036] Figure 19 This is a schematic diagram illustrating the fusion of collision detection points and preset boundary contours in some embodiments of this application;

[0037] Figure 20 This is a schematic diagram illustrating the fusion of collision detection points and preset boundary contours in some other embodiments of this application;

[0038] Figure 21 This is a flowchart illustrating the process of determining the fusion reference line in some embodiments of this application;

[0039] Figure 22This is a schematic diagram of the fused collision detection cross section in some embodiments of this application;

[0040] Figure 23 This is a schematic diagram of the fused collision detection cross section in some other embodiments of this application;

[0041] Figure 24 This is a schematic diagram of the collision detection device in some embodiments of this application;

[0042] Explanation of reference numerals in the attached figures:

[0043] Medical device 110, receiving cavity 111, medical bed 120, bed board 121, detection point of the object to be tested 131, envelope surface of the object to be tested 132, reference line of the object to be tested 133, collision detection section of the object to be tested 134, preset boundary contour 135, first detection section 136, second detection section 137, third detection section 138, fourth detection section 139, bed board detection point 141, bed board envelope surface 142, bed board reference line 143, bed board collision detection section 144, fusion envelope surface 151, fusion collision detection section 152. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] The collision detection method for medical systems provided in this application can be applied to, for example... Figure 1The application environment shown is illustrated. The medical system includes a medical device 110 and a medical bed 120. The medical device 110 has a receiving cavity 111, and the medical bed 120 has a bed board 121 that can move within the receiving cavity 111. The medical device 110 is a medical device with a specific-sized receiving cavity 111, suitable for specific medical scenarios, and is widely used in multiple medical fields such as radiotherapy, imaging diagnosis, and physical therapy. For example, CT (Computed Tomography) equipment, MRI (Magnetic Resonance Imaging) equipment, and PET-MR (Positron Emission Tomography-Magnetic Resonance) equipment. The bed board 121 in the medical bed 120 can move freely within the receiving cavity 111 under the control of a moving component. For example, the bed board 121 can perform movements such as forward and backward, up and down, left and right, pitch, yaw, and roll relative to the receiving cavity 111. By adjusting the posture of the bed board 121, the lesion of the object to be tested located on the bed board 121 can be aligned with the detector or treatment device of the medical device 110, thereby improving the accuracy of the detection results or the precision of the treatment.

[0046] However, as described in the background section, when the medical device 110 is in operation, both the object under test and the bed board 121 must be within the receiving cavity 111, rather than in a free and open space. During the movement of the bed board 121, either the object under test or the bed board 121 may collide with the inner wall of the receiving cavity 111, thereby damaging the medical device 110. Furthermore, when collisions are detected by installing distance sensors on the inner wall of the receiving cavity 111, the object under test, or the bed board 121, the distance sensors can affect the normal operation of the medical device 110. Additionally, the high magnetic field and radiation environment of the medical device 110 can also affect the accuracy of the distance sensors, and may even damage them.

[0047] Based on this, this application proposes a collision detection method, device, medical system, and computer-readable storage medium for a medical system. It can detect collisions in the accommodating cavity 111 of the medical device 110 without the need for additional physical sensors, and will not affect the normal operation of the medical device 110.

[0048] Because the bed board 121 in different medical systems has different types of movement, when the object under test is located on the bed board 121 and the bed board 121 moves within the receiving cavity 111, there may be situations where only the object under test collides with the receiving cavity 111, only the bed board 121 collides with the receiving cavity 111, or both the object under test and the bed board 121 collide with the receiving cavity 111. The determination of the target object during collision detection differs depending on the different collision scenarios. The target object includes: the object under test and / or the bed board 121.

[0049] In one embodiment, such as Figure 2 As shown, a collision detection method for a medical system is provided, taking the target object as the object to be tested as an example, including the following steps:

[0050] Step S210: Determine the target object as the object to be tested.

[0051] Specifically, when the bed board 121 moves within the receiving cavity 111 in this embodiment, there is only a situation where the object to be tested located on the bed board 121 will collide with the receiving cavity 111. When the medical system determines the target object, it determines the target object as the object to be tested based on the type of medical device 110 and / or medical bed 120. The object to be tested is a human body, animal body, or water model located on the bed board 121.

[0052] Step S220: Obtain the detection points of the object to be tested.

[0053] Specifically, after the medical system identifies the target object, it acquires the target object's probe points, which are located on the target object's envelope surface. For example... Figure 3 As shown, when the target object is determined to be the object to be tested, the obtained target object detection point is the object to be tested detection point 131, and the object to be tested detection point 131 is on the object to be tested envelope surface 132.

[0054] The envelope surface 132 of the object under test is used to represent the size of the space occupied by the object under test in the receiving cavity 111. The envelope surface 132 completely covers the object under test and can be greater than or equal to the object under test to provide redundancy for collision detection. In some embodiments, the envelope surface 132 of the object under test is set as a cylinder. In some other embodiments, when the object under test is a human body, since the width of the human shoulder is greater than the height of the chest cavity, the envelope surface 132 of the object under test is set as an elliptical cylinder. When determining the envelope surface 132 of the object under test, the medical system can determine the specific size range of the envelope surface 132 of the object under test based on parameters such as the height and chest circumference of the human body.

[0055] After determining the envelope surface 132 of the object to be tested, the detection point 131 of the object to be tested is then obtained on the envelope surface 132. The detection point 131 is the position on the envelope surface 132 of the object to be tested that is most likely to collide with the receiving cavity 111, and it can be obtained by pre-setting. In some embodiments, such as Figure 4 As shown, the envelope surface 132 of the object under test is set as an elliptical cylinder, and the envelope surface 132 does not completely cover the bed plate 121. The detection points p1 to p13 of the object under test are all set on a section perpendicular to the axis of the elliptical cylinder. Since the bottom of the envelope surface 132 is the bed plate 121, no detection points 131 are set near the bottom. Furthermore, because the probability of collision between the object under test and its left and right sides is relatively high, the detection points 131 are more densely packed at locations with smaller radii of curvature. This arrangement allows for subsequent detection steps to determine whether the object under test has collided with the receiving cavity 111. It is understandable that the more detection points 131 there are, the higher the accuracy of collision detection, but at the same time, the computational load during collision detection also increases.

[0056] Step S230: Determine the reference line of the object under test based on the detection points of the object under test.

[0057] Specifically, after the medical system determines the target object detection point, it determines the target object reference line based on the target object detection point. The target object reference line is parallel to the bed board 121 and passes through the target object detection point. For example... Figure 3 As shown, when the target object is determined to be the object to be tested, the reference line of the target object determined based on the detection point 131 of the object to be tested is the reference line 133 of the object to be tested. The reference line 133 of the object to be tested is parallel to the bed board 121 and passes through the detection point 131 of the object to be tested.

[0058] When determining the reference line 133 of the object to be tested, since the position of the detection point 131 of the object to be tested on the envelope surface 132 of the object to be tested is determined, and the position of the envelope surface 132 of the object to be tested relative to the bed board 121 is determined, the reference line 133 of the object to be tested can be determined by calculating the straight line parallel to the bed board 121 and passing through the detection point 131 of the object to be tested.

[0059] Step S240: Obtain the collision detection cross section of the object to be tested.

[0060] Specifically, the medical system will simultaneously acquire the collision detection cross-section of the target object. This cross-section is perpendicular to the axis of the receiving cavity 111, and is tangent to at least one end face of the target object's envelope. For example... Figure 3As shown, when the target object is determined to be the object to be tested, the collision detection section of the target object is the collision detection section 134 of the object to be tested. The collision detection section 134 of the object to be tested is perpendicular to the axis of the receiving cavity 111, and the collision detection section 134 of the object to be tested is at least tangent to one end face of the envelope surface 132 of the object to be tested.

[0061] The medical system can determine the specific location of the collision detection section 134 of the object under test based on the position of the object's envelope surface 132 within the receiving cavity 111. It is understood that, since the collision detection section 134 is perpendicular to the axis of the receiving cavity 111, while one end face of the object's envelope surface 132 is not necessarily perpendicular to the axis of the receiving cavity 111, the collision detection section 134 can pass through the object's envelope surface 132.

[0062] Step S250: Determine the collision detection point of the object under test based on the intersection of the reference line of the object under test and the collision detection section of the object under test.

[0063] Specifically, after determining the target object reference line and the target object collision detection section, the medical system determines the target object collision detection point based on the intersection of the target object reference line and the target object collision detection section. If the target object is determined to be the object to be tested, the medical system determines the object collision detection point based on the intersection of the object reference line 133 and the object collision detection section 134.

[0064] With the position of the reference line 133 of the object under test relative to the receiving cavity 111 determined, and the position of the collision detection section 134 of the object under test relative to the receiving cavity 111 determined, the intersection point of the reference line 133 of the object under test and the collision detection section 134 of the object under test can be determined, that is, the collision detection point of the object under test can be determined.

[0065] Step S260: Determine whether a collision has occurred based on the positional relationship between the collision detection point of the object to be tested and the preset boundary contour.

[0066] Specifically, after determining the collision detection point of the target object, the medical system will determine whether a collision has occurred based on the positional relationship between the target object's collision detection point and the preset boundary contour 135. If the target object is determined to be the object to be tested, the medical system will determine whether a collision has occurred based on the positional relationship between the object's collision detection point and the preset boundary contour 135.

[0067] The preset boundary contour 135 is determined by the inner diameter of the receiving cavity 111. To ensure redundancy in collision detection of the object under test, the preset boundary contour 135 can be smaller than the inner diameter of the receiving cavity 111, that is, the preset boundary contour 135 is smaller than the boundary contour between the receiving cavity 111 and the collision detection section 134 of the object under test. The preset boundary contour 135 is within the collision detection section 134 of the object under test, and the collision detection point of the object under test is also within the collision detection section 134 of the object under test. Based on the positional relationship between the collision detection point of the object under test and the preset boundary contour 135, it can be determined whether the object under test has collided with the receiving cavity 111. In some embodiments, if the collision detection point of the object under test exceeds the preset boundary contour 135, it is determined that a collision has occurred; if the collision detection point of the object under test is within the preset boundary contour 135, it is determined that no collision has occurred.

[0068] Specific examples, such as Figure 5 As shown, some embodiments Figure 4 The intersection of the reference line 133 of the object under test, determined by p1 to p13 in the detection points 131 of the object under test, and the collision detection section 134 of the object under test, that is, the collision detection points of the object under test are Q1 to Q13. Since there are no collision detection points of the object under test that exceed the preset boundary contour 135, it is determined that the object under test has not collided with the receiving cavity 111. Figure 6 As shown, Figure 4 In this embodiment, the intersection of the reference line 133 of the test object determined by p1 to p13 of the test object detection points 131 and the collision detection section 134 of the test object, i.e., the test object collision detection points Q1 to Q13, is determined to have collided with the receiving cavity 111 because the test object collision detection points Q3 to Q5 exceed the preset boundary contour 135. In some embodiments, when a collision between the test object and the receiving cavity 111 is detected, the medical system can restrict the bed board 121 from continuing to move.

[0069] The collision detection method of the above-described medical system, when the target object is the object to be tested, determines the reference line 133 of the object to be tested by the detection point 131 on the envelope surface 132 of the object to be tested, and then determines the collision detection point of the object to be tested by combining it with the preset collision detection cross section 134 of the object to be tested. The collision detection point of the object to be tested can represent the position of the reference line 133 of the object to be tested in the collision detection cross section 134 of the object to be tested. Finally, the positional relationship between the collision detection point of the object to be tested and the preset boundary contour 135 is compared to determine whether the object to be tested will collide with the receiving cavity 111. This embodiment performs collision detection by comparing the positional relationship between the collision detection point of the object to be tested and the preset boundary contour 135, without the need to set up an additional distance sensor, thus avoiding the impact on the normal operation of the medical device 110.

[0070] In one embodiment, such as Figure 7 As shown, when the target object is the object to be tested, step S230, determining the reference line of the object to be tested based on the detection points of the object to be tested, includes:

[0071] Step S231: Obtain the relative position information of the detection point of the object under test relative to the bed board.

[0072] Specifically, the position of the probe point 131 on the envelope surface 132 of the object under test is determined. Once the relative position of the envelope surface 132 and the bed board 121 is determined, the relative position information of the probe point 131 relative to the bed board 121 can be determined. A specific example is as follows... Figure 8 As shown, let the coordinate system of the envelope surface 132 of the object under test be C, and the coordinate system of the bed board 121 be B. When acquiring the detection point 131 of the object under test, what is acquired is the position of the detection point 131 of the object under test in coordinate system C. Since the relative positions of coordinate systems C and B are also determined, the position of the detection point 131 of the object under test in coordinate system C can be converted into the position of the detection point 131 of the object under test in coordinate system B through coordinate transformation, thereby obtaining the relative position information of the detection point 131 of the object under test relative to the bed board 121.

[0073] Step S232: Obtain the posture information of the bed board relative to the medical equipment.

[0074] Specifically, when acquiring the attitude information of the bed board 121, it can be calculated based on the attitude feedback device of the medical bed 120. Using the attitude information of the bed board 121, the current position of the bed board 121 relative to the medical device 110 can be determined. For example, let the coordinate system of the medical device 110 be A. Since the bed board 121 can move freely within the receiving cavity 111, the displacement of the bed board 121 along the X, Y, and Z axes, as well as the angular deflection of the bed board 121, can be obtained. This is the attitude information of the bed board 121 relative to the medical device 110, denoted as (pitch, roll, yaw, x, y, z). A Among them, pitch is the pitch angle, roll is the rotation angle, and yaw is the yaw angle.

[0075] Step S233: Based on the attitude information, perform coordinate transformation on the relative position information to obtain the absolute position information of the detection point of the object under test relative to the medical device.

[0076] Specifically, after obtaining the attitude information of the bed board 121 relative to the medical device 110, the relative position information of the probe point 131 of the test object relative to the bed board 121 is transformed using the attitude information to map the position information relative to the bed board 121 to the position information relative to the medical device 110, thereby obtaining the absolute position information of the probe point 131 of the test object relative to the medical device 110. For example, after obtaining the current attitude information of the bed board 121 relative to the medical device 110, the coordinate transformation matrix of the coordinate system B of the bed board 121 relative to the coordinate system A of the medical device 110 can be determined. By using the coordinate transformation matrix to transform the relative position information, the relative position information of the probe point 131 of the test object in coordinate system B can be converted into the absolute position information of the probe point 131 of the test object in coordinate system A. The coordinate transformation can be calculated using trigonometric functions, Euler angles, quaternions, etc.

[0077] Step S234: Determine the reference line of the object to be measured based on the absolute position information.

[0078] Specifically, after obtaining the absolute position information of the detection point 131 of the object under test relative to the medical device 110, the reference line 133 of the object under test can be determined based on the positional relationship between the reference line 133 of the object under test and the bed board 121. For example, the absolute position information is the position information of the detection point 131 of the object under test in coordinate system A. When determining the reference line 133 of the object under test, which is parallel to the bed board 121 and passes through the detection point 131, the obtained position information of the reference line 133 of the object under test is also the position information in coordinate system A. Through the coordinate transformation step of this embodiment, position information in different coordinate systems can be unified, facilitating the subsequent calculation and determination of the collision detection point of the object under test.

[0079] In one embodiment, when the target object is the object to be tested, step S240, obtaining the collision detection cross section of the object to be tested, includes: when the entire envelope surface 132 of the object to be tested is located within the receiving cavity 111, using the first detection cross section 136 and the second detection cross section 137 as the collision detection cross section 134 of the object to be tested; wherein, the first detection cross section 136 is tangent to one end face of the envelope surface 132 of the object to be tested, and the second detection cross section 137 is tangent to the other end face of the envelope surface 132 of the object to be tested.

[0080] Specifically, such as Figure 9As shown, the moving mechanism on the medical bed 120 can change the position of the object under test, and correspondingly, the position of the object's envelope surface 132 relative to the receiving cavity 111 will also change. When the medical device 110 detects that the entire object's envelope surface 132 is located within the receiving cavity 111, the two end faces of the object's envelope surface 132 may collide with the receiving cavity 111. Therefore, a first detection section 136 tangent to one end face of the object's envelope surface 132 is set, and a second detection section 137 tangent to the other end face of the object's envelope surface 132 is set. During the collision detection of the object under test, the object reference line 133 will generate collision detection points on the first detection section 136 and the second detection section 137 respectively. At the same time, a preset boundary contour 135 is set on the first detection section 136 and the second detection section 137 respectively. When the object's collision detection point on any detection section exceeds the preset boundary contour 135, it can be determined that the end face of the corresponding object's envelope surface 132 has collided.

[0081] In one embodiment, when the target object is the object to be tested, step S240, obtaining the collision detection cross section of the object to be tested, includes: when the envelope surface 132 of the object to be tested is partially located within the receiving cavity 111, using the third detection cross section 138 and the fourth detection cross section 139 as the collision detection cross section 134 of the object to be tested; wherein, the third detection cross section 138 is tangent to the first detection end face of the receiving cavity 111, and the fourth detection cross section 139 is tangent to the second detection end face of the envelope surface 132 of the object to be tested, the first detection end face of the receiving cavity 111 is the end face passing through the envelope surface 132 of the object to be tested, and the second detection end face of the envelope surface 132 of the object to be tested is the end face located within the receiving cavity 111.

[0082] Specifically, such as Figure 10 As shown, the moving mechanism on the medical bed 120 can change the position of the object under test, and correspondingly, the position of the object's envelope surface 132 relative to the receiving cavity 111 will also change. When the medical device 110 detects that part of the object's envelope surface 132 is located within the receiving cavity 111, one end face and one side face of the object's envelope surface 132 may collide with the receiving cavity 111. Therefore, a third detection section 138 tangent to the first detection end face of the receiving cavity 111 is provided, and a fourth detection section 139 tangent to the second detection end face of the object's envelope surface 132 is provided. During the collision detection of the object under test, the object reference line 133 will generate collision detection points on the third detection section 138 and the fourth detection section 139 respectively. At the same time, a preset boundary contour 135 is provided on the third detection section 138 and the fourth detection section 139 respectively. When the object's collision detection point on any detection section exceeds the preset boundary contour 135, it can be determined that the corresponding object's envelope surface 132 has collided.

[0083] In one embodiment, such as Figure 11 As shown, a collision detection method for a medical system is provided, taking the bed board 121 as an example, and includes the following steps:

[0084] Step S310: Determine the target object as a bed board.

[0085] Specifically, in this embodiment, when the bed board 121 moves within the receiving cavity 111, there is only a situation where the bed board 121 collides with the receiving cavity 111. When the medical system determines the target object, it determines the target object as the bed board 121 based on the type of medical device 110 and / or medical bed 120.

[0086] Step S320: Obtain the bed board detection points.

[0087] Specifically, after the medical system identifies the target object, it acquires the target object's probe points, which are located on the target object's envelope surface. For example... Figure 12 As shown, when the target object is determined to be the bed board 121, the obtained target object detection point is the bed board detection point 141, which is located on the bed board envelope surface 142.

[0088] The bed board envelope surface 142 is used to indicate the size of the space occupied by the bed board 121 in the receiving cavity 111. The bed board envelope surface 142 completely covers the bed board 121 and can be greater than or equal to the bed board 121 to provide redundancy for collision detection of the bed board 121. The bed board envelope surface 142 can be preset. In some embodiments, the bed board envelope surface 142 is set as a semi-cylinder, cuboid, etc.

[0089] After determining the bed board envelope surface 142, a bed board detection point 141 is obtained on the bed board envelope surface 142. The bed board detection point 141 is the position on the bed board envelope surface 142 most likely to collide with the receiving cavity 111, and it can be obtained by pre-setting. In some embodiments, such as Figure 13 As shown, the bed plate envelope surface 142 is set as a semi-cylinder, and the R1 to R5 of the bed plate detection points 141 are all set on a section perpendicular to the axis of the elliptical cylinder. Since the top surface of the bed plate 121 is used to support the object to be measured, it is not easy to collide with the receiving cavity 111. Therefore, no bed plate detection points 141 are set at the corresponding positions on the bed plate envelope surface 142. With this setting, it is possible to detect whether the bed plate 121 has collided with the receiving cavity 111 through subsequent steps. It can be understood that the more bed plate detection points 141 there are, the higher the accuracy of the collision detection of the bed plate 121, but at the same time, the computational load during collision detection is also greater.

[0090] Step S330: Determine the bed board reference line based on the bed board detection points.

[0091] Specifically, after the medical system determines the target object detection point, it determines the target object reference line based on the target object detection point. The target object reference line is parallel to the bed board 121 and passes through the target object detection point. For example... Figure 12 As shown, when the target object is determined to be the bed board 121, the target object reference line determined based on the bed board detection point 141 is the bed board reference line 143. The bed board reference line 143 is parallel to the bed board 121 and passes through the bed board detection point 141.

[0092] When determining the bed board reference line 143, since the position of the bed board detection point 141 on the bed board envelope surface 142 is fixed, and the position of the bed board envelope surface 142 relative to the medical device 110 is fixed, the bed board reference line 143 can be determined by calculating a straight line parallel to the bed board 121 and passing through the bed board detection point 141.

[0093] Step S340: Obtain the collision detection section of the bed board.

[0094] Specifically, the medical system will simultaneously acquire the collision detection cross-section of the target object. This cross-section is perpendicular to the axis of the receiving cavity 111, and is tangent to at least one end face of the target object's envelope. For example... Figure 12 As shown, when the target object is determined to be the bed board 121, the obtained target object collision detection section is the bed board collision detection section 144, and the bed board collision detection section 144 is perpendicular to the axis of the receiving cavity 111.

[0095] The medical system can determine the specific location of the bed board collision detection section 144 based on the specific movement pattern of the bed board 121. In some embodiments, since the length of the bed board 121 is generally greater than the length of the receiving cavity 111, the bed board collision detection section 144 is configured as two sections, each tangent to one of the two end faces of the receiving cavity 111. In some embodiments, one end of the bed board 121 may be fixed. In this case, only the unfixed end may collide with the receiving cavity 111. Therefore, the bed board collision detection section 144 is configured as a section tangent to one end face of the receiving cavity 111.

[0096] Step S350: Determine the bed board collision detection point based on the intersection of the bed board reference line and the bed board collision detection section.

[0097] Specifically, after determining the target object reference line and the target object collision detection section, the medical system determines the target object collision detection point based on the intersection of the target object reference line and the target object collision detection section. If the target object is determined to be bed board 121, the medical system determines the bed board 121 collision detection point based on the intersection of bed board reference line 143 and bed board collision detection section 144.

[0098] With the position of the bed board reference line 143 relative to the receiving cavity 111 determined, and the position of the bed board collision detection section 144 relative to the receiving cavity 111 determined, the intersection point of the bed board reference line 143 and the bed board collision detection section 144 can be determined, that is, the collision detection point of the bed board 121 can be determined.

[0099] Step S360: Determine whether a collision has occurred based on the positional relationship between the bed board collision detection point and the preset boundary contour.

[0100] Specifically, after determining the collision detection point of the target object, the medical system will determine whether a collision has occurred based on the positional relationship between the collision detection point of the target object and the preset boundary contour 135. If the target object is determined to be the bed board 121, the medical system will determine whether a collision has occurred based on the positional relationship between the collision detection point of the bed board 121 and the preset boundary contour 135.

[0101] The preset boundary contour 135 is determined by the inner diameter of the receiving cavity 111. To ensure redundancy in collision detection of the bed board 121, the preset boundary contour 135 can be smaller than the inner diameter of the receiving cavity 111, that is, the preset boundary contour 135 is smaller than the boundary contour between the receiving cavity 111 and the collision detection section 144 of the bed board. The preset boundary contour 135 is within the collision detection section 144 of the bed board, and the collision detection point of the bed board 121 is also within the collision detection section 144 of the bed board. Based on the positional relationship between the collision detection point of the bed board 121 and the preset boundary contour 135, it can be determined whether the bed board 121 has collided with the receiving cavity 111. In some embodiments, if the collision detection point of the bed board 121 exceeds the preset boundary contour 135, it is determined that a collision has occurred; if the collision detection point of the bed board 121 is within the preset boundary contour 135, it is determined that no collision has occurred.

[0102] Specific examples, such as Figure 14 As shown, some embodiments Figure 13 The intersection of the bed board reference line 143, determined by R1 to R5 in the bed board detection points 141, and the bed board collision detection section 144, that is, the collision detection points of the bed board 121 are S1 to S5. Since there are no bed board 121 collision detection points that exceed the preset boundary contour 135, it is determined that the bed board 121 did not collide with the receiving cavity 111. Figure 15 As shown, Figure 13 In this embodiment, the intersection of the bed board reference line 143 determined by R1 to R5 in the bed board detection points 141 and the bed board collision detection section 144, i.e., the bed board 121 collision detection points S1 to S5, is determined to have collided with the receiving cavity 111 because the bed board 121 collision detection point S5 exceeds the preset boundary contour 135. In some embodiments, when a collision between the bed board 121 and the receiving cavity 111 is detected, the medical system can restrict the bed board 121 from continuing to move.

[0103] The collision detection method of the above-described medical system, when the target object is the bed board 121, determines the bed board reference line 143 by using the bed board detection point 141 on the bed board envelope surface 142, and then determines the bed board 121 collision detection point by combining it with a preset bed board collision detection section 144. The bed board 121 collision detection point can represent the position of the bed board reference line 143 in the bed board collision detection section 144. Finally, the positional relationship between the bed board 121 collision detection point and the preset boundary contour 135 is compared to determine whether the bed board 121 will collide with the receiving cavity 111. This embodiment performs collision detection by comparing the positional relationship between the bed board 121 collision detection point and the preset boundary contour 135, eliminating the need for additional distance sensors and avoiding interference with the normal operation of the medical device 110.

[0104] In one embodiment, such as Figure 16 As shown, when the target object is bed board 121, step S330, determining the bed board reference line based on the bed board detection point, includes:

[0105] Step S331: Obtain the relative position information of the bed board detection point relative to the bed board.

[0106] Specifically, the position of the bed board detection point 141 on the bed board envelope surface 142 is determined. Once the relative position of the bed board envelope surface 142 and the bed board 121 is determined, the relative position information of the bed board detection point 141 relative to the bed board 121 can be determined. A specific example is as follows... Figure 17 As shown, let the coordinate system of the bed board envelope surface 142 be D, and the coordinate system of the bed board 121 be B. The coordinate system B and the coordinate system D can have the same coordinate base point. In this case, when the bed board detection point 141 is obtained, the relative position information of the bed board detection point 141 with respect to the bed board 121 can be obtained directly.

[0107] Step S332: Obtain the posture information of the bed board relative to the medical equipment.

[0108] Specifically, when acquiring the attitude information of the bed board 121, it can be calculated based on the attitude feedback device of the medical bed 120. Using the attitude information of the bed board 121, the current position of the bed board 121 relative to the medical device 110 can be determined. For example, let the coordinate system of the medical device 110 be A. Since the bed board 121 can move freely within the receiving cavity 111, the displacement of the bed board 121 along the X, Y, and Z axes, as well as the angular deflection of the bed board 121, can be obtained. This is the attitude information of the bed board 121 relative to the medical device 110, denoted as (pitch, roll, yaw, x, y, z). A Among them, pitch is the pitch angle, roll is the rotation angle, and yaw is the yaw angle.

[0109] Step S333: Based on the attitude information, perform coordinate transformation on the relative position information to obtain the absolute position information of the bed board detection point relative to the medical equipment.

[0110] Specifically, after obtaining the attitude information of the bed board 121 relative to the medical device 110, the relative position information of the bed board detection point 141 relative to the bed board 121 is transformed using the attitude information to map the position information relative to the bed board 121 to the position information relative to the medical device 110, thereby obtaining the absolute position information of the bed board detection point 141 relative to the medical device 110. For example, after obtaining the current attitude information of the bed board 121 relative to the medical device 110, the coordinate transformation matrix of the coordinate system B of the bed board 121 relative to the coordinate system A of the medical device 110 can be determined. By using the coordinate transformation matrix to transform the relative position information, the relative position information of the bed board detection point 141 in coordinate system B can be converted into the absolute position information of the bed board detection point 141 in coordinate system A. The coordinate transformation can be calculated using trigonometric functions, Euler angles, quaternions, etc.

[0111] Step S334: Determine the bed board reference line based on the absolute position information.

[0112] Specifically, after obtaining the absolute position information of the bed board detection point 141 relative to the medical device 110, the bed board reference line 143 can be determined based on the positional relationship between the bed board reference line 143 and the bed board 121. For example, the absolute position information is the position information of the bed board detection point 141 in coordinate system A. When determining the bed board reference line 143, which is parallel to the bed board 121 and passes through the bed board detection point 141, the obtained position information of the bed board reference line 143 is also its position information in coordinate system A. Through the coordinate transformation step of this embodiment, position information in different coordinate systems can be unified, facilitating the subsequent calculation and determination of the collision detection point of the bed board 121.

[0113] In one embodiment, such as Figure 18 As shown, a collision detection method for a medical system is provided, taking the target object and bed board 121 as examples, and includes the following steps:

[0114] Step S410: Determine the target objects as the object to be tested and the bed board.

[0115] Specifically, in this embodiment, when the bed board 121 moves within the receiving cavity 111, there is a possibility that both the object to be tested and the bed board 121 will collide with the receiving cavity 111. When determining the target object, the medical system determines the target object as the object to be tested and the bed board 121 based on the type of medical device 110 and / or medical bed 120.

[0116] Step S420: Obtain the fusion detection points.

[0117] Specifically, after the medical system identifies the target object, it acquires the target object detection points, which are located on the target object's envelope surface. When the target object is determined to be the object to be tested and the bed board 121, the acquired target object detection points are the fusion detection points, and the target object's envelope surface is the fusion envelope surface 151 formed by fusing the object to be tested's envelope surface 132 and the bed board's envelope surface 142. The fusion detection points are located on the fusion envelope surface 151. The fusion envelope surface 151 represents the space occupied by the object to be tested and the bed board 121 within the receiving cavity 111. The fusion envelope surface 151 completely covers the object to be tested and the bed board 121 and can be greater than or equal to the object to be tested and the bed board 121 to provide redundancy for collision detection. In some embodiments, the object to be tested's envelope surface 132 is set as a cylinder. In some other embodiments, when the object to be tested is a human body, since the width of a human shoulder is greater than the height of the chest cavity, the object to be tested's envelope surface 132 is set as an elliptical cylinder. When determining the envelope 132 of the test subject, the medical system can determine the specific size range of the envelope 132 based on parameters such as the person's height and chest circumference. The bed board envelope 142 can be preset. In some embodiments, the bed board envelope 142 is set as a semi-cylinder, cuboid, etc.

[0118] After determining the fusion envelope surface 151, fusion detection points are then obtained on the fusion envelope surface 151. The fusion detection points include: the detection point 131 of the object under test and the detection point 141 of the bed board, which can be obtained by pre-setting.

[0119] Step S430: Determine the fusion reference line based on the fusion detection points.

[0120] Specifically, after the medical system determines the target object detection point, it determines the target object reference line based on the target object detection point. The target object reference line is parallel to the bed board 121 and passes through the target object detection point. When the target object is determined to be the object to be tested and the bed board 121, the target object reference line determined based on the fusion detection point is the fusion reference line. The fusion reference line is parallel to the bed board 121 and passes through the fusion detection point. The fusion reference line includes: the object to be tested reference line 33 and the bed board reference line 43.

[0121] When determining the fusion reference line, since the position of the fusion detection point on the fusion envelope surface 151 is fixed, and the position of the fusion envelope surface 151 relative to the medical device 110 is fixed, the fusion reference line can be determined by calculating a straight line parallel to the bed board 121 and passing through the fusion detection point.

[0122] Step S440: Obtain the fused collision detection cross section.

[0123] Specifically, the medical system simultaneously acquires the target object collision detection section, which is perpendicular to the axis of the receiving cavity 111 and tangent to at least one end face of the target object's envelope surface. When the target object is determined to be the object to be tested and the bed board 121, the acquired target object collision detection section is the fused collision detection section 152. The fused collision detection section 152 is perpendicular to the axis of the receiving cavity 111 and includes: the object to be tested collision detection section 134 and the bed board collision detection section 144.

[0124] The medical system can determine the specific location of the fusion collision detection section 152 based on the specific motion pattern of the bed board 121. The fusion collision detection section 152 includes a section tangent to the end face of the envelope surface 132 of the object under test, and a section tangent to the end face of the receiving cavity 111.

[0125] Step S450: Determine the fusion collision detection point based on the intersection of the fusion reference line and the fusion collision detection section.

[0126] Specifically, after determining the target object reference line and the target object collision detection section, the medical system determines the target object collision detection point based on the intersection of the target object reference line and the target object collision detection section. When the target object is determined to be the object to be tested and the bed board 121, the medical system determines the fusion collision detection point based on the intersection of the fusion reference line and the fusion collision detection section 152.

[0127] With the position of the fusion reference line relative to the receiving cavity 111 determined, and the position of the fusion collision detection section 152 relative to the receiving cavity 111 determined, the intersection point of the fusion reference line and the fusion collision detection section 152 can be determined, that is, the fusion collision detection point can be determined. The fusion collision detection point includes: the collision detection point of the object under test and the collision detection point of the bed board 121.

[0128] Step S460: Determine whether a collision has occurred based on the positional relationship between the fused collision detection point and the preset boundary contour.

[0129] Specifically, after determining the collision detection point of the target object, the medical system will determine whether a collision has occurred based on the positional relationship between the target object's collision detection point and the preset boundary contour 135. When the target object is determined to be the object to be tested and the bed board 121, the medical system will determine whether a collision has occurred based on the positional relationship between the fused collision detection point and the preset boundary contour 135.

[0130] The preset boundary contour 135 is determined by the inner diameter of the receiving cavity 111. To ensure redundancy in collision detection, the preset boundary contour 135 can be smaller than the inner diameter of the receiving cavity 111, that is, the preset boundary contour 135 is smaller than the boundary contour between the receiving cavity 111 and the fusion collision detection section 152. The preset boundary contour 135 is within the fusion collision detection section 152, and the fusion collision detection point is also within the fusion collision detection section 152. Based on the positional relationship between the fusion collision detection point and the preset boundary contour 135, it can be determined whether the object under test and the bed board 121 collide with the receiving cavity 111. In some embodiments, if the fusion collision detection point exceeds the preset boundary contour 135, it is determined that a collision has occurred; if the fusion collision detection point is within the preset boundary contour 135, it is determined that no collision has occurred.

[0131] Specific examples, such as Figure 19 As shown, this is a schematic diagram of the positions of the fusion collision detection points and the preset boundary contour 135 in some embodiments. The fusion collision detection points are T1 to T16. Since there are no fusion collision detection points that exceed the preset boundary contour 135, it is determined that neither the object to be tested nor the bed board 121 has collided with the receiving cavity 111. Figure 20 As shown, this is a schematic diagram of the position of the fusion collision detection point and the preset boundary contour 135 in some other embodiments. The fusion collision detection points are T1 to T16. Since the fusion collision detection points T15 and T16 exceed the preset boundary contour 135, and both fusion collision detection points T15 and T16 are collision detection points of the bed board 121, it is determined that the bed board 121 collides with the receiving cavity 111.

[0132] The collision detection method of the above-described medical system, when the target objects are the object to be tested and the bed board 121, determines the fusion reference line by using the fusion detection point on the fusion envelope surface 151, and then determines the fusion collision detection point by combining it with the preset fusion collision detection section 152. The fusion collision detection point can represent the position of the fusion reference line in the fusion collision detection section 152. Finally, the positional relationship between the fusion collision detection point and the preset boundary contour 135 is compared to determine whether the object to be tested and the bed board 121 will collide with the receiving cavity 111. This embodiment performs collision detection by comparing the positional relationship between the fusion collision detection point and the preset boundary contour 135, eliminating the need for additional distance sensors and avoiding interference with the normal operation of the medical device 110.

[0133] In one embodiment, such as Figure 21 As shown, when the target object is the object to be tested and the bed board 121, in step S430, determining the bed board reference line based on the fused detection points includes:

[0134] Step S431: Obtain the relative position information of the fusion detection point relative to the bed board.

[0135] Specifically, the position of the fusion detection point on the fusion envelope surface 151 is determined. Once the relative position of the fusion envelope surface 151 and the bed board 121 is determined, the relative position information of the fusion detection point relative to the bed board 121 can be determined. For example, since the position of the object-to-be envelope surface 132 in the fusion envelope surface 151 changes relative to the bed board envelope surface 142, when determining the relative position information of the fusion detection point relative to the bed board 121, the fusion detection point is divided into the object-to-be detection point 131 and the bed board detection point 141 for separate determination. Let the coordinate system of the envelope surface 132 of the object under test be C, the coordinate system of the envelope surface 142 of the bed board be D, and the coordinate system of the bed board 121 be B. When acquiring the detection point 131 of the object under test, what is acquired is the position of the detection point 131 of the object under test in coordinate system C. Since the relative positions of coordinate systems C and B are fixed, the position of the detection point 131 of the object under test in coordinate system C can be converted into the position of the detection point 131 of the object under test in coordinate system B through coordinate transformation, thereby obtaining the relative position information of the detection point 131 of the object under test relative to the bed board 121. When acquiring the object detection point of the bed board 121, coordinate systems B and D can have the same coordinate base point. In this case, the relative position information of the detection point 141 of the bed board relative to the bed board 121 can be directly obtained.

[0136] Step S432: Obtain the posture information of the bed board relative to the medical equipment.

[0137] Specifically, when acquiring the attitude information of the bed board 121, it can be calculated based on the attitude feedback device of the medical bed 120. The current position of the bed board 121 relative to the medical device 110 can be determined using this attitude information. For example, let the coordinate system of the medical device 110 be A. Since the bed board 121 can move freely within the receiving cavity 111, the displacement of the bed board 121 along the X, Y, and Z axes, as well as the angular deflection of the bed board 121, can be obtained. This is the attitude information of the bed board 121 relative to the medical device 110, denoted as (pitch, roll, yaw, x, y, z)A, where pitch is the pitch angle, roll is the rotation angle, and yaw is the yaw angle.

[0138] Step S433: Based on the attitude information, perform coordinate transformation on the relative position information to obtain the absolute position information of the fused detection point relative to the medical device.

[0139] Specifically, after obtaining the attitude information of the bed board 121 relative to the medical device 110, coordinate transformations are performed on the relative position information of the detection point 131 of the test object and the detection point 141 of the bed board relative to the bed board 121 using the attitude information. This maps the position information relative to the bed board 121 to the position information relative to the medical device 110, thereby obtaining the absolute position information of the detection point 131 of the test object and the detection point 141 of the bed board relative to the medical device 110. For a specific example, after obtaining the current attitude information of the bed board 121 relative to the medical device 110, the coordinate transformation matrix of the coordinate system B of the bed board 121 relative to the coordinate system A of the medical device 110 can be determined. By using the coordinate transformation matrix to perform coordinate transformation on the relative position information, the relative position information of the detection point 131 of the test object and the detection point 141 of the bed board in coordinate system B can be converted into the absolute position information of the detection point 131 of the test object and the detection point 141 of the bed board in coordinate system A. Coordinate transformations can be calculated using trigonometric functions, Euler angles, quaternions, and other methods.

[0140] Step S434: Determine the fusion reference line based on the absolute position information.

[0141] Specifically, after obtaining the absolute position information of the detection point 131 of the object under test and the detection point 141 of the bed board relative to the medical device 110, the reference lines 133 of the object under test and 143 of the bed board, which are also called fusion reference lines, can be determined based on their positional relationship with the bed board 121. For example, the absolute position information includes the position information of the detection point 131 of the object under test and the detection point 141 of the bed board in coordinate system A. When determining the fusion reference line parallel to the bed board 121 and passing through the fusion detection point, the position information of the obtained fusion reference line is also its position information in coordinate system A. Through the coordinate transformation step of this embodiment, the position information in different coordinate systems can be unified, facilitating the subsequent calculation and determination of the fusion collision detection point.

[0142] In one embodiment, when the target object is the object to be tested and the bed board 121, step S440, obtaining the fusion collision detection section, includes: when the entire envelope surface 132 of the object to be tested is located within the receiving cavity 111, the section tangent to the two end faces of the envelope surface 132 of the object to be tested and the section tangent to the two end faces of the receiving cavity 111 are taken as the fusion collision detection section 152.

[0143] Specifically, such as Figure 22As shown, the moving mechanism on the medical bed 120 can change the position of the object under test, and correspondingly, the position of the object under test's envelope surface 132 relative to the receiving cavity 111 will also change. When the medical device 110 detects that the entire envelope surface 132 of the object under test is located within the receiving cavity 111, both end faces of the object under test's envelope surface 132 and both end faces of the bed board's envelope surface 142 may collide with the receiving cavity 111. Therefore, four cross-sections—the cross-section tangent to the two end faces of the object under test's envelope surface 132 and the cross-section tangent to the two end faces of the receiving cavity 111—are used as fusion collision detection cross-sections 152. During collision detection between the object under test and the bed board 121, fusion reference lines will generate fusion object collision detection points on the corresponding detection cross-sections. At the same time, preset boundary contours 135 are set on the detection cross-sections. When the fusion collision detection point on any detection cross-section exceeds the preset boundary contour 135, it can be determined that the corresponding end faces have collided.

[0144] In one embodiment, when the target object is the object to be tested and the bed board 121, step S440, obtaining the fusion collision detection section, includes: when the envelope surface 132 of the object to be tested is partially located in the receiving cavity 111, taking the section tangent to the end face of the envelope surface 132 of the object to be tested located in the receiving cavity 111 and the section tangent to the two end faces of the receiving cavity 111 as the fusion collision detection section 152.

[0145] Specifically, such as Figure 23 As shown, the moving mechanism on the medical bed 120 can change the position of the object under test, and correspondingly, the position of the object under test's envelope surface 132 relative to the receiving cavity 111 will also change. When the medical device 110 detects that part of the object under test's envelope surface 132 is located within the receiving cavity 111, one end face of the object under test's envelope surface 132 and both end faces of the bed board's envelope surface 142 may collide with the receiving cavity 111. Therefore, three sections are used as the fusion collision detection sections 152: the section tangent to the end face of the object under test's envelope surface 132 located in the receiving cavity 111, and the section tangent to the two end faces of the receiving cavity 111. During collision detection between the object under test and the bed board 121, the fusion reference line generates fusion object collision detection points on the corresponding detection sections. At the same time, preset boundary contours 135 are set on the detection sections. When the fusion collision detection point on any detection section exceeds the preset boundary contour 135, it can be determined that the corresponding end face has collided.

[0146] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0147] Based on the same inventive concept, this application also provides a collision detection device for implementing the collision detection method of the medical system described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the collision detection device for medical systems provided below can be found in the limitations of the collision detection method for medical systems described above, and will not be repeated here.

[0148] In one embodiment, such as Figure 24 As shown, a collision detection device for a medical system is provided, comprising: an object determination module 510, a detection point determination module 520, a reference line determination module 530, a detection cross-section determination module 540, a detection point determination module 550, and a collision detection module 560, wherein:

[0149] Object determination module 510 is used to determine the target object;

[0150] The detection point determination module 520 is used to acquire the target object detection point; the target object detection point is on the target object's envelope surface.

[0151] The reference line determination module 530 is used to determine the target object reference line based on the target object detection point; wherein, the target object reference line is parallel to the bed board 121 and passes through the target object detection point;

[0152] The detection section determination module 540 is used to obtain the collision detection section of the target object; wherein, the collision detection section of the target object is perpendicular to the axis of the receiving cavity 111, and the collision detection section of the target object is tangent to at least one end face of the envelope surface of the target object;

[0153] The detection point determination module 550 is used to determine the collision detection point of the target object based on the intersection of the target object reference line and the target object collision detection section;

[0154] The collision detection module 560 is used to determine whether a collision has occurred based on the positional relationship between the collision detection point of the target object and the preset boundary contour 135.

[0155] In one embodiment, the target object includes the object to be tested and / or the bed board 121.

[0156] In one embodiment, when the target objects are the object to be tested and the bed board 121, the target object envelope is the fused envelope 151 formed by fusing the object to be tested envelope 132 and the bed board envelope 142.

[0157] In one embodiment, the reference line determination module 530 is further configured to acquire the relative position information of the target object detection point relative to the bed board 121; acquire the posture information of the bed board 121 relative to the medical device 110; perform coordinate transformation on the relative position information based on the posture information to obtain the absolute position information of the target object detection point relative to the medical device 110; and determine the target object reference line based on the absolute position information.

[0158] In one embodiment, the target object collision detection section includes a section tangent to the end face of the target object's envelope surface, and / or a section tangent to the end face of the receiving cavity 111.

[0159] In one embodiment, the collision detection module 560 is further configured to determine that a collision has occurred if the collision detection point of the target object exceeds the preset boundary contour 135; and determine that no collision has occurred if the collision detection point of the target object is within the preset boundary contour 135.

[0160] In one embodiment, the preset boundary contour 135 in the target object collision detection section is smaller than the boundary contour between the receiving cavity 111 and the target object collision detection section.

[0161] In some embodiments, a medical system is also provided, comprising: a medical device 110 and a medical bed 120, the medical device 110 having a receiving cavity 111, the medical bed 120 having a bed board 121 capable of moving within the receiving cavity 111, the bed board 121 being used to support an object to be tested, the medical system further comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the collision detection method of the above-described medical system.

[0162] In some embodiments, a computer-readable storage medium is provided having a computer program stored thereon, wherein the processor executes the computer program to implement the steps of the collision detection method of the medical system described above.

[0163] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0164] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A collision detection method for a medical system, the medical system comprising: A medical device and a medical bed, the medical device having a receiving cavity, the medical bed having a bed board movable within the receiving cavity, characterized in that the method comprises: Identify the target object; Acquire the target object detection point; the target object detection point is on the target object's envelope surface; Based on the absolute position information of the target object detection point relative to the medical device, a target object reference line is determined; wherein, the target object reference line is parallel to the bed board and passes through the target object detection point, and the absolute position information is the position information of the target object detection point in the coordinate system of the medical device; Obtain the collision detection section of the target object; wherein the collision detection section of the target object is perpendicular to the axis of the receiving cavity; the collision detection section of the target object includes a section tangent to the end face of the envelope surface of the target object, and / or a section tangent to the end face of the receiving cavity; The collision detection point of the target object is determined based on the intersection of the target object reference line and the target object collision detection section. Whether a collision occurs is determined based on the positional relationship between the collision detection point of the target object and the preset boundary contour.

2. The collision detection method for a medical system according to claim 1, characterized in that: The target object includes the object to be tested and / or the bed board.

3. The collision detection method for a medical system according to claim 2, characterized in that, When the target object is the object to be tested and the bed board, the target object envelope is the fused envelope of the object to be tested and the bed board envelope.

4. The collision detection method for a medical system according to claim 1, characterized in that, The step of determining the target object reference line based on the absolute position information of the target object detection point relative to the medical device includes: Obtain the relative position information of the target object detection point relative to the bed board; Obtain the posture information of the bed board relative to the medical device; Based on the posture information, coordinate transformation is performed on the relative position information to obtain the absolute position information of the target object detection point relative to the medical device; Based on the absolute position information, the reference line of the target object is determined.

5. The collision detection method for a medical system according to claim 1, characterized in that, The step of determining whether a collision has occurred based on the positional relationship between the collision detection point of the target object and the preset boundary contour includes: If the collision detection point of the target object exceeds the preset boundary contour, a collision is determined to have occurred. If the collision detection point of the target object is within the preset boundary contour, then it is determined that no collision has occurred.

6. The collision detection method for a medical system according to claim 1, characterized in that, The preset boundary contour is smaller than the boundary contour between the receiving cavity and the target object collision detection section in the target object collision detection section.

7. A collision detection device for a medical system, the medical system comprising: A medical device and a medical bed, the medical device having a receiving cavity, the medical bed having a bed board capable of moving within the receiving cavity, characterized in that the collision detection device comprises: The object determination module is used to determine the target object; The detection point determination module is used to acquire the detection points of the target object; the detection points of the target object are on the envelope surface of the target object; The reference line determination module is used to determine a target object reference line based on the absolute position information of the target object detection point relative to the medical device; wherein, the target object reference line is parallel to the bed board and passes through the target object detection point, and the absolute position information is the position information of the target object detection point in the coordinate system of the medical device; A detection section determination module is used to obtain a target object collision detection section; wherein, the target object collision detection section is perpendicular to the axis of the receiving cavity; the target object collision detection section includes a section tangent to the end face of the target object's envelope surface, and / or a section tangent to the end face of the receiving cavity; The detection point determination module is used to determine the collision detection point of the target object based on the intersection of the target object reference line and the target object collision detection section; The collision detection module is used to determine whether a collision has occurred based on the positional relationship between the collision detection point of the target object and the preset boundary contour.

8. The collision detection device for a medical system according to claim 7, characterized in that, The reference line determination module is further configured to acquire the relative position information of the target object detection point relative to the bed board; acquire the attitude information of the bed board relative to the medical device; and perform coordinate transformation on the relative position information based on the attitude information to obtain the absolute position information of the target object detection point relative to the medical device. Based on the absolute position information, the reference line of the target object is determined.

9. A medical system, characterized in that, The medical system includes: a medical device and a medical bed, the medical device having a receiving cavity, the medical bed having a bed board capable of moving within the receiving cavity, the bed board being used to support an object to be tested, characterized in that the medical system further includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the collision detection method of the medical system according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the collision detection method for the medical system according to any one of claims 1 to 6.

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