Probe anti-collision control method for double-probe SPECT / CT and related device

Abstract

The invention discloses a double-probe SPECT / CT probe anti-collision control method and a related device, and relates to the field of medical equipment control, and the method comprises the steps: obtaining a first calibration point coordinate group of a target probe projected in a preset plane coordinate system after the target probe is moved and before the target probe is rotated, and obtaining a second calibration point coordinate group of the target probe projected in the preset plane coordinate system in the rotation process of the target probe; on the basis of a first current rotation angle matrix of self rotation and a second current rotation angle matrix of follow-up rotation, updating each vertex coordinate of the first calibration point coordinate group to obtain a second calibration point coordinate group projected after the target probe rotates, and calculating the minimum distance between each vertex coordinate in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system, and controlling the target probe to stop rotating under the condition that the minimum distance is not greater than a preset safety distance threshold value. Therefore, the risk of collision between the target probe and the examination bed is avoided.

Description

Technical Field

[0001] The present application relates to the field of medical equipment control technology, and in particular to a probe anti-collision control method and related devices for dual-probe SPECT / CT. Background Art

[0002] Single-Photon Emission Computed Tomography / Computed Tomography (SPECT / CT) is a common medical imaging device. Since traditional SPECT / CT devices are only equipped with a single probe, and the angle of the single probe is not adjustable, the positioning accuracy of the lesion is low. Therefore, in order to improve the positioning accuracy of the lesion, a dual-probe SPECT / CT device is proposed. The main frame of this type of dual-probe SPECT / CT device is symmetrically configured with two probes, each of which can be moved in the horizontal and vertical directions relative to the main frame, and each probe can be rotated at a certain angle. By moving and rotating the two probes, the detection range of the probe can be expanded, thereby improving the positioning accuracy of the lesion.

[0003] However, due to the increased range of motion of the two probes of the dual-probe SPECT / CT device, there is a risk of collision between the probe and the examination bed during operation. The dual-probe SPECT / CT device is a relatively sophisticated medical imaging device. If the probe collides with the examination bed, it will cause damage to the probe or misalignment of the detection direction, reducing the accuracy of locating the lesion. Therefore, how to avoid collision between the probe and the examination bed of the dual-probe SPECT / CT device has become an urgent problem to be solved. Summary of the invention

[0004] In view of the above problems, the present application provides a dual-probe SPECT / CT probe anti-collision control method and related devices to achieve the purpose of avoiding the risk of collision between the probe of the dual-probe SPECT / CT device and the examination bed. The specific scheme is as follows:

[0005] The first aspect of the present application provides a probe anti-collision control method for dual-probe SPECT / CT, comprising:

[0006] Obtaining a first calibration point coordinate group of the target probe projected in a preset plane coordinate system after the target probe moves and before the target probe rotates, wherein the rotation includes self-rotation and follow-up rotation, wherein the self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame, and the first calibration point coordinate group includes at least the coordinates of each vertex of the projection;

[0007] During the rotation of the target probe, based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex of the first calibration point coordinate group are updated to obtain the second calibration point coordinate group of the projection after the target probe performs the rotation;

[0008] Calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system;

[0009] In the case that there is a minimum distance that is not greater than a preset safety distance threshold, the target probe is controlled to stop rotating.

[0010] In a possible implementation, the calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system includes:

[0011] For each side of the projection of the examination bed in the preset plane coordinate system: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain a first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed in the preset plane coordinate system to the detection axis to obtain a second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

[0012] In a possible implementation, the first calibration point coordinate group also includes the center point coordinates of the projection, and in the process of the target probe rotating, based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex in the first calibration point coordinate group are updated to obtain the second calibration point coordinate group of the projection after the target probe rotates, including:

[0013] Updating the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection;

[0014] For each vertex coordinate in the third calibration point coordinate group: when the target probe only performs the self-rotation, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the self-rotation; when the target probe only performs the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the follow-up rotation; when the target probe performs the self-rotation and the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate, the first current rotation angle matrix and the second current rotation angle, so as to obtain the vertex coordinate of the target probe after the self-rotation and the follow-up rotation;

[0015] The second calibration point coordinate group including updated coordinates of each vertex is obtained.

[0016] In a possible implementation, updating the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection includes:

[0017] For each vertex coordinate in the first calibration point coordinates: the horizontal coordinate of the vertex coordinate is updated to the difference between the horizontal coordinate of the vertex and the horizontal coordinate of the center point coordinate; the vertical coordinate of the vertex coordinate is updated to the difference between the vertical coordinate of the vertex and the vertical coordinate of the center point coordinate;

[0018] Obtain the third calibration point coordinate group.

[0019] In a possible implementation, the origin of the preset plane coordinate system is the center point of the main frame, the horizontal axis of the preset plane coordinate system is parallel to the installation plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the installation plane.

[0020] In a possible implementation, the movement includes at least one of horizontal movement and vertical movement.

[0021] A second aspect of the present application provides a probe anti-collision control system for a dual-probe SPECT / CT, comprising:

[0022] A coordinate acquisition module, used for acquiring a first calibration point coordinate group projected by the target probe in a preset plane coordinate system after the target probe moves and before the target probe rotates, wherein the rotation includes self-rotation and follow-up rotation, wherein the self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame, and the first calibration point coordinate group includes at least the coordinates of each vertex of the projection;

[0023] A coordinate updating module, used for updating the coordinates of each vertex of the first calibration point coordinate group based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation during the rotation of the target probe, so as to obtain the second calibration point coordinate group of the projection after the target probe performs the rotation;

[0024] a distance calculation module, used for calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system;

[0025] The control module is used to control the target probe to stop rotating when there is a situation where the minimum distance is not greater than a preset safety distance threshold.

[0026] In a possible implementation, the distance calculation module is configured to:

[0027] For each side of the projection of the examination bed in the preset plane coordinate system: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain a first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed in the preset plane coordinate system to the detection axis to obtain a second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

[0028] In a possible implementation, the coordinate updating module is configured to:

[0029] The first calibration point coordinate group also includes the center point coordinates of the projection, and the first calibration point coordinate group is updated to a third calibration point coordinate group based on the center point coordinates of the projection;

[0030] For each vertex coordinate in the third calibration point coordinate group: when the target probe only performs the self-rotation, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the self-rotation; when the target probe only performs the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the follow-up rotation; when the target probe performs the self-rotation and the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate, the first current rotation angle matrix and the second current rotation angle, so as to obtain the vertex coordinate of the target probe after the self-rotation and the follow-up rotation;

[0031] The second calibration point coordinate group including updated coordinates of each vertex is obtained.

[0032] In a possible implementation, when the coordinate updating module updates the first calibration point coordinate group to the third calibration point coordinate group based on the center point coordinates of the projection, the coordinate updating module is configured to:

[0033] For each vertex coordinate in the first calibration point coordinates: the horizontal coordinate of the vertex coordinate is updated to the difference between the horizontal coordinate of the vertex and the horizontal coordinate of the center point coordinate; the vertical coordinate of the vertex coordinate is updated to the difference between the vertical coordinate of the vertex and the vertical coordinate of the center point coordinate;

[0034] Obtain the third calibration point coordinate group.

[0035] In a possible implementation, the probe anti-collision control system also includes a coordinate system construction module, the origin of the preset plane coordinate system constructed by the coordinate system construction module is the center point of the main frame, the horizontal axis of the preset plane coordinate system is parallel to the installation plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the installation plane.

[0036] In a possible implementation, the movement of the target probe includes at least one of horizontal movement and vertical movement.

[0037] A third aspect of the present application provides a computer program product, comprising computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the probe anti-collision control method for dual-probe SPECT / CT according to the first aspect or any implementation of the first aspect.

[0038] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0039] The memory is used to store computer programs;

[0040] The processor is used to execute the computer program so that the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT according to the first aspect or any implementation of the first aspect.

[0041] A fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT according to the first aspect or any implementation of the first aspect.

[0042] By means of the above technical solution, the present application provides a dual-probe SPECT / CT probe anti-collision control method and related device, by configuring the first current rotation angle matrix based on self-rotation and the second current rotation angle matrix of follow-up rotation, the first calibration point coordinate group projected in the preset plane coordinate system after the target probe moves and before rotating is updated, so that the obtained second calibration point coordinate group fully considers the movement and rotation of the target probe in all directions, and improves the determination accuracy of the second calibration point coordinate group. Subsequently, by configuring the calculation of the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system, the prediction of the minimum distance between the target probe and the examination bed after self-rotation and / or follow-up rotation is realized. Finally, by configuring the control of the target probe to stop rotating when there is a minimum distance not greater than the preset safety distance threshold, since the above minimum distance is the predicted value of the distance between the target probe and the examination bed after self-rotation and / or follow-up rotation, the risk of collision between the target probe and the examination bed after self-rotation and / or follow-up rotation is avoided. It can be seen that the present application avoids the risk of collision between the probe of the dual-probe SPECT / CT device and the examination bed. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0044] Figure 1 A flowchart of a probe anti-collision control method for dual-probe SPECT / CT provided in this application;

[0045] Figure 2 A schematic diagram of the position of a first probe provided in this application;

[0046] Figure 3 A schematic diagram of the position of a second probe provided in this application;

[0047] Figure 4 A schematic diagram of the position of a third probe provided in this application;

[0048] Figure 5 A schematic diagram of a fourth probe position provided in this application;

[0049] Figure 6 A schematic diagram of the movement of an examination bed provided in this application in a direction perpendicular to the mounting plane of the main frame;

[0050] Figure 7 A schematic diagram for determining a minimum distance provided for this application;

[0051] Figure 8 A schematic diagram of updating a first calibration point coordinate group to a third calibration point coordinate group provided by the present application;

[0052] Fig. 9 A block diagram of a probe anti-collision control system for a dual-probe SPECT / CT provided in this application;

[0053] Fig.10 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0054] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0055] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0056] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0057] The first aspect of the present application provides a probe anti-collision control method for dual-probe SPECT / CT, such as Figure 1 As shown, including:

[0058] S101. Obtain a first calibration point coordinate group projected by the target probe in a preset plane coordinate system after the target probe moves and before the target probe rotates. The rotation includes self-rotation and follow-up rotation. The self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame. The first calibration point coordinate group includes at least the coordinates of each vertex of the projection.

[0059] It should be noted that, in actual application scenarios, the target probe may be any probe of the dual-probe SPECT / CT.

[0060] It should be noted that, in actual application scenarios, the preset plane coordinate system may be a coordinate system for determining the positions of the components of the dual-probe SPECT / CT device in space. The preset plane coordinate system may be an ordinary plane rectangular coordinate system or a plane polar coordinate system. This application does not impose too many restrictions on the type of the preset plane coordinate system.

[0061] It should be noted that in actual application scenarios, if the target probe rotates itself and / or rotates with the movement, the coordinates of each vertex of its projection after rotation need to be calculated with the center point of the projection after movement as the rotation center. Therefore, the configuration of this application obtains the first calibration point coordinate group of the target probe projected in the preset plane coordinate system after the target probe moves and before rotation, thereby realizing the acquisition of the parameters required for calculating the coordinates of the calibration points after rotation.

[0062] It should be noted that, in actual application scenarios, in order to facilitate the understanding of the above-mentioned self-rotation and follow-up rotation, a possible implementation of the present application is specifically described here:

[0063] like Figure 2 The first probe position diagram is shown in FIG. The first probe position diagram shows the position of the target probe when it is not moving, rotating itself, or rotating with the target probe. It should be noted that Figure 2 The preset plane coordinate system shown has the center point of the main frame 3 as the origin, an axis parallel to the installation plane of the main frame 3 and passing through the center point of the main frame 3 as the horizontal axis, and a vertical axis perpendicular to the horizontal axis and passing through the center point of the main frame 3 as the vertical axis. Both probe 1 and probe 2 are the above-mentioned target probes, and the black dot is the center point of the probe.

[0064] like Figure 3 , which is a schematic diagram of the second probe position, shows the position of the target probe after it moves without undergoing any of its own rotation and follow-up rotation. It can be seen that both probe 1 and probe 2 move horizontally along the horizontal axis.

[0065] like Figure 4 As shown in FIG. 1 , it is a schematic diagram of the third probe position, which shows the target probe in the following manner: Figure 3 As shown in the schematic diagram of the position of the probe 1 and the probe 2 after self-rotation after the movement, the rotation axis of the probe 1 and the probe 2 itself is the axis passing through the center point of the probe and perpendicular to the preset plane coordinate system.

[0066] like Figure 5 As shown in FIG. 1 , it is a schematic diagram of the fourth probe position. The schematic diagram of the third probe position shows the target probe in the following manner: Figure 4The schematic diagram of the position after the self-rotation and the follow-up rotation is shown, and the rotation axis of the follow-up rotation of the probe 1 and the probe 2 is the center point of the main frame 3 and is perpendicular to the axis of the preset plane coordinate system.

[0067] S102. During the rotation of the target probe, based on at least one of the first current rotation angle matrix of its own rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex of the first calibration point coordinate group are updated to obtain the second calibration point coordinate group projected after the target probe is rotated.

[0068] Those skilled in the art can understand that in actual application scenarios, the first current rotation matrix and the second current rotation angle matrix can be rotation matrices (Rotation matrices) used to rotate the column vector of Cartesian coordinates counterclockwise about the origin by a certain angle. The form of the rotation matrix R (θ) is: Here, θ can be the angle of its own rotation or the angle of follow-up rotation.

[0069] It should be noted that the present application updates the first calibration point coordinate group projected in the preset plane coordinate system after the target probe moves and before it rotates by configuring a first current rotation angle matrix based on its own rotation and a second current rotation angle matrix that rotates with it, so that the obtained second calibration point coordinate group fully considers the movement and rotation of the target probe in all directions, thereby improving the determination accuracy of the second calibration point coordinate group.

[0070] S103, calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system.

[0071] It should be noted that in actual application scenarios, the examination bed will move in a direction perpendicular to the plane of the main frame installation and in a direction perpendicular to the plane of the main frame. Figure 6 As shown, if probe 2 is Figure 6 Rotate itself in the direction shown, or Figure 6 If the target probe rotates in the direction shown, there is a risk of collision between the probe and the examination bed. In addition, since the above-mentioned second calibration point coordinates are the predicted values ​​of the calibration point coordinate group projected after the target probe rotates itself and rotates with it, that is, when the above-mentioned second calibration point coordinate group is obtained, the target probe has not yet rotated itself and / or rotated with it. Therefore, the present application realizes the prediction of the minimum distance between the target probe and the examination bed after it rotates itself and / or rotates with it by configuring the calculation of the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system.

[0072] S104: When there is a minimum distance that is not greater than a preset safety distance threshold, control the target probe to stop rotating.

[0073] It should be noted that the present application is configured to control the target probe to stop rotating when there is a minimum distance that is not greater than a preset safety distance threshold. Since the above-mentioned minimum distance is a predicted value of the distance between the target probe and the examination bed after its own rotation and / or follow-up rotation, the risk of the target probe colliding with the examination bed after its own rotation and / or follow-up rotation is avoided.

[0074] The present application updates the first calibration point coordinate group projected in the preset plane coordinate system after the target probe moves and before it rotates by configuring the first current rotation angle matrix based on its own rotation and the second current rotation angle matrix of the follow-up rotation, so that the obtained second calibration point coordinate group fully considers the movement and rotation of the target probe in all directions, and improves the determination accuracy of the second calibration point coordinate group. Subsequently, by configuring the calculation of the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system, the prediction of the minimum distance between the target probe and the examination bed after its own rotation and / or follow-up rotation is realized. Finally, by configuring the control of the target probe to stop rotating when there is a minimum distance not greater than the preset safety distance threshold, since the above minimum distance is the predicted value of the distance between the target probe and the examination bed after its own rotation and / or follow-up rotation, the risk of collision between the target probe and the examination bed after its own rotation and / or follow-up rotation is avoided.

[0075] In a possible implementation, calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system includes:

[0076] For each side of the projection of the examination bed on the preset plane coordinate system: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain a first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed on the preset plane coordinate system to the detection axis to obtain a second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

[0077] In order to facilitate the understanding of the implementation method of calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system, a possible implementation of the present application is specifically described here:

[0078] like Figure 7 As shown in FIG. 1 , it is a schematic diagram for determining the minimum distance by taking one side of the projection of the examination bed on the preset plane coordinate system as an example. Figure 7 In the schematic diagram shown, only probe 1 is used for illustration, and the process of determining the minimum distance between the coordinates of each vertex in the second calibration point coordinate group of probe 2 and the projection of the examination bed in the preset plane coordinate system is exactly the same as that of probe 1.

[0079] like Figure 7 As shown, the normal vector 5 of the target edge of the examination bed projection 4 is selected, and the straight line parallel to the normal vector 5 is selected as the detection axis 6. The coordinates of each vertex in the second calibration point coordinate group of the probe 1 are set to be D1, D2, D3 and D4 respectively. The coordinates of each vertex in the examination bed projection 4 are set to be B1, B2, B3 and B4 respectively. After projecting the coordinates of each vertex in the second calibration point coordinate group to the detection axis 6, the first projection interval of the probe 1 is obtained to include D1', D2', D3' and D4', and the endpoints of the first projection interval are D1' and D4' respectively. The coordinates of each vertex of the projection 4 of the examination bed in the preset plane coordinate system are projected to the detection axis 6, and the second projection interval of the projection 4 is obtained to include B1', B2', B3' and B4', and the endpoints of the second projection interval are B1' and B3' respectively. The shortest distance between the first projection interval and the second projection interval along the detection axis 6 is the distance between D4' and B1'.

[0080] It should be noted that, in an actual application scenario, the above-mentioned implementation method of calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system may also include the following steps A1 to A2.

[0081] Step A1, determining the projection of the target probe in a preset plane coordinate system after the rotation based on the coordinates of each vertex in the second calibration point coordinate group.

[0082] Step A2, for each side of the projection of the target probe obtained in step A1 after rotation: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain the first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed in the preset plane coordinate system to the detection axis to obtain the second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

[0083] In a possible implementation, the first calibration point coordinate group also includes the center point coordinates of the projection. During the rotation of the target probe, based on at least one of the first current rotation angle matrix of its own rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex of the first calibration point coordinate group are updated to obtain the second calibration point coordinate group of the projection after the target probe is rotated, including:

[0084] Updating the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection;

[0085] For each vertex coordinate in the third calibration point coordinate group: when the target probe only performs self-rotation, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix, and the vertex coordinate of the target probe after self-rotation is obtained; when the target probe only performs follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix, and the vertex coordinate of the target probe after follow-up rotation is obtained; when the target probe performs self-rotation and follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate, the first current rotation angle matrix and the second current rotation angle, and the vertex coordinate of the target probe after self-rotation and follow-up rotation is obtained;

[0086] A second calibration point coordinate group including updated coordinates of each vertex is obtained.

[0087] In a possible implementation, updating the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection includes:

[0088] For each vertex coordinate in the first calibration point coordinates: the abscissa of the vertex coordinate is updated to the difference between the abscissa of the vertex coordinate and the abscissa of the center point coordinate; the ordinate of the vertex coordinate is updated to the difference between the ordinate of the vertex coordinate and the ordinate of the center point coordinate;

[0089] Obtain the third calibration point coordinate group.

[0090] It should be noted that, in an actual application scenario, the implementation method of updating the first calibration point coordinate group to the third calibration point coordinate group based on the center point coordinates of the projection may be:

[0091] like Figure 8 As shown in FIG. 1 , it is a schematic diagram of updating the first calibration point coordinate group to the third calibration point coordinate group. Figure 8 The coordinates of the center point of the probe 1 are C. B After the probe 1 is translated to the origin (i.e. the center point C is translated to the origin 0, and the vertices of the probe 1 are translated accordingly), the coordinates P of the vertices of the probe 1 after translation are B '=P B -C, that is, update the horizontal coordinate of the vertex coordinate to the difference between the horizontal coordinate of the vertex and the horizontal coordinate of the center point coordinate; update the vertical coordinate of the vertex coordinate to the difference between the vertical coordinate of the vertex and the vertical coordinate of the center point coordinate.

[0092] In a possible implementation, the origin of the preset plane coordinate system is the center point of the main frame, the horizontal axis of the preset plane coordinate system is parallel to the installation plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the installation plane.

[0093] In another possible implementation, the origin of the preset plane coordinate system may also be a corner point of the main frame installation space, and the horizontal axis and the vertical axis of the preset plane coordinate system may be two axes passing through the corner point and perpendicular to each other.

[0094] In a possible implementation, the movement includes at least one of horizontal movement and vertical movement.

[0095] The second aspect of the present application provides a probe anti-collision control system for a dual-probe SPECT / CT, such as Fig. 9 As shown, the probe anti-collision control system of the dual-probe SPECT / CT includes:

[0096] The coordinate acquisition module 901 is used to obtain a first calibration point coordinate group projected by the target probe in a preset plane coordinate system after the target probe moves and before the target probe rotates. The rotation includes self-rotation and follow-up rotation. The self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame. The first calibration point coordinate group includes at least the coordinates of each vertex of the projection.

[0097] The coordinate updating module 902 is used to update the coordinates of each vertex of the first calibration point coordinate group based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation during the rotation of the target probe, so as to obtain the second calibration point coordinate group projected by the target probe after the rotation;

[0098] The distance calculation module 903 is used to calculate the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed in the preset plane coordinate system;

[0099] The control module 904 is used to control the target probe to stop rotating when there is a minimum distance that is not greater than a preset safety distance threshold.

[0100] In a possible implementation, the distance calculation module 903 is configured as follows:

[0101] For each side of the projection of the examination bed on the preset plane coordinate system: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain a first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed on the preset plane coordinate system to the detection axis to obtain a second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

[0102] In a possible implementation, the coordinate updating module 902 is configured as follows:

[0103] The first calibration point coordinate group also includes the center point coordinates of the projection, and the first calibration point coordinate group is updated to a third calibration point coordinate group based on the center point coordinates of the projection;

[0104] For each vertex coordinate in the third calibration point coordinate group: when the target probe only performs self-rotation, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix, and the vertex coordinate of the target probe after self-rotation is obtained; when the target probe only performs follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix, and the vertex coordinate of the target probe after follow-up rotation is obtained; when the target probe performs self-rotation and follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate, the first current rotation angle matrix and the second current rotation angle, and the vertex coordinate of the target probe after self-rotation and follow-up rotation is obtained;

[0105] A second calibration point coordinate group including updated coordinates of each vertex is obtained.

[0106] In a possible implementation, the coordinate updating module 902 is configured to update the first calibration point coordinate group to the third calibration point coordinate group based on the center point coordinates of the projection as follows:

[0107] For each vertex coordinate in the first calibration point coordinates: the abscissa of the vertex coordinate is updated to the difference between the abscissa of the vertex coordinate and the abscissa of the center point coordinate; the ordinate of the vertex coordinate is updated to the difference between the ordinate of the vertex coordinate and the ordinate of the center point coordinate;

[0108] Obtain the third calibration point coordinate group.

[0109] In one possible implementation, the above Fig. 9 The probe anti-collision control system shown also includes a coordinate system construction module. The origin of the preset plane coordinate system constructed by the coordinate system construction module is the center point of the main frame, the horizontal axis of the preset plane coordinate system is parallel to the installation plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the installation plane.

[0110] In a possible implementation, the movement of the target probe includes at least one of horizontal movement and vertical movement.

[0111] A third aspect of the present application provides a computer program product, including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements the probe anti-collision control method for dual-probe SPECT / CT according to the first aspect or any implementation of the first aspect.

[0112] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0113] The memory is used to store computer programs;

[0114] The processor is used to execute the computer program so that the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT according to the first aspect or any implementation of the first aspect.

[0115] In a fifth aspect, the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT according to the above-mentioned first aspect or any implementation method of the first aspect.

[0116] A structural schematic diagram of an electronic device provided in the fourth aspect of the present application is as follows Fig.10 The electronic devices in the embodiments of the present application may include but are not limited to fixed terminals such as mobile phones, notebook computers, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, and the like. Fig.10 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0117] like Fig.10 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 to a random access memory (RAM) 1003. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 1003. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0118] Typically, the following devices may be connected to the I / O interface 1005: input devices 1006 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1008 including, for example, a memory card, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Fig.10 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0119] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0120] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0121] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0122] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A probe anti-collision control method for dual-probe SPECT / CT, characterized in that: include: Obtaining a first calibration point coordinate group of the target probe projected in a preset plane coordinate system after the target probe moves and before the target probe rotates, wherein the rotation includes self-rotation and follow-up rotation, wherein the self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame, and the first calibration point coordinate group includes at least the coordinates of each vertex of the projection; During the rotation of the target probe, based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex of the first calibration point coordinate group are updated to obtain the second calibration point coordinate group of the projection after the target probe performs the rotation; Calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system; In the case that there is a minimum distance that is not greater than a preset safety distance threshold, the target probe is controlled to stop rotating.

2. The method according to claim 1, characterized in that The calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system includes: For each side of the projection of the examination bed in the preset plane coordinate system: determine the straight line parallel to the normal vector of the side in the preset plane coordinate system as the detection axis; project the coordinates of each vertex in the second calibration point coordinate group to the detection axis to obtain a first projection interval of the target probe; project the coordinates of each vertex of the projection of the examination bed in the preset plane coordinate system to the detection axis to obtain a second projection interval; and determine the shortest distance between the first projection interval and the second projection interval along the detection axis as the minimum distance.

3. The method according to claim 1, characterized in that The first calibration point coordinate group also includes the center point coordinates of the projection. During the rotation of the target probe, based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation, the coordinates of each vertex in the first calibration point coordinate group are updated to obtain the second calibration point coordinate group of the projection after the target probe is rotated, including: Updating the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection; For each vertex coordinate in the third calibration point coordinate group: when the target probe only performs the self-rotation, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the self-rotation; when the target probe only performs the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix, so as to obtain the vertex coordinate of the target probe after the follow-up rotation; when the target probe performs the self-rotation and the follow-up rotation, the vertex coordinate is updated to the product of the vertex coordinate, the first current rotation angle matrix and the second current rotation angle, so as to obtain the vertex coordinate of the target probe after the self-rotation and the follow-up rotation; The second calibration point coordinate group including updated coordinates of each vertex is obtained.

4. The method according to claim 3, characterized in that The updating of the first calibration point coordinate group to a third calibration point coordinate group based on the center point coordinates of the projection includes: For each vertex coordinate in the first calibration point coordinates: the horizontal coordinate of the vertex coordinate is updated to the difference between the horizontal coordinate of the vertex and the horizontal coordinate of the center point coordinate; the vertical coordinate of the vertex coordinate is updated to the difference between the vertical coordinate of the vertex and the vertical coordinate of the center point coordinate; Obtain the third calibration point coordinate group.

5. The method according to claim 1, characterized in that The origin of the preset plane coordinate system is the center point of the main frame, the horizontal axis of the preset plane coordinate system is parallel to the installation plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the installation plane.

6. The method according to claim 1, characterized in that The movement includes at least one of horizontal movement and vertical movement.

7. A probe anti-collision control system for dual-probe SPECT / CT, characterized in that: include: A coordinate acquisition module, used for acquiring a first calibration point coordinate group projected by the target probe in a preset plane coordinate system after the target probe moves and before the target probe rotates, wherein the rotation includes self-rotation and follow-up rotation, wherein the self-rotation is the rotation of the target probe around its own rotation axis, and the follow-up rotation is the rotation of the target probe along the rotation axis of the main frame, and the first calibration point coordinate group includes at least the coordinates of each vertex of the projection; A coordinate updating module, used for updating the coordinates of each vertex of the first calibration point coordinate group based on at least one of the first current rotation angle matrix of the self-rotation and the second current rotation angle matrix of the follow-up rotation during the rotation of the target probe, so as to obtain the second calibration point coordinate group of the projection after the target probe performs the rotation; a distance calculation module, used for calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the examination bed on the preset plane coordinate system; The control module is used to control the target probe to stop rotating when there is a situation where the minimum distance is not greater than a preset safety distance threshold.

8. A computer program product, characterized in that The method comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the probe anti-collision control method for dual-probe SPECT / CT as claimed in any one of claims 1 to 6.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT as described in any one of claims 1 to 6.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the probe anti-collision control method for dual-probe SPECT / CT as described in any one of claims 1 to 6.

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