A dual-probe SPECT / CT probe anti-collision control method and related device

Abstract

This application discloses a probe collision avoidance control method and related device for dual-probe SPECT / CT, relating to the field of medical device control. The method includes: obtaining a first set of calibration point coordinates projected onto a preset plane coordinate system after the target probe moves but before rotation; updating the coordinates of each vertex in the first set of calibration point coordinates based on a first current rotation angle matrix and a second current rotation angle matrix during the target probe's rotation to obtain a second set of calibration point coordinates projected onto the target probe after rotation; calculating the minimum distance between the coordinates of each vertex in the second set of calibration point coordinates and the projection of the examination table onto the preset plane coordinate system; and controlling the target probe to stop rotating if a minimum distance is not greater than a preset safety distance threshold. This avoids the risk of collision between the target probe and the examination table.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, and in particular to a probe anti-collision control method and related device for dual-probe SPECT / CT. Background Technology

[0002] Single-photon emission computed tomography (SPECT / CT) is a common medical imaging device. Traditional SPECT / CT equipment uses only a single probe with a fixed angle, resulting in low accuracy in lesion localization. Therefore, to improve lesion localization accuracy, a dual-probe SPECT / CT device has been proposed. This type of dual-probe SPECT / CT device features two probes symmetrically arranged on the gantry. Each probe can move horizontally and vertically relative to the gantry, and each probe can rotate at a certain angle. By moving and rotating the two probes, the detection range can be expanded, thereby improving the accuracy of lesion localization.

[0003] However, the increased range of motion of the two probes in a dual-probe SPECT / CT scanner increases the risk of collision between the probes and the examination table during operation. Dual-probe SPECT / CT scanners are relatively precise medical imaging devices; a collision could damage the probe or cause misalignment, reducing the accuracy of lesion localization. Therefore, preventing collisions between the probes and the examination table in dual-probe SPECT / CT scanners has become a pressing issue. Summary of the Invention

[0004] In view of the above problems, this application provides a probe anti-collision control method and related device for dual-probe SPECT / CT, so as to avoid the risk of collision between the probe of the dual-probe SPECT / CT equipment and the examination table. The specific solution is as follows:

[0005] The first aspect of this application provides a probe collision avoidance control method for dual-probe SPECT / CT, including:

[0006] After the target probe moves but before it rotates, the first set of calibration point coordinates of the target probe projected in a preset planar coordinate system is obtained. The rotation includes self-rotation and follow-up rotation. The self-rotation is the target probe rotating around its own rotation axis. The follow-up rotation is the target probe rotating along the rotation axis of the main frame. The first set of calibration point coordinates includes at least the coordinates of each vertex of the projection.

[0007] During the rotation of the target probe, the coordinates of each vertex in the first calibration point coordinate group are updated 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 rotation, so as to obtain the second calibration point coordinate group of the projection of the target probe after the rotation.

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

[0009] If there exists a minimum distance that is not greater than a preset safe distance threshold, the target probe is controlled to stop rotating.

[0010] In one possible implementation, calculating the minimum distance between the coordinates of each vertex in the second set of calibration points and the projection of the examination bed into the preset plane coordinate system includes:

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

[0012] In one possible implementation, the first calibration point coordinate set further includes the center point coordinates of the projection. During the rotation of the target probe, the vertex coordinates of each vertex in the first calibration point coordinate set are updated based on at least one of the first current rotation angle matrix of the target probe itself and the second current rotation angle matrix of the target probe following its rotation, to obtain a second calibration point coordinate set of the projection after the target probe has rotated. This includes:

[0013] The first calibration point coordinate group is updated to the 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 rotates itself, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix to obtain the vertex coordinate after the target probe rotates itself; when the target probe only rotates with the follower, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix to obtain the vertex coordinate after the follower rotation; when the target probe performs both self-rotation and follower 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 to obtain the vertex coordinate after both self-rotation and follower rotation.

[0015] Obtain the second set of calibration point coordinates, which includes the updated coordinates of each vertex.

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

[0017] For each vertex coordinate in the first calibration point coordinates: update the x-coordinate of the vertex coordinate to the difference between the x-coordinate of the vertex and the x-coordinate of the center point coordinate; update the y-coordinate of the vertex coordinate to the difference between the y-coordinate of the vertex and the y-coordinate of the center point coordinate.

[0018] Obtain the coordinate set of the third calibration point.

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

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

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

[0022] The coordinate acquisition module is used to obtain the first set of calibration point coordinates of the target probe projected in a preset plane coordinate system after the target probe moves but before it 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 set of calibration point coordinates includes at least the coordinates of each vertex of the projection.

[0023] The coordinate update module is used to update the coordinates of each vertex in the first calibration point coordinate group based on at least one of the first current rotation angle matrix of the target probe and the second current rotation angle matrix of the target probe during the rotation, so as to obtain the second calibration point coordinate group of the projection of the target probe after the rotation.

[0024] The distance calculation module 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 inspection bed in the preset plane coordinate system;

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

[0026] In one possible implementation, the distance calculation module is configured as follows:

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

[0028] In one possible implementation, the coordinate update module is configured as follows:

[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 the 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 rotates itself, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix to obtain the vertex coordinate after the target probe rotates itself; when the target probe only rotates with the follower, the vertex coordinate is updated to the product of the vertex coordinate and the second current rotation angle matrix to obtain the vertex coordinate after the follower rotation; when the target probe performs both self-rotation and follower 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 to obtain the vertex coordinate after both self-rotation and follower rotation.

[0031] Obtain the second set of calibration point coordinates, which includes the updated coordinates of each vertex.

[0032] In one possible implementation, the coordinate update module 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:

[0033] For each vertex coordinate in the first calibration point coordinates: update the x-coordinate of the vertex coordinate to the difference between the x-coordinate of the vertex and the x-coordinate of the center point coordinate; update the y-coordinate of the vertex coordinate to the difference between the y-coordinate of the vertex and the y-coordinate of the center point coordinate.

[0034] Obtain the coordinate set of the third calibration point.

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

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

[0037] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT as described in the first aspect or any implementation thereof.

[0038] A fourth aspect of this application provides an electronic device, including 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 as described in the first aspect or any implementation thereof.

[0041] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT in the first aspect or any implementation thereof described above.

[0042] By employing the above technical solution, this application provides a probe collision avoidance control method and related device for dual-probe SPECT / CT. By configuring a first current rotation angle matrix based on the target probe's own rotation and a second current rotation angle matrix based on its follow-up rotation, the first set of calibration point coordinates projected in a preset plane coordinate system is updated. This updates the first calibration point coordinate set before the target probe moves and rotates, thus ensuring that the obtained second calibration point coordinate set fully considers the target probe's movement and rotation in all directions, improving the accuracy of the second calibration point coordinate set. Subsequently, by configuring the calculation of the minimum distance between the coordinates of each vertex in the second calibration point coordinate set and the projection of the examination table into the preset plane coordinate system, the minimum distance between the target probe and the examination table after its own rotation and / or follow-up rotation is predicted. Finally, by configuring the control to stop the target probe's rotation when a minimum distance is not greater than a preset safety distance threshold, since the minimum distance is a predicted value of the distance between the target probe and the examination table after its own rotation and / or follow-up rotation, the risk of collision between the target probe and the examination table after its own rotation and / or follow-up rotation is avoided. Therefore, this application avoids the risk of collision between the probe and the examination table in dual-probe SPECT / CT equipment. Attached Figure Description

[0043] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote 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 location of a second probe provided in this application;

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

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

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

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

[0051] Figure 8 This application provides a schematic diagram of updating the coordinates of the first calibration point to the coordinates of the third calibration point;

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

[0053] Figure 10 This is a schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0054] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0055] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0056] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0057] The first aspect of this application provides a probe collision avoidance control method for dual-probe SPECT / CT, such as... Figure 1 As shown, it includes:

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

[0059] It should be noted that in practical applications, the target probe mentioned above can be any of the probes in the dual-probe SPECT / CT.

[0060] It should be noted that, in practical applications, the aforementioned preset planar coordinate system can be a coordinate system used to determine the spatial positions of each component of the aforementioned dual-probe SPECT / CT device. The aforementioned preset planar coordinate system can be a common Cartesian coordinate system or a polar coordinate system; this application does not impose excessive limitations on the type of the aforementioned preset planar coordinate system.

[0061] It should be noted that in practical applications, if the target probe rotates itself and / or follows a rotation, the coordinates of each vertex of its projection after rotation need to be calculated using the center point of the projection after movement as the rotation center. Therefore, this application configures the acquisition of the first set of calibration point coordinates of the target probe's projection in a preset plane coordinate system after movement and before rotation, thereby realizing the acquisition of the parameters required to calculate the coordinates of the calibration points after rotation.

[0062] It should be noted that, in practical application scenarios, to facilitate the understanding of the aforementioned self-rotation and follower rotation, one possible implementation of this application is described here:

[0063] like Figure 2 The diagram shown illustrates the position of the first probe. This diagram demonstrates the position of the target probe under any of the following conditions: no movement, self-rotation, and follow-up rotation. It should be noted that... Figure 2 The preset planar coordinate system shown has the center point of the main frame 3 as the origin, is parallel to the mounting plane of the main frame 3, and has the axis passing through the center point of the main frame 3 as the horizontal axis, and is perpendicular to the horizontal axis and has the center point of the main frame 3 as the vertical axis. Probe 1 and probe 2 are both the aforementioned target probes, and the black dot is the center point of the probe.

[0064] like Figure 3 The diagram shows the position of the second probe, illustrating its position after movement without any change in rotation or follow-up rotation. It is evident that both probe 1 and probe 2 moved horizontally along the transverse axis.

[0065] like Figure 4 The diagram shown illustrates the location of the third probe, illustrating the position of the target probe as shown in the image. Figure 3 The diagram shows the position after the probes have rotated, based on the movement. The rotation axis of probes 1 and 2 is an axis that passes through the center point of the probe and is perpendicular to the preset plane coordinate system.

[0066] like Figure 5 The diagram shown illustrates the location of the fourth probe. The diagram of the third probe's location demonstrates the target probe's position as shown in the image. Figure 4The diagram shows the position after the self-rotation and subsequent follow-up rotation. The rotation axis of probe 1 and probe 2 is the center point of the main frame 3 and is perpendicular to 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 rotation, the coordinates of each vertex of the first calibration point coordinate group are updated to obtain the second calibration point coordinate group projected by the target probe after rotation.

[0068] As will be understood by those skilled in the art, in practical applications, the aforementioned first current rotation matrix and the aforementioned second current rotation angle matrix can be rotation matrices used to rotate the column vectors of Cartesian coordinates counterclockwise about the origin by a certain angle. The aforementioned rotation matrix R(θ) has the following form: Here, θ can be the angle of its own rotation or the angle of its follow-up rotation.

[0069] It should be noted that this application updates the first calibration point coordinate group projected in the preset plane coordinate system after the target probe moves but before it rotates by configuring a first current rotation angle matrix based on its own rotation and a second current rotation angle matrix that follows the rotation. This allows the obtained second calibration point coordinate group to fully consider 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. Calculate the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the inspection bed onto the preset plane coordinate system.

[0071] It should be noted that in practical applications, the examination bed will move both perpendicular to the mounting plane of the main frame and perpendicular to the main frame plane. A diagram illustrating the movement of the examination bed in the direction perpendicular to the mounting plane of the main frame is shown below. Figure 6 As shown, if probe 2 performs as follows Figure 6 Self-rotation in the direction shown, or as... Figure 6 The indicated rotation carries the risk of collision between the probe and the examination bed. Furthermore, since the aforementioned second calibration point coordinates are predicted values ​​of the projected calibration point coordinates after the target probe undergoes its own rotation and follow-up rotation, the target probe has not yet undergone its own rotation and / or follow-up rotation when the second calibration point coordinate set is obtained. Therefore, this application calculates the minimum distance between the target probe and the examination bed after its own rotation and / or follow-up rotation by configuring and calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate set and the projection of the examination bed into a preset plane coordinate system.

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

[0073] It should be noted that this application controls the target probe to stop rotating when there is a minimum distance not greater than a preset safety distance threshold. Since the minimum distance is a predicted distance between the target probe and the examination bed after it rotates on its own and / or follows the rotation, the risk of the target probe colliding with the examination bed after it rotates on its own and / or follows the rotation is avoided.

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

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

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

[0077] To facilitate understanding of the above implementation method for calculating the minimum distance between the coordinates of each vertex in the second calibration point coordinate set and the projection of the inspection bed into the preset plane coordinate system, a possible implementation of this application is described here:

[0078] like Figure 7 The diagram illustrates how to determine the minimum distance using one side of the projection of the inspection bed onto a preset plane coordinate system as an example. Figure 7 The schematic diagram shown only uses probe 1 for illustration. 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 inspection 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 probe 1 are set to D1, D2, D3, and D4. The coordinates of each vertex in the inspection bed projection 4 are set to B1, B2, B3, and B4. After projecting the coordinates of each vertex in the second calibration point coordinate group onto the detection axis 6, the first projection interval of probe 1 is obtained, including D1', D2', D3', and D4', with endpoints D1' and D4' respectively. The coordinates of each vertex of the inspection bed projection 4 in the preset plane coordinate system are projected onto the detection axis 6, obtaining the second projection interval of projection 4, including B1', B2', B3', and B4', with endpoints B1' and B3' respectively. The shortest distance between the first and second projection intervals along the detection axis 6 is the distance between D4' and B1'.

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

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

[0082] Step A2: For each side of the target probe's projection after rotation obtained in step A1: 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 onto the detection axis to obtain the first projection interval of the target probe; project the coordinates of each vertex of the inspection bed's projection in the preset plane coordinate system onto 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 one possible implementation, the first calibration point coordinate set also includes the coordinates of the center point of the projection. During the rotation of the target probe, the coordinates of each vertex in the first calibration point coordinate set are updated 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 follower rotation, to obtain the second calibration point coordinate set of the projection of the target probe after rotation, including:

[0084] The first calibration point coordinate group is updated to the third calibration point coordinate group based on the center point coordinates of the projection;

[0085] For the coordinates of each vertex in the third calibration point coordinate group: when the target probe only rotates itself, the vertex coordinates are updated to the product of the vertex coordinates and the first current rotation angle matrix to obtain the vertex coordinates after the target probe has rotated itself; when the target probe only rotates with the follower, the vertex coordinates are updated to the product of the vertex coordinates and the second current rotation angle matrix to obtain the vertex coordinates after the target probe has rotated with the follower; when the target probe rotates itself and with the follower, the vertex coordinates are updated to the product of the vertex coordinates, the first current rotation angle matrix, and the second current rotation angle to obtain the vertex coordinates after the target probe has rotated itself and with the follower.

[0086] Obtain the second set of calibration point coordinates, which includes the updated coordinates of each vertex.

[0087] In one possible implementation, the first calibration point coordinate set is updated to the third calibration point coordinate set based on the coordinates of the center point of the projection, including:

[0088] For each vertex coordinate in the first calibration point coordinate: update the x-coordinate of the vertex coordinate to the difference between the x-coordinate of the vertex and the x-coordinate of the center point coordinate; update the y-coordinate of the vertex coordinate to the difference between the y-coordinate of the vertex and the y-coordinate of the center point coordinate.

[0089] Obtain the coordinate set of the third calibration point.

[0090] It should be noted that, in practical applications, the above 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 can be as follows:

[0091] like Figure 8 The diagram shows the process of updating the coordinates of the first calibration point to the coordinates of the third calibration point. Probe 1 is positioned as shown... Figure 8 The center point of position A shown is C. Assume the coordinates of all vertices of probe 1 are represented by P. B This indicates that after probe 1 is translated to the origin position (that is, the center point C is translated to the origin 0, and each vertex of probe 1 is translated accordingly), the coordinates P of each vertex of probe 1 after translation are... B '=P B -C updates the x-coordinate of the vertex to the difference between the x-coordinate of the vertex and the x-coordinate of the center point; and updates the y-coordinate of the vertex to the difference between the y-coordinate of the vertex and the y-coordinate of the center point.

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

[0093] In another possible implementation, the origin of the aforementioned preset planar coordinate system can also be a corner point of the main frame installation space, and the horizontal and vertical axes of the preset planar coordinate system can be two axes that pass through the corner point and are perpendicular to each other.

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

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

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

[0097] The coordinate update 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 its own rotation and the second current rotation angle matrix of the following rotation during the rotation of the target probe, so as to obtain the second calibration point coordinate group projected by the target probe after 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 inspection bed into 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 safe distance threshold.

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

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

[0102] In one possible implementation, the coordinate update module 902 described above is set as follows:

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

[0104] For the coordinates of each vertex in the third calibration point coordinate group: when the target probe only rotates itself, the vertex coordinates are updated to the product of the vertex coordinates and the first current rotation angle matrix to obtain the vertex coordinates after the target probe has rotated itself; when the target probe only rotates with the follower, the vertex coordinates are updated to the product of the vertex coordinates and the second current rotation angle matrix to obtain the vertex coordinates after the target probe has rotated with the follower; when the target probe rotates itself and with the follower, the vertex coordinates are updated to the product of the vertex coordinates, the first current rotation angle matrix, and the second current rotation angle to obtain the vertex coordinates after the target probe has rotated itself and with the follower.

[0105] Obtain the second set of calibration point coordinates, which includes the updated coordinates of each vertex.

[0106] In one possible implementation, the coordinate update module 902 described above 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 coordinate: update the x-coordinate of the vertex coordinate to the difference between the x-coordinate of the vertex and the x-coordinate of the center point coordinate; update the y-coordinate of the vertex coordinate to the difference between the y-coordinate of the vertex and the y-coordinate of the center point coordinate.

[0108] Obtain the coordinate set of the third calibration point.

[0109] In one possible implementation, the above is as follows: Figure 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 mounting plane of the main frame, and the vertical axis of the preset plane coordinate system is perpendicular to the mounting plane.

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

[0111] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT as described in the first aspect or any implementation thereof.

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

[0113] Memory is used to store computer programs;

[0114] The processor is used to execute computer programs to enable electronic devices to implement the probe collision avoidance control method for dual-probe SPECT / CT in the first aspect or any implementation thereof described above.

[0115] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the probe anti-collision control method for a dual-probe SPECT / CT scanner as described in the first aspect or any implementation thereof.

[0116] A schematic diagram of the structure of an electronic device is provided in the fourth aspect of this application, as shown below. Figure 10 As shown. The electronic devices in the embodiments of this application may include, but are not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 10 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0117] like Figure 10 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, 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 into a random access memory (RAM) 1003. When the electronic device is powered on, the RAM 1003 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0118] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, memory card, hard disk, etc.; and communication devices 1009. Communication device 1009 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 10 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0119] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0121] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as 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, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A probe collision avoidance control method for dual-probe SPECT / CT, characterized in that, include: After the target probe moves but before it rotates, the first set of calibration point coordinates of the target probe projected in a preset planar coordinate system is obtained. The rotation includes self-rotation and follow-up rotation. The self-rotation is the target probe rotating around its own rotation axis. The follow-up rotation is the target probe rotating along the rotation axis of the main frame. The first set of calibration point coordinates includes the coordinates of each vertex of the projection and the coordinates of the center point of the projection. During the rotation of the target probe, the first calibration point coordinate group is updated to the third calibration point coordinate group based on the coordinates of the center point of the projection; for each vertex coordinate in the third calibration point coordinate group: when the target probe only rotates itself, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix of the self-rotation, 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 coordinates are updated to the product of the vertex coordinates and the second current rotation angle matrix of the follow-up rotation, so as to obtain the vertex coordinates of the target probe after performing the follow-up rotation; When the target probe performs its own rotation and the follow-up rotation, the vertex coordinates are updated to the product of the vertex coordinates, the first current rotation angle matrix, and the second current rotation angle matrix to obtain the vertex coordinates of the target probe after performing its own rotation and the follow-up rotation; a second calibration point coordinate group including the updated vertex coordinates is obtained. Calculate the minimum distance between the coordinates of each vertex in the second calibration point coordinate group and the projection of the inspection bed into the preset plane coordinate system; If there exists a minimum distance that is not greater than a preset safe distance threshold, the target probe is controlled to stop rotating.

2. The method according to claim 1, characterized in that, 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 into the preset plane coordinate system includes: For each side of the projection of the inspection bed onto the preset plane coordinate system: the straight line parallel to the edge normal vector in the preset plane coordinate system is determined as the detection axis; the coordinates of each vertex in the second calibration point coordinate group are projected onto the detection axis to obtain the first projection interval of the target probe; the coordinates of each vertex of the projection of the inspection bed onto the preset plane coordinate system are projected onto the detection axis to obtain the second projection interval; and the shortest distance between the first projection interval and the second projection interval along the detection axis is determined as the minimum distance.

3. The method according to claim 1, characterized in that, The step of updating the first calibration point coordinate group to the third calibration point coordinate group based on the center point coordinates of the projection includes: For each vertex coordinate in the first calibration point coordinate group: update the x-coordinate of the vertex coordinate to the difference between the x-coordinate of the vertex and the x-coordinate of the center point coordinate; update the y-coordinate of the vertex coordinate to the difference between the y-coordinate of the vertex and the y-coordinate of the center point coordinate. Obtain the coordinate set of the third calibration point.

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

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

6. A probe collision avoidance control system for dual-probe SPECT / CT, characterized in that, include: The coordinate acquisition module is used to obtain the first set of calibration point coordinates of the target probe projected in a preset planar coordinate system after the target probe moves but before it 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 set of calibration point coordinates includes the coordinates of each vertex of the projection and the coordinates of the center point of the projection. The coordinate update module is used to update the first calibration point coordinate group to the third calibration point coordinate group based on the center point coordinate of the projection during the rotation of the target probe; for each vertex coordinate in the third calibration point coordinate group: when the target probe only rotates itself, the vertex coordinate is updated to the product of the vertex coordinate and the first current rotation angle matrix of the self-rotation, 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 coordinates are updated to the product of the vertex coordinates and the second current rotation angle matrix of the follow-up rotation, so as to obtain the vertex coordinates of the target probe after performing the follow-up rotation; When the target probe performs its own rotation and the follow-up rotation, the vertex coordinates are updated to the product of the vertex coordinates, the first current rotation angle matrix, and the second current rotation angle matrix to obtain the vertex coordinates of the target probe after performing its own rotation and the follow-up rotation; a second calibration point coordinate group including the updated vertex coordinates is obtained. The distance calculation module 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 inspection bed into the preset plane coordinate system; The control module is used to control the target probe to stop rotating when there is a minimum distance that is not greater than a preset safe distance threshold.

7. A computer program product, characterized in that, Includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT as described in any one of claims 1 to 5.

8. An electronic device, characterized in that, It includes 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 to enable the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT as described in any one of claims 1 to 5.

9. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the probe anti-collision control method for dual-probe SPECT / CT as described in any one of claims 1 to 5.

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