Imaging system and imaging method

Abstract

The invention relates to an imaging system and an imaging method, the imaging system comprises an interaction device, a positioning device, an imaging device and a control device, and the interaction device, the positioning device and the imaging device are all connected with the control device; the control device is used for controlling the interaction device to display an imaging posture according to a scanning requirement, so that the to-be-imaged object is positioned on the imaging device according to the imaging posture; the positioning device is used for acquiring positioning information of a to-be-imaged object and transmitting the positioning information of the to-be-imaged object to the control device; the control device is further used for controlling the imaging device to scan the to-be-imaged object according to the positioning information of the to-be-imaged object to obtain a scanned image of the to-be-imaged object. By using the imaging system provided by the embodiment of the invention, the dependence on medical staff can be reduced, the burden of the medical staff can be reduced, and consistent and high-quality scanning images can be efficiently obtained.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to an imaging system and an imaging method. Background Art

[0002] In the medical field, medical images are obtained by scanning objects with scanning equipment to assist medical staff in medical diagnosis or teaching. Among them, medical ultrasound examination plays a vital role in modern medical diagnosis with its unique advantages of affordability, non-invasiveness and real-time imaging.

[0003] The existing ultrasonic scanning method relies on the doctor to hold a scanning device to scan the designated areas of the imaging object one by one to obtain the required medical image. However, the ultrasonic scanning method using the existing technology is highly dependent on the doctor. Summary of the invention

[0004] Based on this, it is necessary to provide an imaging system and an imaging method that can reduce the dependence on doctors in order to solve the above technical problems.

[0005] In a first aspect, the present application provides an imaging system, including an interaction device, a positioning device, an imaging device, and a control device, wherein the interaction device, the positioning device, and the imaging device are all connected to the control device;

[0006] A control device, used to control the interactive device to display an imaging posture according to scanning requirements, so that the object to be imaged is positioned on the imaging device according to the imaging posture;

[0007] A positioning device, used to obtain positioning information of the object to be imaged, and transmit the positioning information of the object to be imaged to the control device;

[0008] The control device is also used to control the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0009] In one embodiment, the imaging device comprises: a carrying component and an imaging component, wherein the imaging component is connected to the control device;

[0010] A carrying component, used for carrying an object to be imaged;

[0011] The imaging component is used for scanning the object to be imaged based on the control of the control device.

[0012] In one embodiment, the imaging assembly includes: a mobile unit, an imaging unit and a positioning source, the imaging unit is disposed on the mobile unit, and the positioning source is disposed on the mobile unit;

[0013] A moving unit, used to move based on the control of the control device, so as to carry the imaging unit to a target position of the object to be imaged, where the target position is determined by the control device according to the positioning information of the object to be imaged;

[0014] An imaging unit, configured to scan an object to be imaged based on the control of the control device to obtain a scanned image;

[0015] The positioning device is also used to determine the positioning information of the imaging unit according to the positioning source, and send the positioning information of the imaging unit to the control device.

[0016] In one of the embodiments, the imaging assembly further comprises: a coupling unit;

[0017] The coupling unit is used to be arranged on the object to be imaged, so that the imaging unit scans the object to be imaged based on the coupling unit to obtain a scanned image.

[0018] In one embodiment, the coupling unit includes at least one coupling component, and different coupling components correspond to different scanning areas of the object to be imaged.

[0019] In one embodiment, the positioning device includes a camera assembly and / or a magnetic positioning assembly, and the camera assembly and the magnetic positioning assembly are both connected to the control device; the positioning source includes an infrared light array and / or a magnet, and the infrared light array and the magnet are both arranged on the mobile unit;

[0020] A camera assembly, used to obtain an image of the object to be imaged and an image of the infrared light array;

[0021] The magnetic positioning component is used to determine the magnetic information of the imaging unit based on the magnet.

[0022] In one of the embodiments, the imaging assembly further includes: a feedback unit, disposed on the mobile unit and connected to the control device;

[0023] A feedback unit, used for obtaining a reaction force when the imaging unit contacts the object to be imaged, and sending the reaction force to the control device;

[0024] A control device is used to adjust the control of the mobile unit based on the reaction force.

[0025] In one of the embodiments, the imaging assembly further includes: an information acquisition unit, disposed on the mobile unit and connected to the control device;

[0026] The information acquisition unit is used to acquire the posture information of the imaging unit when the imaging unit scans the object to be imaged, and send the posture information to the control device.

[0027] In one of the embodiments, the control device is further used to reconstruct according to the scanned image, the positioning information of the object to be imaged, the positioning information and the posture information of the imaging unit to obtain a three-dimensional reconstructed image of the object to be imaged.

[0028] In one embodiment, the control device is further used to segment the scanned image, determine the region of interest, analyze the region of interest, and generate a scan report.

[0029] In one of the embodiments, the imaging system further includes: a braking device connected to the control device;

[0030] The braking device is used to send a braking signal to the control device so that the control device controls the imaging device to stop working.

[0031] In one embodiment, the braking device includes a signal transmitting device;

[0032] The signal transmitting device is used to receive a trigger operation of the object to be imaged and send a braking signal to the control device in response to the trigger operation.

[0033] In a second aspect, an embodiment of the present application provides an imaging method, which is applied to a control device in an imaging system. The imaging method includes:

[0034] Controlling the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture;

[0035] The positioning information of the object to be imaged is obtained, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0036] In one embodiment, controlling an imaging device to scan the object to be imaged according to positioning information of the object to be imaged to obtain a scanned image of the object to be imaged includes:

[0037] Planning a scanning path of an imaging device according to positioning information of an object to be imaged;

[0038] The imaging device is controlled to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0039] In one embodiment, the imaging method further comprises:

[0040] In a process of controlling the imaging device to scan the object to be imaged, obtaining a reaction force when the imaging device contacts the object to be imaged;

[0041] Based on the reaction force, control of the imaging device is adjusted.

[0042] In one embodiment, the imaging method further comprises:

[0043] Acquiring positioning information and attitude information of the imaging device;

[0044] Reconstruction is performed based on the scanned image, the positioning information of the object to be imaged, the positioning information and the posture information of the imaging device to obtain a three-dimensional reconstructed image of the object to be imaged.

[0045] In one embodiment, the imaging method further comprises:

[0046] Determine whether there is an invalid section image in the three-dimensional reconstructed image;

[0047] In the case where an invalid section image exists in the three-dimensional reconstructed image, determining a target area corresponding to the invalid section image according to positioning information, posture information of the imaging device and positioning information of the object to be imaged;

[0048] The imaging device is controlled to scan the target area to obtain a target section image, determine a new three-dimensional reconstructed image, and return to the step of determining whether there is an invalid section image in the three-dimensional reconstructed image.

[0049] In one embodiment, determining whether there is an invalid slice image in the three-dimensional reconstructed image includes:

[0050] Determine a candidate section image in the three-dimensional reconstructed image, and perform segmentation processing on the candidate section image to determine a region of interest;

[0051] The region of interest is analyzed, and whether the candidate section image is an invalid section image is determined according to the analysis result.

[0052] In one embodiment, the imaging method further comprises:

[0053] When it is determined that there are no invalid section images in the three-dimensional reconstructed image, a scanning report is generated according to the analysis results.

[0054] The embodiment of the present application provides an imaging system and an imaging method, wherein the imaging system includes an interactive device, a positioning device, an imaging device, and a control device; the interactive device, the positioning device, and the imaging device are all connected to the control device; the control device is used to control the interactive device to display an imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device according to the imaging posture; the positioning device is used to obtain the positioning information of the object to be imaged, and transmit the positioning information of the object to be imaged to the control device; the control device is also used to control the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged, and obtain a scanned image of the object to be imaged. In this embodiment, the scanning of the object to be imaged can be realized directly through the communication between the interactive device, the positioning device, the imaging device, and the control device, and the scanning image of the object to be imaged can be obtained without the need for medical staff to hold the imaging device, which can reduce the dependence on medical staff, reduce the burden on medical staff, reduce the risk of occupational injuries, and improve the efficiency of obtaining scanned images. Moreover, obtaining the scanned image of the object to be imaged in this way does not need to rely on the skills of medical staff, and the obtained scanned images can be standardized, ensuring that consistent and high-quality scanned images can be obtained regardless of where and by whom the operation is performed. This can transcend geographical restrictions and provide accurate and efficient ultrasound examination services for more imaging objects, thereby promoting the dual improvement of medical equity and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic structural diagram of an imaging system in one embodiment;

[0056] Figure 2 is a schematic structural diagram of an imaging system in another embodiment;

[0057] Figure 3 is a schematic structural diagram of an imaging system in another embodiment;

[0058] Figure 4 is a schematic diagram of a load-bearing component in one embodiment;

[0059] Figure 5 is a top view of a load-bearing assembly in one embodiment;

[0060] Figure 6 A bottom view of a load-bearing assembly in one embodiment;

[0061] Figure 7 is a schematic diagram of a coupling component in one embodiment;

[0062] Figure 8 is a schematic structural diagram of an imaging system in another embodiment;

[0063] Fig. 9 A schematic diagram of a step flow chart of an imaging method in an embodiment;

[0064] Fig.10 A schematic flow chart of steps of an imaging method in another embodiment;

[0065] Fig.11 A schematic flow chart of steps of an imaging method in another embodiment;

[0066] Fig.12 A schematic flow chart of steps of an imaging method in another embodiment;

[0067] Fig.13 A schematic flow chart of steps of an imaging method in another embodiment;

[0068] Fig.14 A schematic flow chart of steps of an imaging method in another embodiment;

[0069] Fig.15 is a schematic structural diagram of an imaging module in one embodiment;

[0070] Fig.16 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment.

[0071] Description of reference numerals:

[0072] 10. Imaging system; 100. Interaction device; 200. Positioning device; 210. Camera assembly; 220. Magnetic positioning assembly; 300. Imaging device; 310. Carrying assembly; 311. Pressure sensor; 312. Top layer; 313. Middle layer; 320. Imaging assembly; 321. Moving unit; 322. Imaging unit; 323. Positioning source; 324. Coupling unit; 325. Feedback unit; 326. Information acquisition unit; 3231. Infrared light array; 3232. Magnet; 400. Control device; 500. Braking device; DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0074] The serial numbers assigned to the components in this article, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0075] First of all, before specifically introducing the technical solutions of the embodiments disclosed in the present application, the background technology or technical evolution context on which the embodiments of the present application are based is introduced. In the medical field, medical images are acquired by scanning imaging objects with scanning equipment to assist medical staff in medical diagnosis or teaching. Among them, medical ultrasound examination, with its unique advantages of being economical, non-invasive and real-time imaging, plays a vital role in modern medical diagnosis. Ultrasound equipment has become the most commonly used imaging diagnostic tool in medical institutions. Medical ultrasound examination can not only greatly promote the early detection and evaluation of diseases, but also respond to the growing demand for physical examinations brought about by the improvement of public health awareness.

[0076] Existing ultrasound scanning methods rely on doctors to use handheld scanning ultrasound probes to examine designated areas of the imaging object one by one to obtain the required medical images. This process not only challenges the doctor's physical strength and endurance, but also leads to occupational diseases such as arthritis. In addition, this will exacerbate the problem of uneven distribution of medical resources, especially in remote areas or areas with poor medical conditions. The lack of professional ultrasound doctors seriously limits the accessibility of high-quality medical services. In addition, the differences in skill levels among doctors lead to uneven quality of ultrasound images scanned by different doctors, which will affect the consistency and reliability of the diagnostic structure, thereby restricting the clinical application value of ultrasound imaging to a certain extent. In this regard, the present application provides an imaging system.

[0077] The technical solution of the present application and how the technical solution of the present application solves the technical problem are described in detail below with specific embodiments.

[0078] See also Figure 1 An embodiment of the present application provides an imaging system 10. The imaging system 10 includes an interaction device 100, a positioning device 200, an imaging device 300, and a control device 400. The interaction device 100, the positioning device 200, and the imaging device 300 are all connected to the control device 400.

[0079] The interactive device 100, the positioning device 200 and the imaging device 300 are respectively connected to the control device 400 in communication, which can be wired communication or wireless communication. The interactive device 100, the positioning device 200 and the imaging device 300 can be connected to the control device 400 in the same or different ways. This embodiment does not limit this, as long as its function can be achieved. The control device 400 can be, but is not limited to, a terminal, a computer device, an industrial computer, a laptop computer, a tablet computer, etc.

[0080] The control device 400 is used to control the interactive device 100 to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device 300 according to the imaging posture.

[0081] The scanning requirement may be inputted into the control device 400 by the subject to be imaged, or may be inputted into the control device 400 by the medical staff. The scanning requirement may include the identity information, body feature information and the part to be scanned of the subject to be imaged. The identity information may include the name, age, gender, ID number, contact information and the like of the subject to be imaged. The body feature information may include the height, weight and the like of the subject to be imaged. The control device 400 pre-stores the imaging postures corresponding to different scanning parts, that is, the posture of the imaging subject on the imaging device 300 when the target part needs to be scanned.

[0082] The interactive device 100 may include a display. After the control device 400 determines the imaging posture of the object to be imaged according to the received scanning requirements, it will display the imaging posture on the interactive device 100 so that the object to be imaged can be correctly positioned on the imaging device 300 according to the imaging posture displayed on the interactive device 100.

[0083] In an optional embodiment, the interactive device 100 may further include a speaker. The microphone may be installed on the imaging device 300 or in the room where the imaging device 300 is located. When the interactive device 100 displays the imaging posture on the display, it may also issue an instruction sound through the speaker to instruct the object to be imaged to be positioned on the imaging device 300 according to the imaging posture. Optionally, the interactive device 100 may further include a microphone, and when the object to be imaged has questions or other discomfort, the microphone may be used to contact medical staff or staff.

[0084] In an optional embodiment, if other objects are needed during the imaging process using the imaging device 300, for example, a magnetic resonance coil needs to be placed on the part of the object to be imaged that needs to be scanned during magnetic resonance imaging, the control device 400 pre-stores images of objects (magnetic resonance coils) required for different scanning parts, as well as the method and position of placing the object on the object to be imaged. The object required for imaging can be placed on the imaging device 300 or in the room where the imaging device 300 is located. The interactive device 100 can instruct the object to be imaged to select the corresponding object through a speaker, and instruct the object to be imaged to correctly place the object.

[0085] The positioning device 200 is used to obtain positioning information of the object to be imaged, and transmit the positioning information of the object to be imaged to the control device 400. Different types of positioning devices 200 obtain different types of positioning information, which is not limited in this embodiment.

[0086] The positioning device 200 may be a camera, which is used to obtain a picture of the object to be imaged, that is, the positioning information is a picture. This embodiment does not limit the type, structure, and setting position of the positioning device 200, as long as it can achieve its function. The positioning device 200 can obtain the positioning information of the object to be imaged in real time, or it can obtain the positioning information of the object to be imaged after receiving an instruction from the control device 400, and this embodiment does not limit this. After determining the positioning information of the object to be imaged, the positioning device 200 transmits the positioning information of the object to be imaged to the control device 400.

[0087] The control device 400 is further used to control the imaging device 300 to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0088] After acquiring the positioning information of the object to be imaged, the control device 400 can determine the position information of the object to be imaged and the position information of the part to be scanned on the object to be imaged, so that the imaging device 300 can be controlled to scan the part to be scanned on the object to be imaged, that is, the imaging device 300 is controlled to move to the part to be scanned for scanning, and a scanned image of the object to be imaged can be obtained. The scanned image can be a two-dimensional image, a three-dimensional image, or a video. The type of the scanned image corresponds to the imaging device. If the imaging device 300 is a magnetic resonance device, the scanned image is a magnetic resonance image; if the imaging device 300 is an ultrasound device, the scanned image is an ultrasound image. This embodiment does not limit the type and structure of the imaging device 300, as long as its function can be achieved.

[0089] The imaging system 10 provided in the embodiment of the present application includes an interactive device 100, a positioning device 200, an imaging device 300 and a control device 400; the interactive device 100, the positioning device 200 and the imaging device 300 are all connected to the control device 400; the control device 400 is used to control the interactive device 100 to display an imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device 300 according to the imaging posture; the positioning device 200 is used to obtain the positioning information of the object to be imaged, and transmit the positioning information of the object to be imaged to the control device 400; the control device 400 is also used to control the imaging device 300 to scan the object to be imaged according to the positioning information of the object to be imaged, and obtain the scanned image of the object to be imaged. In this embodiment, the scanning of the object to be imaged can be realized directly through the communication between the interactive device 100, the positioning device 200, the imaging device 300 and the control device 400, and the scanning image of the object to be imaged can be obtained, without the need for medical staff to hold the imaging device 300, which can reduce the dependence on medical staff, reduce the burden on medical staff, reduce the risk of occupational injuries, and improve the efficiency of obtaining scanned images. Moreover, obtaining the scanned image of the object to be imaged in this way does not need to rely on the skills of medical staff, and the obtained scanned images can be standardized, ensuring that consistent and high-quality scanned images can be obtained regardless of where and by whom the operation is performed. This can transcend geographical restrictions and provide accurate and efficient ultrasound examination services for more imaging objects, thereby promoting the dual improvement of medical equity and quality.

[0090] See also Figure 2 In one embodiment, the imaging device 300 includes a carrier component 310 and an imaging component 320 , and the imaging component 320 is connected to the control device 400 .

[0091] The carrying component 310 is used to carry the object to be imaged; the imaging component 320 is used to scan the object to be imaged based on the control of the control device 400.

[0092] The carrying component 310 may be a scanning bed or a scanning chair, and the object to be imaged may lie or sit on the carrying component 310 according to the imaging posture displayed by the interactive device 100 .

[0093] In an optional embodiment, the interaction device 100 and the positioning device 200 may be disposed on the supporting component 310 .

[0094] After the object to be imaged is placed on the carrying assembly 310, the positioning device 200 can determine the positioning information of the object to be imaged, and send the positioning information of the object to be imaged to the control device 400. The control device 400 can determine the position information of the part to be scanned according to the received positioning information of the object to be imaged, and thus send a control signal to the imaging assembly 320 to control the imaging assembly 320 to scan the part to be scanned of the object to be imaged.

[0095] See also Figure 2 and Figure 3 In one embodiment, the imaging assembly 320 includes a moving unit 321, an imaging unit 322, and a positioning source 323. The imaging unit 322 is disposed on the moving unit 321, and the positioning source 323 is disposed on the moving unit 321. The moving unit 321 is mechanically connected to the imaging unit 322, and the imaging unit 322 can move as the moving unit 321 moves.

[0096] The moving unit 321 may be a mechanical arm, which includes a clamping device for clamping the imaging unit 322. The positioning source 323 is disposed on the clamping device. Alternatively, the moving unit 321 may be a multi-degree-of-freedom mechanical arm. The imaging unit 322 may be an ultrasonic probe, which is clamped on the clamping device.

[0097] The moving unit 321 is used to move based on the control of the control device 400, and to carry the imaging unit 322 to the target position of the object to be imaged, where the target position is the part to be scanned determined by the control device 400 according to the positioning information of the object to be imaged. The imaging unit 322 is used to scan the object to be imaged based on the control of the control device 400 to obtain a scanned image. The positioning device 200 is used to determine the position information of the imaging unit 322 according to the positioning source 323, and send the position information of the imaging unit 322 to the control device 400.

[0098] In an optional embodiment, a guide rail is provided on the carrying assembly 310 , and the moving unit 321 can slide on the guide rail under the control of the control device 400 to drive the imaging unit 322 to move to the target position of the object to be imaged.

[0099] After acquiring the positioning information of the object to be imaged, the control device 400 will determine the position information of the part to be scanned in the imaging pair according to the positioning information of the object to be imaged, that is, the target position of the object to be imaged; and control the movement unit 321 to move so that the movement unit 321 moves to the target position of the object to be imaged. The imaging unit 322 will move to the target position of the object to be imaged along with the movement unit 321. The positioning device 200 can determine the positioning information of the imaging unit 322 according to the positioning source 323 set on the mobile unit 321, and send the positioning information of the imaging unit 322 to the control device 400. After receiving the positioning information of the imaging unit 322, the control device 400 determines the position information of the imaging unit 322 according to the positioning information of the imaging unit 322; if it is determined that the position information of the imaging unit 322 is consistent with the target position, a control signal is sent to the imaging unit 322 so that the imaging unit 322 scans the object to be imaged and obtains a scanned image.

[0100] In an optional embodiment, the target position of the object to be imaged may be an area to be scanned. In the case where the imaging unit 322 is an ultrasonic probe, the control device 400 may plan a scanning path according to the target position of the object to be imaged, and control the ultrasonic probe to scan the object to be imaged according to the planned scanning path to obtain a scanned image. In the process of planning the scanning path by the control device 400, the coverage of adjacent paths in the planned scanning path is not less than a preset threshold. Optionally, the preset threshold may be 50%. By scanning the object to be imaged according to such a scanning path, the target position of the object to be imaged may be scanned in all directions, thereby obtaining a more complete and accurate scanned image.

[0101] In an optional embodiment, the control device 400 adjusts the imaging parameters of the imaging unit 322 in real time when controlling the imaging unit 322 to scan the object to be imaged, so as to achieve accurate scanning of the object to be imaged and obtain a high-quality scanned image. The imaging parameters may include image gain parameters, depth parameters, time gain control parameters, focus parameters, dynamic range parameters, etc.

[0102] In this embodiment, the imaging component 320 includes a mobile unit 321, an imaging unit 322 and a positioning source 323. The imaging unit 322 is disposed on the mobile unit 321, and the positioning source 323 is disposed on the mobile unit 321. The imaging component 320 has a simple structure and is easy to implement, which can improve the applicability of the imaging system 10.

[0103] See also Figure 3-Figure 6In one embodiment, the positioning device 200 includes a camera assembly 210 and / or a magnetic positioning assembly 220, and the camera assembly 210 and the magnetic positioning assembly 220 are both connected to the control device 400; the positioning source 323 includes an infrared light array 3231 and / or a magnet 3232, and the infrared light array 3231 and the magnet 3232 are both arranged on the mobile unit 321.

[0104] The positioning device 200 may be a camera assembly 210, that is, it may include multiple cameras, and the cameras may be arranged on the carrying assembly 310, or may be arranged in the room where the imaging device 300 is located. Optionally, the camera assembly 210 may include five cameras, four of which are arranged at the four corners of the carrying assembly 310, and another camera is arranged directly above the imaging assembly 320.

[0105] In the case where the positioning device 200 includes the camera assembly 210, the corresponding positioning source 323 includes an infrared light array 3231, which is arranged on the mobile unit 321. The camera assembly 210 may be an infrared camera, through which a picture of the infrared light array 3231, i.e., positioning information of the infrared light array 3231, may be obtained. Optionally, the infrared light array 3231 may be a cross infrared light array.

[0106] The positioning device 200 may include a magnetic positioning component 220 , which may be disposed on the bearing component 310 . Optionally, the magnetic positioning component 220 may be a Hall sensor, which may be disposed on the bearing component 310 .

[0107] When the positioning device 200 includes the magnetic positioning component 220, the corresponding positioning source 323 includes a magnet 3232, and the magnet 3232 is disposed on the mobile unit 321. The magnetic positioning component 220 can detect the strength and direction of the magnet 3232, so as to determine the positioning information of the magnet 3232, and further determine the positioning information of the imaging unit 322.

[0108] The positioning device 200 may include a camera component 210 and a magnetic positioning component 220 , and the corresponding positioning source 323 includes an infrared light array 3231 and a magnet 3232 .

[0109] The camera assembly 210 is used to obtain a picture of the object to be imaged, that is, the positioning information of the object to be imaged, and a picture of the infrared light array 3231. The camera assembly 210 can send the picture of the object to be imaged to the control device 400, and the control device 400 can determine the position information of the object to be imaged based on the received picture of the object to be imaged, and control the imaging device 300 to scan the object to be imaged according to the position information of the object to be imaged to obtain a scanned image. The camera assembly 210 can also send the picture of the infrared light array 3231 to the control device 400, and the control device 400 determines the first position information of the imaging unit 322 according to the received picture of the infrared light array 3231. The magnetic positioning assembly 220 is used to determine the magnetic information of the imaging unit 322 based on the magnet 3232, that is, the positioning information of the imaging unit 322. The magnetic positioning assembly 220 can send the magnetic information to the control device 400, and the control device 400 can determine the second position information of the imaging unit 322 according to the received magnetic information. The magnetic information may include the magnetic field strength and direction of the magnet 3232.

[0110] In this embodiment, multiple types of positioning devices 200 and positioning sources 323 are provided, and users can set them according to actual applications, which can improve the practicality of the imaging system 10. In addition, when the positioning device 200 includes a camera assembly 210 and a magnetic positioning assembly 220, and the corresponding positioning source 323 includes an infrared light array 3231 and a magnet 3232, the control device 400 can determine the first position information of the imaging unit 322, and the second position information of the imaging unit 322, and more accurate position information of the imaging unit 322 can be determined according to the first position information and the second position information.

[0111] In an optional embodiment, if Figure 4-Figure 6 As shown, the bearing assembly 310 may include a top layer 312, a middle layer 313, and pressure sensors 311 and magnetic positioning components 220 respectively laid on both sides of the middle layer 313. The top layer 312 of the bearing assembly 310 is a leather layer of the bearing assembly 310, and the middle layer 313 may be a bearing assembly 310 provided with a pressure sensor 311, which is evenly laid on the bearing assembly 310 and connected to the control device 400. When the object to be imaged is placed on the bearing assembly 310, the posture, height, weight, etc. of the object to be imaged can be determined through the pressure sensor 311.

[0112] In one embodiment, Figure 3 As shown, the imaging component 320 further includes a coupling unit 324. The coupling unit 324 is used to be arranged on the object to be imaged, so that the imaging unit 322 scans the object to be imaged based on the coupling unit 324 to obtain a scanned image.

[0113] The coupling unit 324 refers to an auxiliary object in the process of imaging the object to be imaged using the imaging unit 322. When imaging the object to be imaged, the coupling unit 324 needs to be placed on the part of the object to be imaged that needs to be scanned. The imaging unit 322 can scan the object to be imaged according to the placement position of the coupling unit 324 to obtain a scanned image.

[0114] In an optional embodiment, in the case where the imaging unit 322 is an ultrasound probe, the coupling unit 324 may be an object comprising a hydrogel material, and the coupling unit 324 is placed at a target position on the object to be imaged. The control device 400 may control the ultrasound probe to scan along a planned path at the position where the coupling unit 324 is located to obtain a scanned image, i.e., an ultrasound video.

[0115] In an optional embodiment, the coupling unit 324 includes at least one coupling component, and different coupling components correspond to different scanning parts of the object to be imaged.

[0116] The coupling components included in the coupling unit 324 may have different sizes, shapes, and colors. Different scanning requirements and different parts to be scanned may require different sizes, shapes, and colors of the coupling components, which makes it easier for the subject to be imaged to distinguish the coupling components, so that the subject to be imaged can correctly select the required coupling components.

[0117] In an optional embodiment, for a coupling component, different marks (such as colors) can be used to distinguish different scanning areas. Figure 7 As shown, when scanning the neck of the subject to be imaged, the scanning area includes the left and right sides of the neck, and different colors can be used on the required coupling components to distinguish the left and right sides to be scanned. The camera component 210 in the positioning device 200 can obtain a picture of the coupling component and send the picture of the coupling component to the control device 400. The control device 400 can determine the scanning area based on the received picture of the coupling component, thereby improving the accuracy of the scanning path planned by the control device 400, and further improving the accuracy of the scanned image obtained by scanning.

[0118] In an optional embodiment, after the subject to be imaged wears the coupling component, a wearing picture of the subject to be imaged wearing the coupling component can be obtained through the camera component 210, and the wearing picture can be sent to the control device 400. The control device 400 can determine whether the coupling component is worn accurately according to the received wearing picture, and if it is accurate, continue the subsequent scanning process; if it is not accurate, the control device 400 will make a voice prompt on the interactive device 100 and display the accurate wearing method on the interactive device 100 to instruct the subject to be imaged to adjust the worn coupling component.

[0119] In this embodiment, the imaging assembly 320 includes a coupling unit 324, which can assist the imaging unit 322 in scanning the object to be imaged. In addition, the coupling unit 324 is sterile and has good adhesion, and is easy to be set on the object to be imaged, which can improve the practicality of the imaging system 10.

[0120] In one embodiment, Figure 3 As shown, the imaging component 320 further includes a feedback unit 325 , which is disposed on the moving unit 321 and connected to the control device 400 .

[0121] The feedback unit 325 is used to obtain the reaction force when the imaging unit 322 contacts the object to be imaged, and send the reaction force to the control device 400; the control device 400 is used to adjust the movement of the moving unit 321 based on the reaction force.

[0122] The feedback unit 325 can be arranged in the clamping device in the mobile unit 321. The feedback unit 325 can be connected to the control device 400 for communication. In the process that the control device 400 controls the mobile unit 321 to move and drives the imaging unit 322 to scan the object to be imaged, the feedback unit 325 can obtain the reaction force of the imaging unit 322 when it contacts the object to be imaged during the scanning process in real time, and can send the reaction force to the control device 400. The control device 400 can determine whether it is necessary to adjust the distance between the imaging unit 322 and the object to be imaged according to the received reaction force; if the control device 400 determines that it is necessary to adjust the distance between the imaging unit 322 and the object to be imaged according to the reaction force, the mobile unit 321 is controlled to move to change the distance between the imaging unit 322 and the object to be imaged. Optionally, the feedback unit 325 is a six-dimensional force sensor.

[0123] In an optional embodiment, a preset reaction force range is pre-stored in the control device 400. After receiving the reaction force, the control device 400 determines whether it is necessary to adjust the distance between the imaging unit 322 and the object to be imaged by determining whether the reaction force is within the preset reaction force range.

[0124] In this embodiment, the control device 400 can adjust the movement of the mobile unit 321 through the reaction force obtained by the feedback unit 325 to change the distance between the imaging unit 322 and the object to be imaged, which can avoid the imaging unit 322 from excessively pressing the object to be imaged, causing discomfort or even pain to the object to be imaged, and can also avoid the imaging unit 322 not contacting the object to be imaged or inaccurately contacting the object to be imaged, resulting in inaccurate scanned images, thereby improving the practicality and reliability of the imaging system 10.

[0125] In one embodiment, Figure 3As shown, the imaging component 320 further includes an information acquisition unit 326. The information acquisition unit 326 is disposed on the mobile unit 321 and connected to the control device 400. The information acquisition unit 326 is used to acquire the posture information of the imaging unit 322 when the imaging unit 322 scans the imaging object, and send the posture information to the control device 400.

[0126] The information acquisition unit 326 may be disposed in a clamping device in the mobile unit 321. The information acquisition unit 326 is in communication connection with the control device 400.

[0127] When the control device 400 controls the moving unit 321 to move and drives the imaging unit 322 to scan the object to be imaged, the information acquisition unit 326 can acquire the posture information of the imaging unit 322 during the scanning process and send the posture information to the control device 400. The posture information may include dynamic information such as the motion state (such as speed, acceleration, moving direction, etc.) and pitch angle of the imaging unit 322. Optionally, the information acquisition unit 326 is a six-axis accelerometer.

[0128] In this embodiment, the imaging component 320 includes an information acquisition unit 326. The control device 400 can obtain the posture information of the imaging unit 322 through the information acquisition unit 326, which facilitates the subsequent imaging of the imaging object according to the posture information, and can improve the practicality and reliability of the imaging system 10.

[0129] In one embodiment, the control device 400 is further configured to reconstruct according to the scanned image, the positioning information of the object to be imaged, the positioning information and the posture information of the imaging unit 322 to obtain a three-dimensional reconstructed image of the object to be imaged.

[0130] After acquiring the scanned image of the object to be imaged, the positioning information of the object to be imaged, the positioning information of the imaging unit 322, and the posture information of the imaging unit 322, the control device 400 can perform image reconstruction based on the acquired scanned image, the positioning information of the object to be imaged, the positioning information and the posture information of the imaging unit 322, and obtain a three-dimensional reconstructed image of the object to be imaged. Specifically, the control device 400 can form a space-time matrix with the acquired positioning information and posture information of the imaging unit 322, match the space-time matrix with the scanned image, and obtain a three-dimensional reconstructed image. The three-dimensional reconstructed image includes not only the scanned image of the object to be imaged, but also the positioning information and posture information of the imaging unit 322 during the scanning process of the object to be imaged, and the positioning information of the object to be imaged.

[0131] In an optional embodiment, the control device 400 can also obtain the reaction force sent by the feedback unit 325 when the imaging unit 322 contacts the object to be imaged during the scanning process of the object to be imaged; the control device 400 can form a new space-time matrix with the positioning information and posture information of the imaging unit 322, and the reaction force, and match the new space-time matrix with the scanned image to obtain a new three-dimensional reconstructed image.

[0132] The three-dimensional reconstructed image obtained in this embodiment includes richer information, which can improve the practicality of the imaging system 10.

[0133] In one embodiment, the control device 400 is also used to segment the scanned image, determine the region of interest, and analyze the region of interest to generate a scan report.

[0134] After acquiring the scanned image of the object to be imaged, the control device 400 will segment the scanned image to determine the region of interest in the scanned image, that is, the lesion area. After determining the region of interest in the scanned image, the control device 400 will analyze the region of interest to determine the relevant characteristic parameters of the region of interest, such as the size, thickness, area and volume of the region of interest. After determining the relevant characteristic parameters of the region of interest, the control device 400 can classify the disease according to the characteristic parameters and generate a scan report. The scan report includes the identity information of the object to be imaged, as well as the disease classification, etc.

[0135] In this embodiment, the control device 400 can not only realize the scanning operation of the imaging object through the interaction device 100, the positioning device 200 and the imaging device 300, but also analyze the scanned image to generate a scanning report, which can improve the practicality of the imaging system 10.

[0136] In an optional embodiment, the control device 400 may input the scanned image into a pre-trained segmentation model to perform segmentation processing on the scanned image. The control device 400 may input the relevant characteristic parameters of the region of interest or the region of interest into a pre-trained classification model to classify the disease and output the disease type and the probability of belonging to the disease type. Before generating a scan report, the control device 400 will determine whether the obtained disease classification information meets the report generation conditions. If so, a scan report will be generated; if not, it means that the currently acquired scanned image is not sufficient for disease classification, and the control device 400 may return to re-control the imaging unit 322 to scan the object to be imaged and obtain a new scanned image.

[0137] In an optional embodiment, the control device 400 can perform segmentation processing on the reconstructed three-dimensional reconstructed image to obtain the region of interest; that is, perform segmentation processing on each section image in the three-dimensional reconstructed image to obtain the region of interest corresponding to each section; the control device 400 analyzes the region of interest of each section to determine the relevant characteristic parameters of the region of interest of each section; inputs the relevant characteristic parameters of the region of interest of each section into a pre-trained classification model, classifies the disease, and outputs disease type information, which includes the disease type and the probability of belonging to the disease type. Before generating a scan report, the control device 400 will determine whether the obtained disease type information meets the report generation conditions. If so, a scan report will be generated. If not, it means that the image of a certain section in the currently acquired three-dimensional reconstructed image is not sufficient for disease classification. The control device 400 can determine the relevant information of the section image that cannot be classified from the three-dimensional reconstructed image, such as the positioning information of the imaging unit 322, the posture information of the imaging unit 322, and the reaction force of the object to be imaged, etc. The control device 400 can re-scan the relevant area of ​​the object to be imaged according to the relevant position information of the section image, and adjust the imaging parameters of the imaging unit 322 to obtain a more accurate new section image. The control device 400 repeats the above segmentation and analysis process on the new section image to determine the disease type information of the new section image object until a scan report is generated.

[0138] In an optional embodiment, before obtaining the three-dimensional reconstructed image and performing segmentation processing on the three-dimensional reconstructed image, the control device 400 may first analyze the section image in the three-dimensional reconstructed image to determine whether the section image in the three-dimensional reconstructed image is scanned clearly and / or whether the section image is fully recognized. If there is a section that is not scanned clearly or not fully recognized in the three-dimensional reconstructed image, the control device 400 may determine the relevant information corresponding to the section that is not scanned clearly or not fully recognized from the three-dimensional reconstructed image, and re-scan the object to be imaged based on the relevant information, and adjust the imaging parameters of the imaging unit 322 to obtain a more accurate new section image. If there is a section that is not scanned clearly or not fully recognized in the three-dimensional reconstructed image, the control device 400 may also directly control the imaging device to scan the object to be imaged to obtain a scanned image of the object to be imaged; and repeat the above processing of the scanned image based on the scanned image. Before determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image, the control device 400 comprehensively analyzes whether the cross-sectional image scan in the three-dimensional reconstructed image is clear and / or whether the cross-sectional image is recognizable. This can improve the accuracy of the determined three-dimensional reconstructed image, thereby improving the accuracy and efficiency of the subsequently generated scanning report.

[0139] In one embodiment, Figure 8 As shown, the imaging system 10 further includes a braking device 500. The braking device 500 is connected to the control device 400. The braking device 500 is used to send a braking signal to the control device 400, so that the control device 400 controls the imaging device 300 to stop working.

[0140] The braking device 500 is used to send a braking signal to the control device 400 when an emergency occurs during the scanning of the object to be imaged (for example, the object to be imaged obviously feels uncomfortable). After receiving the braking signal, the control device 400 will control the imaging device 300 to stop working, that is, stop scanning the object to be imaged. If the imaging unit 322 in the imaging device 300 is an ultrasonic probe, then controlling the imaging device 300 to stop working is to control the ultrasonic probe to stop working. This embodiment does not limit the type, structure, and installation position of the braking device 500, as long as it can achieve its function.

[0141] In one embodiment, the braking device 500 includes a signal transmitting device, which is used to receive a trigger operation of the imaging object and send a braking signal to the control device 400 in response to the trigger operation.

[0142] The signal transmitting device may be a control button disposed on the bearing assembly 310 of the imaging device 300. The object to be imaged operates the control button to send a braking signal to the control device 400. The signal transmitting device may also be a microphone disposed on the bearing assembly 310 or in the room where the imaging device 300 is located. The microphone receives an indication sound emitted by the object to be imaged. The indication sound is used to indicate that the imaging device 300 needs to stop working. The microphone may send the indication sound to the control device 400, and the control device 400 controls the imaging device 300 to stop working according to the indication sound. The signal transmitting device may send a braking signal to the control device 400 via Bluetooth, or may send a signal to the control device 400 via an antenna. This embodiment does not limit the specific type, structure, and setting position of the signal transmitting device, as long as its function can be achieved.

[0143] In this embodiment, the imaging system 10 includes a braking device 500, through which the control device 400 can control the imaging device 300 to stop working in an emergency, thereby improving the practicality and reliability of the imaging system 10. In addition, the braking device 500 has a simple structure and is easy to implement, which can improve the practicality of the imaging system 10.

[0144] In an optional embodiment, after the control device 400 controls the imaging device 300 to complete the image scan, the control device 400, the interaction device 100, the positioning device 200 and the imaging device 300 are reset, that is, restored to the state before the scan, and the completion of the scan is prompted through the interaction device 100.

[0145] In an optional embodiment, when the imaging device is an ultrasound imaging device, the imaging device 300 in the imaging system may be an ultrasound desktop machine, a portable machine, or a customized ultrasound imaging machine coupled to other devices in the imaging system 10.

[0146] See also Fig. 9 An embodiment of the present application provides an imaging method. This embodiment is described by taking the imaging method applied to a control device in an imaging system provided in the above embodiment as an example, and the steps of the imaging method include:

[0147] Step 900: Control the interactive device in the imaging system to display the imaging posture according to the scanning requirement, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture.

[0148] For the description of the scanning requirements, imaging postures, interaction devices and imaging devices, reference may be made to the specific descriptions in the above embodiments, which will not be repeated here.

[0149] After obtaining the scanning requirement, the control device controls the interactive device to display the imaging posture based on the scanning requirement, and the object to be imaged lies or sits on the carrying component of the imaging device based on the displayed imaging posture.

[0150] Step 910: Acquire the positioning information of the object to be imaged, and control the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged to obtain a scanned image of the object to be imaged.

[0151] The control device obtains the positioning information of the object to be imaged from the positioning device in the imaging system, and determines the position information of the part to be scanned on the object to be imaged, that is, the target position, according to the positioning information of the object to be imaged; controls the moving unit in the imaging device to carry the imaging unit to move to the target position according to the position information, and controls the imaging unit to scan the object to be imaged to obtain a scanned image of the object to be imaged. The description of the imaging device, the scanned image and the acquisition of the positioning information can refer to the specific description in the above embodiment, which will not be repeated here.

[0152] In an optional embodiment, when the positioning information acquired by the positioning device is a picture of the object to be imaged, the control device can determine whether the posture of the object to be imaged is consistent with the imaging posture based on the picture of the object to be imaged; if not, the speaker in the interactive device can be used to instruct the object to be imaged to adjust its posture so that it is consistent with the imaging posture.

[0153] The imaging method provided in the embodiment of the present application is applied to the control device in the imaging system, and the control device controls the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture; the positioning information of the object to be imaged is obtained, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, and the scanned image of the object to be imaged is obtained. In this embodiment, the control device can realize the scanning of the object to be imaged by communicating with the interactive device, the positioning device and the imaging device in the imaging system, and obtain the scanned image of the object to be imaged. There is no need for medical staff to hold the imaging device, which can reduce the dependence on medical staff, reduce the burden of medical staff, reduce the risk of occupational injuries, and improve the efficiency of obtaining scanned images. In addition, in this way, the scanning image of the object to be imaged does not need to rely on the technology of medical staff, and the standardization of the acquired scanned images can be achieved, ensuring that consistent and high-quality scanned images can be obtained no matter where and by whom, so as to cross geographical restrictions and provide accurate and efficient ultrasound examination services for more imaging objects, thereby promoting the dual improvement of medical equity and quality.

[0154] In one embodiment, Fig.10 As shown, it is related to controlling an imaging device to scan the object to be imaged according to the positioning information of the object to be imaged to obtain an implementation method of a scanned image of the object to be imaged, and the steps of the implementation method include:

[0155] Step 101 : planning a scanning path of an imaging device according to positioning information of an object to be imaged.

[0156] After the control device obtains the positioning information of the object to be imaged from the positioning device, the position information of the part to be scanned on the object to be imaged, i.e., the target position, can be determined based on the positioning information; the scanning path of the mobile unit in the imaging device can be planned based on the position information. The scanning path includes the path for the mobile unit to move to the target position and the path required for movement during scanning.

[0157] Step 102: Control the imaging device to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0158] The control device sends a control signal to the mobile unit in the imaging device to control the mobile unit to carry the imaging unit and move along the scanning path, and controls the imaging unit to scan the imaging object to obtain a scanned image during the movement of the imaging unit.

[0159] In this embodiment, before controlling the imaging device to scan the object to be imaged, the scanning path is first planned according to the acquired positioning information of the object to be imaged, and the object to be imaged is scanned according to the planned scanning path to obtain a scanned image. This can improve the scanning efficiency, thereby improving the practicality and reliability of the imaging method.

[0160] In one embodiment, Fig.11 As shown, in the process of the control device controlling the imaging device to scan the imaging object, the steps of the imaging method include:

[0161] Step 111 : in a process of controlling the imaging device to scan the object to be imaged, obtaining a reaction force when the imaging device contacts the object to be imaged.

[0162] When the control device controls the imaging device to scan the object to be imaged according to the planned scanning path, the imaging unit in the imaging device will contact the object to be imaged, and the feedback unit set in the mobile unit of the imaging device can obtain in real time the reaction force generated by the object to be imaged when the imaging unit contacts the imaging object. The description of the feedback unit can refer to the specific description in the above embodiment, which will not be repeated here.

[0163] Step 112: Adjust control of the imaging device according to the reaction force.

[0164] After obtaining the reaction force when the imaging unit contacts the imaging object, the control device can adjust the control of the mobile unit in the imaging device according to the reaction force. The description of adjusting the control of the mobile unit in the imaging device according to the reaction force can refer to the specific description in the above embodiment, which will not be repeated here.

[0165] In this embodiment, when controlling the imaging device to scan the object to be imaged, the reaction force when the imaging unit in the imaging device contacts the object to be imaged can be obtained in real time, and the control of the moving unit in the imaging device can be adjusted according to the reaction force. This can avoid excessive pressure on the object to be imaged by the imaging unit, causing discomfort or even pain to the object to be imaged, and can also avoid inaccurate scanned images due to the imaging unit not contacting the object to be imaged or inaccurate contact, thereby improving the practicality and reliability of the imaging method.

[0166] In one embodiment, Fig.12 As shown, the steps of the imaging method also include:

[0167] Step 121: Acquire positioning information and posture information of the imaging device.

[0168] The positioning information of the imaging unit in the imaging device can be obtained by the positioning device in the imaging system and the positioning source arranged on the mobile unit, and the positioning information of the imaging unit can be sent to the control device. The posture information of the imaging unit can be obtained by the information acquisition unit arranged on the mobile unit, and the posture information can be sent to the control device. The control device obtains the positioning information and posture information of the imaging unit in the imaging device. The specific description of obtaining the positioning information and posture information of the imaging unit can refer to the description in the above embodiment, which will not be repeated here.

[0169] Step 122 : Reconstruct according to the scanned image, the positioning information of the object to be imaged, the positioning information and the posture information of the imaging device to obtain a three-dimensional reconstructed image of the object to be imaged.

[0170] After acquiring the scanned image of the object to be imaged, the positioning information of the object to be imaged, and the positioning information and posture information of the imaging unit in the imaging device, the control device performs image reconstruction according to the scanned image, the positioning information of the object to be imaged, and the positioning information and posture information of the imaging unit, so as to obtain a three-dimensional reconstructed image of the object to be imaged. The specific description of obtaining the three-dimensional reconstructed image of the object to be imaged can refer to the description in the above embodiment, which will not be repeated here.

[0171] In this embodiment, by reconstructing the acquired scanned image, the positioning information of the object to be imaged, the positioning information and posture information of the imaging unit in the imaging device, a three-dimensional reconstructed image with richer protection information can be obtained, which is convenient for subsequent disease classification and generation of scanning reports, and can improve the practicability of the imaging method.

[0172] In one embodiment, Fig.13 As shown, the imaging method also includes:

[0173] Step 131: Determine whether there is an invalid section image in the three-dimensional reconstructed image.

[0174] The three-dimensional reconstructed image includes multiple cross-sectional images. After acquiring the three-dimensional reconstructed image, the control device will analyze and process each cross-sectional image in the three-dimensional reconstructed image to determine whether each cross-sectional image is valid. Whether each cross-sectional image is valid is determined based on whether each cross-sectional image can be used for disease classification. The specific process can refer to the description in the above embodiment.

[0175] In one embodiment, Fig.14 As shown, an implementation method for determining whether there is an invalid slice image in a three-dimensional reconstructed image includes the following steps:

[0176] Step 141: determine candidate section images in the three-dimensional reconstructed image, and perform segmentation processing on the candidate section images to determine the region of interest.

[0177] The candidate section image is used to characterize the section in the three-dimensional reconstructed image where the region of interest may exist, that is, the section where the lesion region may exist. The control device analyzes each section image in the acquired three-dimensional reconstructed image to determine the candidate section image. The candidate section image includes at least one section image. This embodiment does not limit the specific method for determining the candidate section image in the three-dimensional reconstructed image, as long as its function can be achieved.

[0178] In an optional embodiment, the control device may input the three-dimensional reconstructed image into a pre-trained distinction model to distinguish between the candidate section images and other section images in the three-dimensional reconstructed image.

[0179] After determining the candidate section image, the control device performs segmentation processing on the candidate section image to determine the region of interest in the candidate section image, that is, the lesion region. In the case of multiple candidate section images, the region of interest in each candidate section image is determined.

[0180] In an optional embodiment, the control device may input the candidate section image into a pre-trained segmentation model, perform segmentation processing on the candidate section image, and obtain the region of interest.

[0181] Step 142: Analyze the region of interest and determine whether the candidate section image is an invalid section image based on the analysis result.

[0182] After obtaining the region of interest, the control device analyzes the region of interest and can obtain an analysis result. The analysis result includes the disease type corresponding to the region of interest and the probability of belonging to the disease type. Specifically, the control device can determine the relevant characteristic parameters of the region of interest by analyzing the region of interest; and determine the disease type corresponding to the region of interest based on the relevant characteristic parameters. The relevant characteristic parameters may include parameters such as the size, thickness, area and volume of the region of interest. Optionally, the control device can input the relevant characteristic parameters of the region of interest or the region of interest into a pre-trained classification model to determine the disease type of the region of interest and the probability of inputting the disease type.

[0183] After determining the analysis result, the control device determines whether the candidate section image is an invalid section image based on the analysis result. Specifically, the control device can compare the probability of the disease type with a preset probability threshold. If it is less than the probability threshold, it means that the candidate section image cannot be accurately classified into the disease, and the candidate section image is an invalid section image; if it is greater than or equal to the probability threshold, it means that the candidate section image can be accurately classified into the disease; it means that the candidate section image is a valid section image, that is, there is no invalid section image in the three-dimensional reconstructed image.

[0184] Step 132: When there is an invalid section image in the three-dimensional reconstructed image, determine the target area corresponding to the invalid section image according to the positioning information, posture information of the imaging device and the positioning information of the object to be imaged.

[0185] When determining that there is an invalid cross-sectional image in the three-dimensional reconstructed image, the control device can determine that the invalid cross-sectional image obtained by scanning is the corresponding target area, that is, the invalid cross-sectional image obtained by scanning the target area of ​​the object to be imaged, based on the positioning information and posture information of the imaging unit in the imaging device in the three-dimensional reconstructed image and the positioning information of the object to be imaged. In addition, the control device can also obtain the positioning information and posture information of the imaging unit when scanning the invalid cross-sectional image, as well as the reaction force when the imaging unit contacts the object to be imaged, etc.

[0186] Step 133: Control the imaging device to scan the target area, obtain the target section image, determine a new three-dimensional reconstructed image, and return to the step of determining whether there is an invalid section image in the three-dimensional reconstructed image.

[0187] After determining the target area corresponding to the invalid section image, the control device can control the imaging unit to re-scan the target area according to the positioning information and posture information of the imaging unit when scanning the invalid section image, and the reaction force when the imaging unit contacts the object to be imaged. During the scanning process, by adjusting the scanning parameters of the imaging unit, a more accurate target section image can be obtained, and the target section image is used to replace the corresponding invalid section image in the three-dimensional reconstructed image to obtain a new three-dimensional reconstructed image, and return to execute steps 131-133.

[0188] In this embodiment, it is determined whether there is an invalid cross-sectional image in the 3D reconstructed image; when there is an invalid cross-sectional image in the 3D reconstructed image, the target area corresponding to the invalid cross-sectional image is determined according to the positioning information and posture information of the imaging unit in the imaging device and the positioning information of the object to be imaged; the imaging unit in the imaging device is controlled to scan the target area, so as to obtain the target cross-sectional image, and then a new 3D reconstructed image can be obtained; and the above steps are repeated to obtain a more accurate and effective 3D reconstructed image, which can improve the practicability and reliability of the imaging method.

[0189] In an optional embodiment, before determining whether there are invalid section images in the three-dimensional reconstructed image, the section images in the three-dimensional reconstructed image may be analyzed to determine whether the section images in the three-dimensional reconstructed image are clearly scanned and / or whether the section images are fully recognized. If there are sections that are not clearly scanned or not fully recognized in the three-dimensional reconstructed image, the relevant information (positioning information and posture information, as well as the reaction force when the imaging unit contacts the object to be imaged, etc.) corresponding to the sections that are not clearly scanned or not fully recognized may be determined from the three-dimensional reconstructed image, and the object to be imaged may be re-scanned based on the relevant information to determine a new three-dimensional reconstructed image. If there are sections that are not clearly scanned or not fully recognized in the three-dimensional reconstructed image, the imaging device may be directly controlled to scan the object to be imaged based on the positioning information of the object to be imaged to obtain a scanned image of the object to be imaged; and the above-mentioned processing process of the scanned image may be repeated based on the scanned image.

[0190] In this embodiment, before determining whether there are invalid section images in the three-dimensional reconstructed image, a comprehensive analysis is performed on whether the section image scan in the three-dimensional reconstructed image is clear and / or whether the section image is recognized. This can improve the accuracy of the determined three-dimensional reconstructed image, thereby improving the accuracy and efficiency of the subsequently generated scanning report.

[0191] In one embodiment, the steps of the imaging method further include:

[0192] When it is determined that there are no invalid section images in the three-dimensional reconstructed image, a scanning report is generated according to the analysis results.

[0193] If the control device determines that the candidate section image is a valid section image through the analysis result of the region of interest, that is, there is no invalid section image in the three-dimensional reconstructed image, a scan report can be generated according to the analysis result. The scan report includes information such as the identity information and disease classification of the object to be imaged.

[0194] In an optional embodiment, if after repeating the preset number of times, it is still determined that there are invalid cross-sectional images in the 3D reconstructed image, the scanning is stopped and a prompt message is sent to the medical staff to remind them that the information obtained is insufficient to achieve accurate disease classification. The prompt message includes the determined disease type and the probability of belonging to the disease type.

[0195] In this embodiment, when it is determined that there are no invalid cross-sectional images in the three-dimensional reconstructed image, a scanning report can be automatically generated based on the analysis results, and the format of the generated scanning report is consistent, which is convenient for medical staff and / or the object to be imaged to view, and can improve the practicality of the imaging method.

[0196] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0197] Based on the same inventive concept, the embodiment of the present application also provides an imaging device for implementing the imaging method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more imaging device embodiments provided below can refer to the limitations on the imaging method above, and will not be repeated here.

[0198] In one embodiment, Fig.15 As shown, an imaging module 20 is provided, comprising: a display submodule 21 and a control submodule 22, wherein:

[0199] The display submodule 21 is used to control the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture.

[0200] The control submodule 22 is used to obtain the positioning information of the object to be imaged, and control the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged to obtain a scanned image of the object to be imaged.

[0201] In one embodiment, the control submodule 22 includes a planning unit and a control unit. The planning unit is used to plan the scanning path of the imaging device according to the positioning information of the object to be imaged. The control unit is used to control the imaging device to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0202] In one embodiment, the imaging module 20 further includes an acquisition submodule and an adjustment submodule. The acquisition submodule is used to acquire the reaction force when the imaging device contacts the object to be imaged during the process of controlling the imaging device to scan the object to be imaged; the adjustment submodule is used to adjust the control of the imaging device according to the reaction force.

[0203] In one embodiment, the imaging module 20 further includes a reconstruction submodule. The acquisition submodule is further used to acquire positioning information and posture information of the imaging device. The reconstruction submodule is used to reconstruct according to the scanned image, the positioning information of the object to be imaged, the positioning information and posture information of the imaging device, and obtain a three-dimensional reconstructed image of the object to be imaged.

[0204] In one embodiment, the imaging module 20 further includes a determination submodule. The determination submodule is used to determine whether there is an invalid cross-sectional image in the three-dimensional reconstructed image; if there is an invalid cross-sectional image in the three-dimensional reconstructed image, determine the target area corresponding to the invalid cross-sectional image according to the positioning information, posture information of the imaging device and the positioning information of the object to be imaged; control the imaging device to scan the target area to obtain the target cross-sectional image, determine a new three-dimensional reconstructed image, and return to execute the step of determining whether there is an invalid cross-sectional image in the three-dimensional reconstructed image.

[0205] In one embodiment, the determination submodule is specifically used to determine candidate section images in the three-dimensional reconstructed image, and segment the candidate section images to determine the region of interest; analyze the region of interest, and determine whether the candidate section image is an invalid section image based on the analysis results.

[0206] In one embodiment, the imaging module 20 further includes a generating submodule. The generating submodule is used to generate a scanning report according to the analysis result when it is determined that there is no invalid section image in the three-dimensional reconstructed image.

[0207] Each module in the above imaging device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0208] In one embodiment, a computer device is provided. The computer device may be a control device, and its internal structure diagram may be as shown in FIG. Fig.16As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an imaging method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0209] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0210] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0211] Controlling the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture;

[0212] The positioning information of the object to be imaged is obtained, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0213] In one embodiment, when the processor executes the computer program, the following steps are also implemented: planning a scanning path of the imaging device according to the positioning information of the object to be imaged; controlling the imaging device to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0214] In one embodiment, when the processor executes the computer program, the following steps are also implemented: in the process of controlling the imaging device to scan the object to be imaged, the reaction force when the imaging device contacts the object to be imaged is obtained; and according to the reaction force, the control of the imaging device is adjusted.

[0215] In one embodiment, when the processor executes the computer program, it also implements the following steps: obtaining positioning information and posture information of the imaging device; reconstructing according to the scanned image, the positioning information of the object to be imaged, and the positioning information and posture information of the imaging device to obtain a three-dimensional reconstructed image of the object to be imaged.

[0216] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image; in the case where there are invalid cross-sectional images in the three-dimensional reconstructed image, determining the target area corresponding to the invalid cross-sectional image based on the positioning information, posture information of the imaging device and the positioning information of the object to be imaged; controlling the imaging device to scan the target area to obtain the target cross-sectional image, determining a new three-dimensional reconstructed image, and returning to execute the step of determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image.

[0217] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining a candidate section image in the three-dimensional reconstructed image, and segmenting the candidate section image to determine a region of interest; analyzing the region of interest, and determining whether the candidate section image is an invalid section image based on the analysis result.

[0218] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when it is determined that there are no invalid section images in the three-dimensional reconstructed image, a scanning report is generated according to the analysis results.

[0219] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0220] Controlling the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture;

[0221] The positioning information of the object to be imaged is obtained, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0222] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: planning a scanning path of the imaging device according to the positioning information of the object to be imaged; controlling the imaging device to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0223] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: in the process of controlling the imaging device to scan the object to be imaged, a reaction force is obtained when the imaging device contacts the object to be imaged; and control of the imaging device is adjusted according to the reaction force.

[0224] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining positioning information and posture information of the imaging device; reconstructing according to the scanned image, the positioning information of the object to be imaged, and the positioning information and posture information of the imaging device to obtain a three-dimensional reconstructed image of the object to be imaged.

[0225] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image; in the case where there are invalid cross-sectional images in the three-dimensional reconstructed image, determining the target area corresponding to the invalid cross-sectional image based on the positioning information, posture information of the imaging device and the positioning information of the object to be imaged; controlling the imaging device to scan the target area to obtain the target cross-sectional image, determining a new three-dimensional reconstructed image, and returning to execute the step of determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image.

[0226] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining a candidate section image in the three-dimensional reconstructed image, and segmenting the candidate section image to determine a region of interest; analyzing the region of interest, and determining whether the candidate section image is an invalid section image based on the analysis result.

[0227] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when it is determined that there are no invalid section images in the three-dimensional reconstructed image, a scanning report is generated according to the analysis results.

[0228] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0229] Controlling the interactive device in the imaging system to display the imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture;

[0230] The positioning information of the object to be imaged is obtained, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

[0231] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: planning a scanning path of the imaging device according to the positioning information of the object to be imaged; controlling the imaging device to move along the scanning path to scan the object to be imaged to obtain a scanned image.

[0232] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: in the process of controlling the imaging device to scan the object to be imaged, the reaction force when the imaging device contacts the object to be imaged is obtained; and the control of the imaging device is adjusted according to the reaction force.

[0233] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining positioning information and posture information of the imaging device; reconstructing according to the scanned image, the positioning information of the object to be imaged, and the positioning information and posture information of the imaging device to obtain a three-dimensional reconstructed image of the object to be imaged.

[0234] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image; in the case where there are invalid cross-sectional images in the three-dimensional reconstructed image, determining the target area corresponding to the invalid cross-sectional image based on the positioning information, posture information of the imaging device and the positioning information of the object to be imaged; controlling the imaging device to scan the target area to obtain the target cross-sectional image, determining a new three-dimensional reconstructed image, and returning to execute the step of determining whether there are invalid cross-sectional images in the three-dimensional reconstructed image.

[0235] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining a candidate section image in the three-dimensional reconstructed image, and segmenting the candidate section image to determine a region of interest; analyzing the region of interest, and determining whether the candidate section image is an invalid section image based on the analysis result.

[0236] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when it is determined that there are no invalid section images in the three-dimensional reconstructed image, a scanning report is generated according to the analysis results.

[0237] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0238] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0239] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An imaging system, characterized in that: It includes an interactive device, a positioning device, an imaging device and a control device, wherein the interactive device, the positioning device and the imaging device are all connected to the control device; The control device is used to control the interactive device to display an imaging posture according to scanning requirements, so that the object to be imaged is positioned on the imaging device according to the imaging posture; The positioning device is used to obtain the positioning information of the object to be imaged, and transmit the positioning information of the object to be imaged to the control device; The control device is further used to control the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

2. The imaging system according to claim 1, characterized in that The imaging device comprises: a carrying component and an imaging component, and the imaging component is connected to the control device; The carrying assembly is used to carry the object to be imaged; The imaging component is used to scan the object to be imaged based on the control of the control device.

3. The imaging system according to claim 2, characterized in that The imaging assembly comprises: a mobile unit, an imaging unit and a positioning source, wherein the imaging unit is arranged on the mobile unit, and the positioning source is arranged on the mobile unit; The moving unit is used to move based on the control of the control device to carry the imaging unit to a target position of the object to be imaged, wherein the target position is determined by the control device according to the positioning information of the object to be imaged; The imaging unit is used to scan the object to be imaged based on the control of the control device to obtain the scanned image; The positioning device is further used to determine the positioning information of the imaging unit according to the positioning source, and send the positioning information of the imaging unit to the control device.

4. The imaging system according to claim 3, characterized in that The imaging assembly further comprises: a coupling unit; The coupling unit is used to be arranged on the object to be imaged, so that the imaging unit scans the object to be imaged based on the coupling unit to obtain the scanned image.

5. The imaging system according to claim 4, characterized in that: The coupling unit includes at least one coupling component, and different coupling components correspond to different scanning areas of the object to be imaged.

6. The imaging system according to claim 3, characterized in that: The positioning device includes a camera assembly and / or a magnetic positioning assembly, and the camera assembly and the magnetic positioning assembly are both connected to the control device; the positioning source includes an infrared light array and / or a magnet, and the infrared light array and the magnet are both arranged on the mobile unit; The camera assembly is used to obtain an image of the object to be imaged and an image of the infrared light array; The magnetic positioning component is used to determine the magnetic information of the imaging unit based on the magnet.

7. The imaging system according to claim 3, characterized in that: The imaging assembly further includes: a feedback unit, which is disposed on the mobile unit and connected to the control device; The feedback unit is used to obtain the reaction force when the imaging unit contacts the object to be imaged, and send the reaction force to the control device; The control device is used to adjust the control of the mobile unit based on the reaction force.

8. The imaging system according to claim 3, characterized in that: The imaging assembly further includes: an information acquisition unit, which is disposed on the mobile unit and connected to the control device; The information acquisition unit is used to acquire the posture information of the imaging unit when the imaging unit scans the object to be imaged, and send the posture information to the control device.

9. The imaging system according to claim 8, characterized in that The control device is further used to reconstruct according to the scanned image, the positioning information of the object to be imaged, the positioning information of the imaging unit and the posture information to obtain a three-dimensional reconstructed image of the object to be imaged.

10. The imaging system according to any one of claims 1 to 9, characterized in that: The control device is also used to segment the scanned image, determine the region of interest, analyze the region of interest, and generate a scan report.

11. The imaging system according to any one of claims 1 to 9, characterized in that: The imaging system further comprises: a braking device connected to the control device; The braking device is used to send a braking signal to the control device so that the control device controls the imaging device to stop working.

12. The imaging system according to claim 11, characterized in that The braking device includes a signal transmitting device; The signal transmitting device is used to receive a trigger operation of the object to be imaged, and send the braking signal to the control device in response to the trigger operation.

13. An imaging method, characterized in that: A control device applied to an imaging system, wherein the imaging method comprises: Controlling the interactive device in the imaging system to display an imaging posture according to the scanning requirements, so that the object to be imaged is positioned on the imaging device in the imaging system according to the imaging posture; The positioning information of the object to be imaged is acquired, and the imaging device is controlled to scan the object to be imaged according to the positioning information of the object to be imaged, so as to obtain a scanned image of the object to be imaged.

14. The imaging method according to claim 13, characterized in that: The step of controlling the imaging device to scan the object to be imaged according to the positioning information of the object to be imaged to obtain a scanned image of the object to be imaged includes: Planning a scanning path of the imaging device according to the positioning information of the object to be imaged; The imaging device is controlled to move along the scanning path to scan the object to be imaged to obtain the scanned image.

15. The imaging method according to claim 14, characterized in that: The imaging method further comprises: In a process of controlling the imaging device to scan the object to be imaged, obtaining a reaction force when the imaging device contacts the object to be imaged; Based on the reaction force, control of the imaging device is adjusted.

16. The imaging method according to claim 13, characterized in that: The imaging method further comprises: Acquiring positioning information and posture information of the imaging device; Reconstruction is performed based on the scanned image, the positioning information of the object to be imaged, the positioning information of the imaging device and the posture information to obtain a three-dimensional reconstructed image of the object to be imaged.

17. The imaging method according to claim 16, characterized in that: The imaging method further comprises: Determining whether there is an invalid section image in the three-dimensional reconstructed image; In the case where an invalid section image exists in the three-dimensional reconstructed image, determining a target area corresponding to the invalid section image according to the positioning information of the imaging device, the posture information and the positioning information of the object to be imaged; The imaging device is controlled to scan the target area to obtain a target section image, determine a new three-dimensional reconstructed image, and return to execute the step of determining whether there is an invalid section image in the three-dimensional reconstructed image.

18. The imaging method according to claim 17, characterized in that: The determining whether there is an invalid section image in the three-dimensional reconstructed image comprises: Determine a candidate section image in the three-dimensional reconstructed image, and perform segmentation processing on the candidate section image to determine a region of interest; The region of interest is analyzed, and whether the candidate section image is an invalid section image is determined according to the analysis result.

19. The imaging method according to claim 18, characterized in that: The imaging method further comprises: When it is determined that no invalid slice image exists in the three-dimensional reconstructed image, a scan report is generated according to the analysis result.

Images