Equipment linkage method and device, equipment and computer readable storage medium

Abstract

The invention discloses an equipment linkage method and device, equipment and a computer readable storage medium, and relates to the technical field of medical equipment, the equipment linkage method is applied to a linkage system, and the method comprises the following steps: in response to a first control instruction for mobile C-shaped arm equipment, determining a first operation indicated by the first control instruction; second operation indicated by a preset second control instruction corresponding to the first operation is determined, and the second control instruction is a control instruction for other medical equipment; and controlling the mobile C-shaped arm device to execute the first operation, and controlling other medical devices to execute the second operation. According to the invention, intelligent linkage among the medical devices can be realized, so that the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a device linkage method, apparatus, device, and computer-readable storage medium. Background Art

[0002] With the continuous development of science and technology, mobile C-arm equipment, as an indispensable and important equipment in modern operating rooms, has undergone significant technological upgrades. The new mobile C-arm integrates more advanced hardware and software technologies, has higher stability and reliability, and has stronger compatibility and scalability. It can achieve seamless connection with other medical equipment, providing more comprehensive support for clinical diagnosis and treatment.

[0003] However, in the current clinical diagnosis and treatment practices related to mobile C-arms, doctors are still required to manually operate the mobile C-arm device, and manually operate other medical devices to move in coordination with the mobile C-arm device during or after the mobile C-arm device. For example, after the doctor operates the mobile C-arm to rise and fall, he or she also needs to move to the operating surface of the operating table, operate the operating table to follow the rise and fall of the mobile C-arm, and requires repeated adjustments to achieve the desired effect. This manual and decentralized operation method not only increases the doctor's workload, but also increases the time cost of the operation, resulting in an adverse effect on the efficiency of the operation.

[0004] Therefore, how to achieve intelligent linkage between various medical devices to improve surgical efficiency is a problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of this application is to provide a device linkage method, apparatus, equipment and computer-readable storage medium, aiming to realize intelligent linkage between various medical devices to improve surgical efficiency.

[0006] To achieve the above-mentioned purpose, the present application provides a device linkage method, which is applied to a linkage system, and the device linkage method includes:

[0007] In response to a first control instruction for a mobile C-arm device, determining a first operation indicated by the first control instruction;

[0008] Determining that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices;

[0009] Control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

[0010] In one embodiment, the step of determining the first operation indicated by the first control instruction in response to the first control instruction for the mobile C-arm device includes:

[0011] In response to a first control instruction for moving the C-arm device, identifying a first target position indicated by the first control instruction;

[0012] Determining a first current position of the mobile C-arm device, and determining a first motion trajectory of the mobile C-arm device moving from the first current position to the first target position;

[0013] It is determined that the first operation indicated by the first control instruction is to move from the first current position to the first target position along the first motion trajectory.

[0014] In one embodiment, the step of determining that the first operation corresponds to the second operation indicated by the preset second control instruction includes:

[0015] Determining that the first operation corresponds to a preset second control instruction, and identifying a second target position indicated by the second control instruction;

[0016] Determine a second current position of the other medical device, and determine a second motion trajectory of the other medical device moving from the second current position to the second target position;

[0017] Determine that the second operation indicated by the second control instruction is to move from the second current position to the second target position along the second motion trajectory.

[0018] In one embodiment, the linkage system includes a motion control module and a synchronization module, and the step of controlling the mobile C-arm device to perform the first operation and controlling the other medical device to perform the second operation includes:

[0019] Controlling the mobile C-arm device to perform the first operation through the motion control module;

[0020] The other medical devices are controlled by the synchronization module to perform the second operation.

[0021] In one embodiment, the linkage system further includes a visual video module, and the method further includes:

[0022] The visual video module collects video data of the surrounding environment of the mobile C-arm in real time, and converts the video data into three-dimensional data;

[0023] Based on the three-dimensional data, the first coordinates of the mobile C-arm and the other medical equipment in a preset three-dimensional coordinate system are determined to determine the respective positions of the mobile C-arm device and the other medical equipment according to the first coordinates.

[0024] In one embodiment, after the step of converting the video data into three-dimensional data, the method further comprises:

[0025] The visual video module determines the second coordinate of the patient in the three-dimensional coordinate system based on the three-dimensional data, and when it is detected that the second coordinate is not within the preset coordinate range, outputs a position adjustment prompt to remind the patient to move to the position corresponding to the preset coordinate range.

[0026] In one embodiment, the linkage system further includes an anti-collision module, and the method further includes:

[0027] The anti-collision module monitors the distance between the mobile C-arm device and other obstacles in real time, and outputs an alarm prompt when the distance is detected to be less than a preset distance.

[0028] In addition, to achieve the above-mentioned purpose, the present application also provides a device linkage device, which is applied to a linkage system, and the device linkage device includes:

[0029] a response module, configured to determine a first operation indicated by a first control instruction in response to a first control instruction for a mobile C-arm device;

[0030] a determination module, configured to determine that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices;

[0031] A control module is used to control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

[0032] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the device linkage method is stored on the computer-readable storage medium. The program for implementing the device linkage method is executed by a processor to implement the steps of the device linkage method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned device linkage method when executed by a processor.

[0034] The present application provides a device linkage method, which is applied to a linkage system. The present application responds to a first control instruction to a mobile C-arm device, determines a first operation indicated by the first control instruction, then determines that the first operation corresponds to a preset second control instruction, and determines a second operation indicated by the second control instruction, wherein the second control instruction is a control instruction for other medical devices, and finally controls the mobile C-arm device to perform the first operation, and controls the other medical devices to perform the second operation.

[0035] In summary, compared with the traditional method that requires doctors to manually operate mobile C-arm equipment and other medical equipment, the present application realizes the joint control of mobile C-arm equipment and other medical equipment. Specifically, the linkage system responds to the first control instruction for the mobile C-arm equipment, determines the first operation indicated by the first control instruction, and then determines that the first operation corresponds to the preset second control instruction for controlling other medical equipment. Finally, the C-arm equipment is controlled to perform the first operation, and the other medical equipment is controlled to perform the second operation indicated by the second control instruction, thereby realizing intelligent linkage between various medical equipment in medical scenarios, avoiding the time cost wasted by doctors' manual operation, and thus improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0038] Figure 1 This is a flow chart of the first embodiment of the device linkage method of the present application;

[0039] Figure 2 A schematic diagram of a medical scenario involved in an embodiment of the device linkage method of the present application;

[0040] Figure 3 A schematic diagram of a linkage system architecture involved in an embodiment of the device linkage method of the present application;

[0041] Figure 4 This is a schematic diagram of the module structure of the equipment linkage device of this application;

[0042] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the device linkage method in the embodiment of the present application.

[0043] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0045] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The main solution of the present application is: in response to a first control instruction to a mobile C-arm device, determine a first operation indicated by the first control instruction; determine that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices; control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

[0047] In the current clinical diagnosis and treatment practices related to mobile C-arms, doctors are still required to manually operate the mobile C-arm device, and manually operate other medical devices to move in coordination with the mobile C-arm device during or after the mobile C-arm device. For example, after the doctor operates the mobile C-arm to rise and fall, he or she also needs to move to the operating surface of the operating table, operate the operating table to follow the rise and fall of the mobile C-arm, and requires repeated adjustments to achieve the desired effect. This manual and decentralized operation method not only increases the doctor's workload, but also increases the time cost of the operation, resulting in an adverse effect on the efficiency of the operation.

[0048] Compared with the traditional method that requires doctors to manually operate the mobile C-arm device and other medical devices, the present application realizes the joint control of the mobile C-arm device and other medical devices. Specifically, the linkage system responds to the first control instruction for the mobile C-arm device, determines the first operation indicated by the first control instruction, and then determines that the first operation corresponds to the preset second control instruction for controlling other medical devices. Finally, the C-arm device is controlled to perform the first operation, and the other medical devices are controlled to perform the second operation indicated by the second control instruction, thereby realizing intelligent linkage between various medical devices in medical scenarios, avoiding the time cost wasted by doctors' manual operation, and thus improving surgical efficiency.

[0049] It should be noted that the execution subject of the method in each embodiment of the device linkage method of the present application can be a linkage system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., and this embodiment does not specifically limit this. The following takes the linkage system as an example to illustrate this embodiment and the following embodiments.

[0050] Based on this, this application proposes a device linkage method of the first embodiment, please refer to Figure 1 The device linkage method includes steps S10 to S30:

[0051] Step S10, in response to a first control instruction for a mobile C-arm device, determining a first operation indicated by the first control instruction;

[0052] It should be noted that the above-mentioned other medical devices refer to other devices other than the mobile C-arm device in the medical scene where the mobile C-arm device is located, such as an operating table, etc. The device linkage method of the present application is applied to the linkage system. The embodiment of the present application does not limit the integration position of the linkage system. For example, the linkage system can be integrated on the mobile C-arm device, and the linkage system is communicatively connected with other medical devices, or the linkage system can be integrated on other computer service devices, and the linkage system is communicatively connected with the mobile C-arm device and other medical devices respectively. In addition, the embodiment of the present application does not limit the triggering method of the control instruction for the mobile C-arm device (hereinafter referred to as the first control instruction for distinction). Specifically, the first control instruction can be manually triggered by the operator, or it can be automatically triggered under certain conditions. Among them, it should be understood that the first control instruction is an instruction to guide the movement of the mobile C-arm device.

[0053] For example, Figure 2 Shown is a schematic diagram of a medical scenario, which includes a mobile C-arm device a and an operating table b. It should be understood that the mobile C-arm device a and the operating table b need to be used in conjunction with each other. Therefore, when the mobile C-arm device a moves, the operating table b needs to be controlled to follow the movement.

[0054] In response to a first control instruction for a mobile C-arm device, an operation indicated by the first control instruction (hereinafter referred to as the first operation for distinction) is determined, wherein the first operation is information identified from the first control instruction for guiding the movement of the mobile C-arm device.

[0055] In this embodiment, the step S10 may include:

[0056] Step S10, in response to a first control instruction for a mobile C-arm device, identifying a first target position indicated by the first control instruction;

[0057] Step S20, determining a first current position of the mobile C-arm device, and determining a first motion trajectory of the mobile C-arm device moving from the first current position to the first target position;

[0058] Step S30: determining that the first operation indicated by the first control instruction is moving from the first current position to the first target position along the first motion trajectory.

[0059] It should be noted that a three-dimensional coordinate system is pre-established in the current medical scenario, and the first control instruction represents the target coordinate position of the mobile C-arm device in the preset three-dimensional coordinate system, that is, the above-mentioned first target position.

[0060] In response to a first control instruction to a mobile C-arm device, a first target position indicated by the first control instruction is identified, and after determining a current position of the mobile C-arm device (hereinafter referred to as the first current position for distinction), an optimal motion trajectory for the mobile C-arm device to move from the first current position to the first target position (hereinafter referred to as the first motion trajectory for distinction) is determined; finally, the first operation indicated by the first control instruction is determined to be "moving from the first current position along the first motion trajectory to the first target position" to guide the movement of the mobile C-arm device.

[0061] Step S20, determining that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices;

[0062] It should be noted that a mapping relationship is pre-set between the motion operation of the mobile C-arm device and the collaborative operation between other medical devices. The preset control instruction corresponding to the first operation (hereinafter referred to as the second control instruction for distinction) is an instruction for guiding other medical devices to perform the collaborative operation corresponding to the first operation.

[0063] Determine that the first operation corresponds to a preset second control instruction, and determine the operation indicated by the second control instruction (hereinafter referred to as the second operation for distinction), wherein the second control instruction is a control instruction for other medical devices, and the second operation is an operation that other medical devices need to follow and execute in order to cooperate with or avoid the first operation of the mobile C-arm device.

[0064] In this embodiment, the step S20 may include:

[0065] Step S201, determining that the first operation corresponds to a preset second control instruction, and identifying a second target position indicated by the second control instruction;

[0066] Step S202, determining a second current position of the other medical device, and determining a second motion trajectory of the other medical device moving from the second current position to the second target position;

[0067] Step S203: determine that the second operation indicated by the second control instruction is to move from the second current position along the second motion trajectory to the second target position.

[0068] It should be noted that the second control instruction represents the target coordinate position of other medical devices in a preset three-dimensional coordinate system, that is, the above-mentioned second target position.

[0069] Determine that the first operation corresponds to a preset second control instruction, identify the second target position indicated by the second control instruction, and after determining the current position of other medical devices (hereinafter referred to as the second current position for distinction), determine the optimal motion trajectory of the other medical devices from the second current position to the second target position (hereinafter referred to as the second motion trajectory for distinction); finally, determine that the second operation indicated by the second control instruction is "moving from the second current position along the second motion trajectory to the second target position" to guide the movement of other medical devices.

[0070] Exemplarily, the first operation corresponds to the preset second control instruction. When the first operation is "moving from the first current position along the first motion trajectory to the first target position", it can be determined that "moving the C-arm device away from the first current position" corresponds to the preset instruction 1, and it can also be determined that "the first motion trajectory" corresponds to the preset instruction 2, and it can also be determined that "moving the C-arm device to the first target position" corresponds to the preset instruction 3. It should be understood that the above instructions 1, 2 and 3 are all control instructions for other medical devices, and are used to guide other medical devices to avoid or follow the mobile C-arm device.

[0071] Step S30, controlling the mobile C-arm device to perform the first operation, and controlling the other medical devices to perform the second operation.

[0072] After determining the first operation indicated by the first control instruction and the second operation indicated by the second control instruction, the mobile C-arm device is controlled to perform the first operation, and the other medical devices are controlled to perform the second operation. It should be understood that the embodiment of the present application does not limit the execution order of the first operation and the second operation.

[0073] In this embodiment, the linkage system includes a motion control module and a synchronization module, and the step S30 may include:

[0074] Step S301, controlling the mobile C-arm device to perform the first operation through the motion control module;

[0075] Step S302: Control the other medical devices to perform the second operation through the synchronization module.

[0076] It should be noted that the linkage system of the present application includes a motion control module and a synchronization module. The motion control module is used to control the mobile C-arm device, and the synchronization module is used to control other medical devices.

[0077] The motion control module is used to control the mobile C-arm device to perform a first operation, i.e., control the mobile C-arm to move from a first current position along a first motion trajectory to a first target position; and the synchronization module is used to control other medical devices to perform a second operation, i.e., control other medical devices to move from a second current position along a second motion trajectory to a second target position.

[0078] The embodiment of the present application realizes the joint control of a mobile C-arm device and other medical devices. Specifically, the linkage system responds to a first control instruction for the mobile C-arm device, determines a first operation indicated by the first control instruction, and then determines that the first operation corresponds to a preset second control instruction for controlling other medical devices. Finally, the C-arm device is controlled to perform the first operation, and the other medical devices are controlled to perform the second operation indicated by the second control instruction, thereby realizing intelligent linkage between various medical devices in medical scenarios, reducing the workload of doctors, and avoiding the time cost of doctors wasting manual operations, thereby improving surgical efficiency.

[0079] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated later. On this basis, the linkage system also includes a visual video module, and the device linkage method of the present application also includes:

[0080] Step A10, collecting video data of the surrounding environment of the mobile C-arm in real time through the visual video module, and converting the video data into three-dimensional data;

[0081] Step A20, determining the first coordinates of the mobile C-arm and the other medical device in a preset three-dimensional coordinate system based on the three-dimensional data, so as to determine the respective positions of the mobile C-arm device and the other medical device according to each of the first coordinates.

[0082] It should be noted that the linkage system of the present application also includes a visual video module. When the linkage system is integrated on a mobile C-arm device, the visual video module is installed on the C ring of the mobile C-arm device to collect video data of the surrounding environment of the mobile C-arm device and to assist in calculation. Specifically, the visual video module includes a high-definition binocular camera and a core video processing unit. The binocular camera is used to collect video data of the surrounding environment of the mobile C-arm device. The core video processing unit is used to convert the video data into three-dimensional data to confirm the position information, i.e., coordinates, of each object in the medical environment in a preset three-dimensional coordinate system.

[0083] The video data of the surrounding environment of the mobile C-arm is collected in real time through the visual video module, and the video data is converted into three-dimensional data, and then the coordinates of the mobile C-arm and other medical devices in a preset three-dimensional coordinate system (hereinafter referred to as the first coordinates for distinction) are determined based on the three-dimensional data, so as to determine the positions of the mobile C-arm device and other medical devices according to each first coordinate. Specifically, the position of the mobile C-arm device is represented by the coordinates of the mobile C-arm device in the preset three-dimensional coordinate system, and the positions of other medical devices are represented by the coordinates of other medical devices in the preset three-dimensional coordinate system.

[0084] In this embodiment, after step A10, the device linkage method further includes:

[0085] Step B10, determining the second coordinate of the patient in the three-dimensional coordinate system based on the three-dimensional data through the visual video module, and when detecting that the second coordinate is not within the preset coordinate range, outputting a position adjustment prompt to remind the patient to move to the position corresponding to the preset coordinate range.

[0086] It should be noted that, in addition to determining the position of each device based on the three-dimensional data, the visual video module can also determine the position of the patient in the medical scenario and detect whether the patient is in the optimal position for diagnosis or treatment, so as to remind the patient to move to the optimal position when it is detected that the patient is not in the optimal position. It should be understood that the coordinate range corresponding to the optimal position for diagnosis or treatment in the three-dimensional coordinate system is the preset coordinate range.

[0087] The coordinates of the patient in the three-dimensional coordinate system (hereinafter referred to as the second coordinate for distinction) are determined based on the three-dimensional data through the visual video module, and whether the second coordinate is within the preset coordinate range is detected. If it is detected that the second coordinate is not within the preset coordinate range, a position adjustment prompt is output to remind the patient to move to the position corresponding to the preset coordinate range.

[0088] In addition, it should be noted that the linkage system of the present application is provided with a common position memory function, which enables each device to quickly return to its initial position after a complex movement. And the linkage system of the present application can also adjust the patient's position by itself, for example, when the patient is on the operating table, the patient's position can be adjusted by moving the operating table.

[0089] In this embodiment, the linkage system further includes an anti-collision module, and the device linkage method of the present application further includes:

[0090] Step C10: monitor the distance between the mobile C-arm device and other obstacles in real time through the anti-collision module, and output an alarm prompt when the distance is detected to be less than a preset distance.

[0091] It should be noted that the linkage system of the present application also includes an anti-collision module, which is installed on the mobile C-arm device and is used to output an alarm prompt when it detects that the distance between the mobile C-arm device and obstacles such as the operating table and other equipment is less than a preset distance, so as to prevent the mobile C-arm device from colliding with the operating table and other equipment during movement. It should be understood that the above-mentioned other obstacles refer to objects other than the mobile C-arm device in the current medical scenario. The anti-collision module is composed of a variety of sensors, including but not limited to ultrasonic sensors, infrared sensors, radar sensors, etc., which obtain the distance between devices based on each sensor and perform relevant avoidance actions in combination with the position of the device.

[0092] In this embodiment, if Figure 3 The figure shows a schematic diagram of the linkage system architecture. The linkage system of the present application includes a motion control module, a synchronization module, a visual video module and an anti-collision module. The motion control module is used to control the movement of the mobile C-arm device, the synchronization module is used to control the movement of other medical devices, the visual video module is used to collect video data of the current environment and determine the real-time position of each object based on the video data, and the anti-collision module is used to monitor the distance between the mobile C-arm device and other devices to prevent collision.

[0093] The anti-collision module monitors the distance between the mobile C-arm device and other obstacles in real time, and detects whether the distance is less than the preset distance. When it is detected that the actual distance is less than the preset distance, an alarm prompt is output to remind the operator to manually avoid it, or the avoidance instruction is triggered by the alarm prompt to control the mobile C-arm device to perform relevant avoidance actions based on the avoidance instruction.

[0094] In this way, the embodiment of the present application collects environmental data in the current medical scene by setting a visual video module to determine the position of each object, which can not only provide a data basis for the movement route planning of each device, but also monitor the patient's location and remind the patient to go to the best treatment position, thereby improving the intelligence of the system and improving surgical efficiency; in addition, the embodiment of the present application also monitors the distance between each device and prevents collisions by setting an anti-collision module, thereby improving the automation and safety of equipment control.

[0095] The present application also provides a device linkage device, please refer to Figure 4 The device linkage device is applied to a linkage system, and the device linkage device comprises:

[0096] A response module 10, configured to determine a first operation indicated by a first control instruction for a mobile C-arm device in response to the first control instruction;

[0097] A determination module 20, configured to determine that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices;

[0098] The control module 30 is used to control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

[0099] Optionally, the response module 10 is further used for:

[0100] In response to a first control instruction for moving the C-arm device, identifying a first target position indicated by the first control instruction;

[0101] Determine a first current position of the mobile C-arm device, and determine a first motion trajectory of the mobile C-arm device moving from the first current position to the first target position;

[0102] It is determined that the first operation indicated by the first control instruction is to move from the first current position to the first target position along the first motion trajectory.

[0103] Optionally, the determining module 20 is further configured to:

[0104] Determining that the first operation corresponds to a preset second control instruction, and identifying a second target position indicated by the second control instruction;

[0105] Determine a second current position of the other medical device, and determine a second motion trajectory of the other medical device moving from the second current position to the second target position;

[0106] Determine that the second operation indicated by the second control instruction is to move from the second current position to the second target position along the second motion trajectory.

[0107] Optionally, the linkage system includes a motion control module and a synchronization module, and the control module 30 is further used for:

[0108] Controlling the mobile C-arm device to perform the first operation through the motion control module;

[0109] The other medical devices are controlled by the synchronization module to perform the second operation.

[0110] Optionally, the linkage system further includes a visual video module, and the device linkage apparatus further includes a position monitoring module, and the position monitoring module is used to:

[0111] The visual video module collects video data of the surrounding environment of the mobile C-arm in real time, and converts the video data into three-dimensional data;

[0112] Based on the three-dimensional data, the first coordinates of the mobile C-arm and the other medical equipment in a preset three-dimensional coordinate system are determined to determine the respective positions of the mobile C-arm device and the other medical equipment according to the first coordinates.

[0113] Optionally, the position monitoring module is further used for:

[0114] The visual video module determines the second coordinate of the patient in the three-dimensional coordinate system based on the three-dimensional data, and when it is detected that the second coordinate is not within the preset coordinate range, outputs a position adjustment prompt to remind the patient to move to the position corresponding to the preset coordinate range.

[0115] Optionally, the linkage system further includes an anti-collision module, and the equipment linkage device further includes an avoidance module, and the avoidance module is used to:

[0116] The anti-collision module monitors the distance between the mobile C-arm device and other obstacles in real time, and outputs an alarm prompt when the distance is detected to be less than a preset distance.

[0117] The device linkage device provided in the embodiment of the present application adopts the device linkage method in the above embodiment, which can solve the technical problem of how to realize intelligent linkage between various medical devices to improve surgical efficiency. Compared with the prior art, the beneficial effects of the device linkage device provided in the embodiment of the present application are the same as the beneficial effects of the device linkage method provided in the above embodiment, and other technical features in the device linkage device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0118] The present application provides a device linkage device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the device linkage method in the above-mentioned embodiment 1.

[0119] Reference below Figure 5 , which shows a schematic diagram of the structure of a device linkage device suitable for implementing the embodiment of the present application. The device linkage device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The device linkage device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0120] like Figure 5 As shown, the device linkage device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the device linkage device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the device linkage device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a device linkage device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0121] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0122] The device linkage device provided by the present application adopts the device linkage method in the above embodiment, which can solve the technical problem of how to realize intelligent linkage between various medical devices to improve surgical efficiency. Compared with the prior art, the beneficial effects of the device linkage device provided by the present application are the same as the beneficial effects of the device linkage method provided by the above embodiment, and the other technical features in the device linkage device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0123] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0124] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0125] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the device linkage method in the above-mentioned embodiment.

[0126] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0127] The computer-readable storage medium may be included in the device linkage device; or may exist independently without being assembled into the device linkage device.

[0128] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the device linkage device, the device linkage device: responds to a first control instruction to a mobile C-arm device, determines a first operation indicated by the first control instruction; determines that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices; controls the mobile C-arm device to perform the first operation, and controls the other medical devices to perform the second operation.

[0129] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0130] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0131] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0132] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned device linkage method, and can solve the technical problem of how to realize intelligent linkage between various medical devices to improve surgical efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the device linkage method provided in the above-mentioned embodiment, and will not be repeated here.

[0133] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned device linkage method when executed by a processor.

[0134] The computer program product provided in this application can realize intelligent linkage between various medical devices to improve surgical efficiency. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of this application are the same as the beneficial effects of the device linkage method provided in the above embodiment, which will not be repeated here.

[0135] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A device linkage method, characterized in that: The device linkage method is applied to a linkage system, and the device linkage method includes: In response to a first control instruction for a mobile C-arm device, determining a first operation indicated by the first control instruction; Determining that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices; Control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

2. The method according to claim 1, characterized in that The step of determining, in response to a first control instruction for moving the C-arm device, a first operation indicated by the first control instruction comprises: In response to a first control instruction for moving the C-arm device, identifying a first target position indicated by the first control instruction; Determine a first current position of the mobile C-arm device, and determine a first motion trajectory of the mobile C-arm device moving from the first current position to the first target position; It is determined that the first operation indicated by the first control instruction is to move from the first current position to the first target position along the first motion trajectory.

3. The method according to claim 1, characterized in that The step of determining that the first operation corresponds to the second operation indicated by the preset second control instruction includes: Determining that the first operation corresponds to a preset second control instruction, and identifying a second target position indicated by the second control instruction; Determine a second current position of the other medical device, and determine a second motion trajectory of the other medical device moving from the second current position to the second target position; Determine that the second operation indicated by the second control instruction is to move from the second current position to the second target position along the second motion trajectory.

4. The method according to claim 1, characterized in that The linkage system includes a motion control module and a synchronization module. The steps of controlling the mobile C-arm device to perform the first operation and controlling the other medical devices to perform the second operation include: Controlling the mobile C-arm device to perform the first operation through the motion control module; The other medical devices are controlled by the synchronization module to perform the second operation.

5. The method according to claim 1, characterized in that The linkage system further includes a visual video module, and the method further includes: The visual video module collects video data of the surrounding environment of the mobile C-arm in real time, and converts the video data into three-dimensional data; Based on the three-dimensional data, the first coordinates of the mobile C-arm and the other medical equipment in a preset three-dimensional coordinate system are determined to determine the respective positions of the mobile C-arm device and the other medical equipment according to the first coordinates.

6. The method according to claim 5, characterized in that After the step of converting the video data into three-dimensional data, the method further comprises: The visual video module determines the second coordinate of the patient in the three-dimensional coordinate system based on the three-dimensional data, and when it is detected that the second coordinate is not within the preset coordinate range, outputs a position adjustment prompt to remind the patient to move to the position corresponding to the preset coordinate range.

7. The method according to any one of claims 1 to 6, characterized in that: The linkage system further includes an anti-collision module, and the method further includes: The anti-collision module monitors the distance between the mobile C-arm device and other obstacles in real time, and outputs an alarm prompt when the distance is detected to be less than a preset distance.

8. A device linkage device, characterized in that: The device linkage device is applied to a linkage system, and the device linkage device comprises: a response module, configured to determine a first operation indicated by a first control instruction in response to a first control instruction for a mobile C-arm device; a determination module, configured to determine that the first operation corresponds to a second operation indicated by a preset second control instruction, wherein the second control instruction is a control instruction for other medical devices; A control module is used to control the mobile C-arm device to perform the first operation, and control the other medical devices to perform the second operation.

9. A device linkage device, characterized in that: The device linkage device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the device linkage method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the device linkage method according to any one of claims 1 to 7 are implemented.

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