Probe motion control method and device, medical scanning system and storage medium

Abstract

The invention relates to a probe motion control method and device, a medical scanning system and a storage medium, and the method comprises the steps: planning the distribution position of each path point in an initial motion path of a probe according to the posture information of a detection object and a preset scanning range; based on a preset scanning parameter, determining a path optimization target corresponding to the scanning parameter; according to the path optimization target, adjusting path parameters of path points in the initial motion path, so that a target motion path corresponding to the adjusted path parameters meets the path optimization target; according to the target motion path, in the scanning process of the single photon emission computed tomography system, the probe is controlled to move relative to the detection object so as to obtain detection data. According to the method, the attitude information of the detected object and the scanning requirement can be combined to realize accurate motion path planning and adjustment meeting the requirement, so that the application difficulty of motion planning is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical scanning, and in particular to a motion control method and device for a probe, a medical scanning system and a storage medium. Background Art

[0002] Single-Photon Emission Computed Tomography (SPECT) is an imaging diagnostic technology widely used in clinical practice. The probe is the core part of the SPECT system. Reasonable planning of the scanning path of the probe can play an important role in improving image quality, reducing artifacts and noise, improving image clarity and contrast, and ensuring the acquisition of a complete scanned image.

[0003] In related technologies, the instantaneous speed of the probe or the data acquisition dwell time is often optimized to match the expected radioactive emission distribution of the region of interest (ROI). This method requires high accuracy of the algorithm, and the execution steps are relatively cumbersome and complicated in actual applications, which makes the application of the motion path planning of the probe more difficult.

[0004] With regard to the problem that the motion path planning of the probe in the related technology is difficult to apply, no effective solution has been proposed so far. Summary of the invention

[0005] In this embodiment, a method and device for motion control of a probe, a medical scanning system and a storage medium are provided to solve the problem that the motion path planning of the probe in the related art is difficult to apply.

[0006] In a first aspect, a motion control method of a probe is provided in this embodiment, wherein the probe is arranged in a single photon emission computed tomography system, comprising:

[0007] Planning the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range;

[0008] According to the preset scanning parameters, determining a path optimization target corresponding to the scanning parameters; according to the path optimization target, adjusting each path parameter of the path point in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target;

[0009] According to the target motion path, during the scanning process of the single photon emission computed tomography system, the probe is controlled to move relative to the detection object to obtain detection data.

[0010] In some of the embodiments, planning the distribution positions of the path points in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range includes:

[0011] Matching the posture information of the detection object with the preset scanning range to determine the movement range of the probe when scanning the detection object;

[0012] According to the motion range, the distribution position of each path point in the initial motion path of the probe is planned.

[0013] In some embodiments, adjusting the path parameters of the path points in the initial motion path according to the path optimization target so that the target motion path corresponding to the adjusted path parameters meets the path optimization target includes:

[0014] The path optimization goal is to minimize the scanning time and ensure that the scanned data volume is higher than a preset data volume threshold. The path optimization model is used to iteratively adjust each path parameter in the initial motion path based on the path optimization goal until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

[0015] In some embodiments, adjusting the path parameters of the path points in the initial motion path according to the path optimization target so that the target motion path corresponding to the adjusted path parameters meets the path optimization target includes:

[0016] Taking maximizing image quality as the path optimization goal, the path optimization model is used to iteratively adjust each path parameter of the initial motion path based on the path optimization goal until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

[0017] In some of the embodiments, before planning the distribution positions of the path points in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range, the method further includes:

[0018] Detecting the detection object using a laser radar to obtain three-dimensional point cloud data of the detection object, wherein the laser radar is arranged on the probe;

[0019] Based on the point cloud data, the position information and angle information of the detection object are reconstructed to obtain the posture information.

[0020] In some of the embodiments, in the process of controlling the probe to move relative to the detection object, the method further includes:

[0021] Performing posture detection on the detection object in real time, and when determining that the current posture information of the detection object has changed, planning a new motion path for the probe based on the current posture information of the detection object combined with the physiological state information of the detection object, so that the new motion path matches the current posture information of the detection object;

[0022] The probe is controlled to move relative to the detection object according to the new motion path.

[0023] In some embodiments, the method further comprises:

[0024] In the process of controlling the probe to move relative to the detection object, collecting body surface displacement data of the detection object;

[0025] After the single photon emission computed tomography system completes scanning of the detection object, the detection data is corrected according to the body surface displacement data.

[0026] In a second aspect, a motion control device for a probe is provided in the present embodiment. The probe is arranged in a single photon emission computed tomography system. The motion control device for the probe comprises: a planning module, an adjustment module, and a scanning module; wherein:

[0027] The planning module is used to plan the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range;

[0028] The adjustment module is used to determine a path optimization target corresponding to the scanning parameter according to the preset scanning parameter; and adjust each path parameter of the path point in the initial motion path according to the path optimization target so that the target motion path corresponding to the adjusted path parameter meets the path optimization target;

[0029] The scanning module is used to control the movement of the probe relative to the detection object during the scanning process of the single photon emission computed tomography imaging system according to the target motion path, so as to obtain detection data.

[0030] In a third aspect, a medical scanning system is provided in this embodiment, comprising: a probe, a laser radar, and a processor; wherein the probe and the laser radar are both connected to the processor; the laser radar is arranged on the probe;

[0031] The laser radar is used to obtain a three-dimensional model of the detection object;

[0032] The processor is used to execute the motion control method of the probe described in the first aspect above;

[0033] The probe is used to move relative to the detection object based on the control of the processor.

[0034] In a fourth aspect, a storage medium is provided in this embodiment, on which a computer program is stored, and when the program is executed by a processor, the motion control method of the probe described in the first aspect is implemented.

[0035] Compared with the related art, the present embodiment provides a motion control method, device, medical scanning system and storage medium for the probe. The motion control method of the probe plans the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range; determines the path optimization target corresponding to the scanning parameter according to the preset scanning parameter; according to the path optimization target, adjusts each path parameter of the path point in the initial motion path so that the target motion path corresponding to the adjusted path parameter meets the path optimization target; according to the target motion path, during the scanning process of the single photon emission computed tomography imaging system, controls the probe to move relative to the detection object to obtain detection data. It can combine the posture information of the detection object and the scanning requirements to realize accurate and compliant motion path planning and adjustment, thereby reducing the application difficulty of motion planning.

[0036] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 is a hardware structure block diagram of a terminal of the method for controlling the motion of a probe of this embodiment;

[0039] Figure 2 is a flow chart of the motion control method of the probe of this embodiment;

[0040] Figure 3 is a flow chart of a motion control method of some of the embodiments;

[0041] Figure 4 is a structural block diagram of the motion control device of the probe of this embodiment;

[0042] Figure 5 is a schematic diagram of the structure of the medical scanning system provided in this embodiment;

[0043] Figure 6 It is a schematic structural diagram of a SPECT system of this embodiment. DETAILED DESCRIPTION

[0044] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0045] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0046] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a hardware structure diagram of a terminal of the method for controlling the motion of a probe of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0047] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the motion control method of the probe in the present embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0049] In this embodiment, a motion control method of a probe is provided. Figure 2 is a flow chart of the motion control method of the probe of this embodiment, such as Figure 2 As shown, the process includes the following steps:

[0050] Step S210 , planning the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range.

[0051] The probe may be a probe provided in a SPECT system. The detection object may be a human or animal object that needs to be scanned medically. The posture information of the detection object may be the position and angle information of the detection object in three-dimensional space, as well as various body shapes and motion states formed thereby. The three-dimensional reconstruction model of the posture information of the detection object may be generated from the collected point cloud data by a surface reconstruction algorithm, such as Poisson reconstruction, a moving cube algorithm, and the like. The three-dimensional reconstruction model may be a geometric representation of the detection object in three-dimensional space. For example, before the medical scan, the detection object may be scanned using a three-dimensional scanner based on a three-dimensional scanning technology, and the three-dimensional reconstruction model may be obtained by three-dimensional reconstruction after the point cloud data is collected. Alternatively, the detection object may be detected by a laser radar to obtain the point cloud data of the detection object, and the three-dimensional reconstruction model may be obtained by three-dimensional reconstruction. Then, the posture information of the detection object may be obtained. In addition, the posture information of the detection object may also be obtained based on other posture detection technologies, such as the depth image collected by an infrared camera. The following will be explained by taking a laser radar as an example. Before the medical scan begins, the laser radar will first obtain the posture information of the detection object, and input the posture information into an associated electronic device equipped with a computer system for processing. Afterwards, the computer system communicates with the motion control system of the probe to achieve motion control of the probe.

[0052] Optionally, in some of the embodiments, the raw point cloud data acquired by the laser radar may be subjected to data preprocessing such as denoising, filtering, and registration to improve the accuracy and reliability of the data. Afterwards, the preprocessed point cloud data is used to construct a three-dimensional reconstruction model of the patient, and the three-dimensional reconstruction model is subjected to operations such as smoothing and mesh optimization to improve the accuracy and usability of the model. In this way, the accuracy of posture information extraction of the detected object is improved.

[0053] It is understandable that those skilled in the art can set the number of probes according to the needs of the actual application scenario. The distribution position and distribution method of the laser radar on the probe can also change according to the needs of the actual application scenario. In addition, medical scans can be performed on the detection object based on different scanning protocols. The laser radar on the probe can be fixed relative to the detection object; or it can be rotated at different angles relative to the detection object according to needs; for example, in a scenario where the scanning bed is constantly moving, the laser radar can rotate with the movement of the scanning bed, so that the detection object is always in the best field of view monitored by the laser radar. The movement setting of the probe is the same. In particular, for scenarios where heart rate and respiratory rate need to be monitored, the monitoring field of the laser radar can be focused on the heart and chest of the detection object.

[0054] After obtaining the posture information of the detected object, the initial motion path of the probe will be planned in combination with the test requirements input by the user. Specifically, the test requirements can be scanning requirements that constrain the scanning process and scanning results of the medical scan of the detected object. The test requirements can specifically include: scanning range requirements representing the scanning area, scanning quality requirements representing the scanning time and the amount of scanning data, etc. For the scanning area, the user can specify the body part or area that the detected object needs to scan, such as the heart, lungs, brain, etc. The part or area specified by the scanning area can be an area corresponding to a specific anatomical structure, or a specific area of ​​the body delineated according to clinical diagnosis requirements. The scanning time can be the time for the medical scan of the detected object. According to the scanning time and the size of the scanning area, the approximate limit on the scanning speed or the moving speed of the probe can be determined. At the same time, the time overhead such as the motion pause and posture adjustment of the probe during the scanning process also needs to be considered. The amount of scanning data can be the amount of data required to obtain the medical scan of the detected object. The scanning data volume can be matched by adjusting the density, dwell time or data acquisition rate of the scanning path points of the probe. For example, the scanning path density is increased in areas where high resolution is required, while the scanning path density can be appropriately reduced in areas where the resolution requirement is not high.

[0055] The scanning range in this step may specifically be the body part or area of ​​the object to be scanned specified in the above test requirements. In this step, the initial motion path of the probe is planned in combination with the posture information of the object to be detected and the preset scanning range. Specifically, the distribution position planning of each path point in the initial motion path of the probe can be realized by combining the posture information and the preset scanning range with the preset path planning algorithm. The path planning algorithm may be a heuristic search algorithm (A-star algorithm), a rapidly expanding random number (Rapidly-exploring Random Trees, referred to as RRT) algorithm, and a Dijkstra algorithm that uses a greedy strategy to gradually build a shortest path tree. These path planning algorithms can find the optimal or feasible path from the starting point to the end point in three-dimensional space. This embodiment does not specifically limit the use of the path planning algorithm. The conversion of the scanning range can be achieved by matching or mapping with the three-dimensional reconstruction model of the object to be detected, and the scanning range is converted into a coordinate range or volume in three-dimensional space. After that, the distribution position planning of each path point in the initial motion path is performed based on the coordinate range or volume defined in three-dimensional space.

[0056] Before the scanning starts, this step performs initial planning of the motion path planning of the probe according to the posture information of the detection object and the scanning range input by the user, so that the planned initial motion path covers the entire scanning range. Among them, this planning not only considers how to cover the entire area of ​​interest, but also strives to reduce unnecessary movement, thereby reducing the instability of the probe during movement. Therefore, by obtaining the posture parameter information of the detection object and intelligently and automatically planning the motion trajectory of the probe, it can ensure that the subsequent scanning of the probe covers the entire area of ​​interest of the detection object, while reducing unnecessary movement of the probe, and can adapt to detection objects of different sizes.

[0057] Step S220, based on the preset scanning parameters, determine the path optimization target corresponding to the scanning parameters; according to the path optimization target, adjust the path parameters of the path points in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target.

[0058] As mentioned above, the scanning parameters may specifically include scanning time, scanning data volume, and may also include the expected scanning radiation dose or the expected scanning image quality. In some embodiments, the above scanning parameters may also include the type of radionuclide, the energy peak of the radionuclide and the corresponding window width; the attribute information of the detection object (such as age, height, weight, scanning part and health status). The scanning parameters may also include the type of probe collimator and the purpose of scanning (for example, for diagnosis, or to formulate a treatment plan, etc.). After analyzing the test requirements, the scanning parameters such as scanning range, scanning time and scanning data volume are comprehensively evaluated to determine the priority and mutual constraint relationship between the scanning parameters, and then form a path optimization target. Among them, multiple path optimization targets may need to be considered in the process of demand evaluation, such as minimizing scanning time, maximizing image quality, reducing patient radiation dose, etc. Afterwards, corresponding constraints are formed based on the determined path optimization targets to perform path optimization. This step can convert the user's test requirements into operable parameters and constraints for subsequent path optimization.

[0059] For example, when the scanning part of this scan is the head of the test object, the scanning range can be determined according to the scanning part, and the determined scanning range can be mapped to the preset path planning model in the form of mathematical parameters. Similarly, scanning parameters such as scanning time, scanning data volume, disease type of the test object, and scanning purpose can also be mapped separately. Afterwards, the priority and constraint relationship between the scanning parameters are evaluated according to the scanning requirements. For example, when the scanning requirement is for emergency diagnosis, the priority of the scanning parameter of scanning time can be set to the highest priority; if the scanning requirement is to focus on image quality, the scanning parameter of scanning image quality can be set to the highest priority; if the scanning requirement is that the radiation sensitivity of the test object is high, the scanning parameter of scanning radiation dose can be set to the highest priority.

[0060] In addition, there are constraints between scanning parameters. For example, there may be constraints between scanning time and scanning data volume. Longer scanning time can allow more scanning data volume to be acquired; higher scanning image quality requires longer scanning time and / or higher scanning radiation dose; in addition, scanning range can also directly affect scanning time and scanning data volume.

[0061] According to the above scanning parameters, the objective function of path planning can be formed. For example, the minimum function can be used to represent: minimizing the scanning time (T), while keeping the scanned image quality (Q) not lower than a certain quality threshold, and limiting the scanning radiation dose (D) within a safe value range, and given the constraints: the physical limitations of the probe (such as the maximum scanning speed, the minimum dwell time, etc.), combined with the patient's physiological conditions (such as radiation sensitivity), so that the objective function can be set as:

[0062] minT=f(x)

[0063] Where x represents the path parameters (such as path point density, dwell time, data collection rate, etc.).

[0064] The constraints are:

[0065] gi(x)≤0

[0066] hj(x)=0

[0067] Wherein, gi(x) represents an inequality constraint (such as radiation dose limit), and hj(x) represents an equality constraint (such as image quality threshold); wherein, i=1, 2, ..., m; j=1, 2, ..., n; i represents the i-th inequality constraint, and j represents the j-th equality constraint.

[0068] You can also set the decision variables as:

[0069] x=[x1,x2,…,xk]

[0070] Where xk represents the kth path parameter.

[0071] Therefore, through the setting of the above objective function, constraints, and decision variables, the construction of the path optimization mathematical model is realized. After constructing this mathematical model, the selected path optimization algorithm can be used to solve it. Next, the solution based on the particle swarm optimization algorithm is used as an example to illustrate.

[0072] First, the particle swarm can be initialized. Specifically, a set of particles is randomly generated as candidate solutions for the path parameters; a velocity vector is assigned to each particle to indicate its direction of movement in the search space. After the particle swarm is initialized, the particles can be evaluated. Specifically, the objective function value of each particle is calculated (in the objective function constructed by minimizing the scan time, the corresponding objective function value can be the scan time); and the path parameters are checked to see if they meet the constraints (such as image quality and radiation dose limits). After the particle evaluation is completed, the particles can be updated. For example, based on the objective function value and the constraints, the optimal position of each particle (i.e., the personal optimal solution) is updated; and the optimal position of the entire particle swarm (i.e., the global optimal solution) is updated.

[0073] After completing the particle update, the particle speed and position can be adjusted. For example, according to the speed update formula and position update formula in the particle population optimization algorithm, the particle speed and position are adjusted to ensure that the particle moves within the search space and avoids falling into the local optimal solution.

[0074] The above process of evaluating particles, updating particles, and adjusting particles is iterated until the predetermined number of iterations is reached or the stopping condition is met (such as the change in the objective function value is less than a certain threshold). Finally, the global optimal solution is output, which is the optimal path parameter.

[0075] It can be understood that the application of the above-mentioned particle swarm optimization algorithm is only an example, and those skilled in the art can also implement the update of the above-mentioned path parameters based on other path optimization algorithms according to the requirements of actual application scenarios, and this embodiment does not specifically limit this.

[0076] Among them, the above-mentioned path parameters may specifically include path point density, path point dwell time, data acquisition rate, path shape, acceleration and speed and other parameters. Specifically, the path optimization model can be used to iteratively optimize the above-mentioned data acquisition rate, shape, speed, acceleration, path point density and path point dwell time according to the path optimization target, until the corresponding target motion path meets the above-mentioned path optimization target, and finally output the optimization results of all path parameters. The scan achieved by the motion path corresponding to each adjusted path parameter can meet the path optimization target determined based on the scanning parameters. For example, the adjusted path point density and dwell time can make the actual scanning time meet the restrictions on the scanning time in the scanning parameters, the adjusted path point density can make the actual image quality obtained by the scan meet the restrictions on the image quality in the scanning parameters, or the adjusted dwell time and path point density can make the final actual scanning dose meet the restrictions on the scanning dose in the scanning parameters.

[0077] Specifically, according to the above scanning parameters, the path parameters of the initial motion path are evaluated and adjusted to ensure that the adjusted path parameters can match the scanning parameters. The initial motion path can be optimized and adjusted using a preset path optimization model. The optimization and adjustment of path parameters such as the shape, speed, and acceleration of the initial motion path can also be involved. In the optimization process, the comprehensive influence of multiple factors can be considered, such as scanning efficiency, image quality, and comfort of the detected object.

[0078] The above-mentioned path optimization model can be constructed based on a preset path optimization algorithm, and the motion path can be optimized according to scanning parameters (such as scanning time, data volume, etc.) and preset path optimization goals (such as minimizing scanning time, maximizing image quality, etc.). In some of the embodiments, the path optimization model can be implemented based on path optimization algorithms such as linear programming, nonlinear programming, genetic algorithms, and particle swarm optimization. Optionally, in some of the embodiments, the planned motion path can be simulated or verified by small-scale experiments before actual scanning to evaluate the rationality, feasibility, and safety of the motion path.

[0079] Step S230, according to the target motion path, during the scanning process of the single photon emission computed tomography system, the probe is controlled to move relative to the detection object to obtain detection data. Specifically, after the initial motion path planning of the probe and the motion path adjustment are completed in succession based on step S210 and step S220, according to the target motion path obtained by the final adjustment, the probe is controlled to move relative to the detection object during the scanning process of the SPECT system to obtain detection data. Among them, the target motion path can be sent to the motion control system of the probe to control the probe to move according to the target motion path to obtain the detection data of the detection object.

[0080] In the related art, the quality of data collection is often improved by setting the instantaneous speed of the probe or the dwell time of data collection. However, the method adopted by the related art cannot realize the reasonable planning of the complete motion path of the probe as a whole, and needs to rely on a high-precision algorithm, and the implementation steps are also relatively cumbersome.

[0081] This embodiment uses the above steps S210 to S230, combined with the posture information, scanning range and scanning parameters of the detection object, to perform intelligent motion path planning through a computer system. Not only does it consider how to cover the entire area of ​​interest, but it also strives to reduce unnecessary movements and reduce the instability of the probe during movement. The motion trajectory of the probe is accurately and immediately planned and adjusted, which can adapt to detection objects of different sizes and ensure system safety. This embodiment can achieve reasonable and accurate motion path planning and adjustment based only on path planning, path optimization and other steps, so there is no need to rely on high-precision algorithms, and the processing steps are simple and efficient. Compared with related technologies, this embodiment can improve the application flexibility and adaptability of the motion path planning of the probe in different application scenarios, and reduce the difficulty of application.

[0082] In particular, in some of the embodiments, after completing the medical scan of the test object, the test data and the motion path can be analyzed again to evaluate the effect and performance of the path planning. The planning model and optimization model of the motion path are fed back and optimized based on the evaluation results to improve the efficiency and accuracy of subsequent scans.

[0083] In the above steps S210 to S230, according to the posture information of the detection object and the preset scanning range, the distribution position of each path point in the initial motion path of the probe is planned; based on the preset scanning parameters, the path optimization target corresponding to the scanning parameters is determined; according to the path optimization target, each path parameter of the path point in the initial motion path is adjusted so that the target motion path corresponding to the adjusted path parameter meets the path optimization target; according to the target motion path, during the scanning process of the SPECT system, the probe is controlled to move relative to the detection object to obtain detection data. It can combine the posture information of the detection object and the scanning requirements to achieve accurate and compliant motion path planning and adjustment, thereby reducing the application difficulty of motion planning.

[0084] In one embodiment, based on the above step S210, planning the distribution positions of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range may include:

[0085] The posture information of the detection object is matched with the preset scanning range to determine the motion range of the probe when scanning the detection object; according to the motion range, the distribution position of each path point in the initial motion path of the probe is planned.

[0086] Among them, by matching or mapping with the three-dimensional reconstructed model of the detection object, the scanning range is converted into a coordinate range or volume in a specific three-dimensional space, so as to determine the motion range of the probe when scanning the detection object in the subsequent medical scanning process. Then, based on the motion range, the initial motion path of the probe is planned.

[0087] In this embodiment, based on the matching of posture information and scanning range, the motion range of the probe is determined, and then the initial motion path of the probe is planned, which can improve the rationality and accuracy of the initial motion path planning, and thus improve the efficiency of subsequent path optimization.

[0088] In addition, in one embodiment, according to the path optimization target, adjusting the path parameters of the path points in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target may include:

[0089] The path optimization goal is to minimize the scanning time and ensure that the scanning data volume is higher than the preset data volume threshold. Based on the path optimization goal, the path optimization model is used to iteratively adjust the path parameters in the initial motion path until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

[0090] Among them, after the radioactive tracer or imaging agent is injected into different detection objects, the radiation intensity of the radionuclide may be different. When the radiation signal intensity collected during the scanning process is strong, the path optimization model can be used to minimize the scanning time and obtain a scanning data volume higher than the preset data volume threshold as the path optimization target, and the path point density, path point dwell time, data acquisition rate, shape, speed, acceleration and other path parameters in the initial motion path are iteratively optimized to obtain the adjusted target motion path. Among them, the path point density represents the density of the stop points of the probe during the scanning process. In this way, based on the above-determined path optimization target, the path optimization model can be used to adjust the path parameters of the initial motion path so that the adjusted target motion path meets the above-mentioned path optimization target of minimizing the scanning time and the scanning data volume is higher than the preset data volume threshold. The above-mentioned data volume threshold can be determined based on the actual application scenario. For example, in a certain scanning scenario, the minimum data volume experience value sufficient for scanning result analysis will be obtained as the data volume threshold.

[0091] Therefore, when the initial motion path needs to be optimized so that the optimized motion path can meet the path optimization goal of minimizing the scanning time and the scanning data volume is higher than the preset data volume threshold, it is necessary to adjust the path parameters of the initial motion path through the path optimization model. When the probe performs scanning based on the adjusted motion path, the number of path points it stops at will be reduced, and the time it stays at the path points will also be reduced. The data acquisition rate will be increased, the speed and acceleration will also be increased accordingly, and the shape of the path will be more optimized, thereby reducing the overall scanning time and improving the scanning efficiency.

[0092] In addition, in one embodiment, according to the path optimization target, the path parameters of the path points in the initial motion path are adjusted so that the target motion path corresponding to the adjusted path parameters meets the path optimization target, which may specifically include:

[0093] Taking maximizing image quality as the path optimization goal, the path optimization model is used to iteratively adjust the path parameters of the initial motion path based on the path optimization goal until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

[0094] Specifically, maximizing image quality can be used as a path optimization goal, and the path optimization model can be used to optimize the path point density, path point dwell time, data acquisition rate, shape, speed, acceleration and other path parameters of the initial motion path based on the path optimization goal to obtain the path parameters output by the path optimization model, and the initial motion path can be adjusted accordingly to obtain the target motion path. The specific process of optimizing the path parameters based on the path optimization goal by the path optimization model can refer to the above embodiment, which will not be repeated here.

[0095] In order to improve the quality of the image finally scanned, this embodiment needs to ensure the amount of scan data collected. Therefore, the path parameters can be adjusted by maximizing the image quality as the path optimization goal, so as to increase the amount of scan data and further improve the image quality.

[0096] It is understandable that those skilled in the art may also adjust and optimize the path parameters of the initial motion path based on other scanning parameters, so that the optimized motion path can match the scanning requirements.

[0097] Optionally, in one embodiment, before planning the distribution positions of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range, the motion control method may further include:

[0098] The laser radar is used to detect the detection object to obtain three-dimensional point cloud data of the detection object; the laser radar is set on the probe; based on the point cloud data, the position information and angle information of the detection object are reconstructed to obtain the above-mentioned posture information. Among them, based on the laser radar set on the probe, radar detection can be performed on the detection object to obtain three-dimensional point cloud data of the detection object, and then the position and angle information of the detection object in three-dimensional space are obtained through three-dimensional reconstruction, so as to obtain the above-mentioned posture information. This embodiment realizes the detection of the posture information of the detection object by integrating the laser radar, which can improve the accuracy of the overall scanning process, the stability of the probe movement, and the scanning efficiency.

[0099] In particular, in one embodiment, in the process of controlling the probe to move relative to the detection object according to the target motion path, the motion control method may further include:

[0100] Perform posture detection on the detection object in real time. When it is determined that the current posture information of the detection object has changed, generate a new motion path for the probe based on the current posture information of the detection object combined with the physiological state information of the detection object, so that the new motion path matches the current posture information of the detection object; control the probe to move relative to the detection object according to the new motion path.

[0101] The physiological state information may include heart rate, respiratory rate, etc. The physiological state information can reflect the surface displacement of the detected object. During the scanning process, the posture information of the detected object can be continuously acquired through the laser radar and continuously input into the computer system. When the computer system detects that the posture information of the detected object has changed, it will combine the physiological state information and the current posture information to re-plan the optimal and safest motion trajectory for the probe, and input it into the motion control system of the probe for execution. It can be implemented based on a preset motion path planning algorithm, which is not specifically limited in this embodiment. Afterwards, the probe will adjust to the latest planned motion path to move.

[0102] For example, when the detected object moves or changes its posture, the changed posture information is obtained, and then the path planning algorithm is used to re-plan the optimal and safest motion trajectory based on the changed posture information and the test requirements.

[0103] This embodiment can obtain the real-time posture information of the detection object during the scanning process, and respond immediately to special situations such as the movement of the detection object, and accurately adjust the motion path of the probe, thereby improving the accuracy and flexibility of the probe scanning.

[0104] Additionally, in one embodiment, the motion control method may further include:

[0105] In the process of controlling the movement of the probe relative to the detection object, the body surface displacement data of the detection object is collected; after the single photon emission computed tomography imaging system completes scanning of the detection object, the above detection data is corrected according to the body surface displacement data.

[0106] Among them, during the scanning process of the SPECT system, the laser radar can be used to continuously monitor the body surface micro-displacement data caused by the heartbeat and breathing of the test object. Afterwards, the physiological state information such as heart rate and respiratory rate is obtained based on the body surface displacement data. Finally, the detection data is corrected using the physiological state information such as heart rate and respiratory rate, or the physiological state information such as heart rate and respiratory rate is output together with the detection data for detection data analysis. Among them, the detection data can be corrected based on the physiological state information such as heart rate and respiratory rate using data post-processing technology, such as using image reconstruction algorithms or motion correction software, to improve the accuracy of medical scanning.

[0107] In addition, after obtaining the body surface displacement data, the physiological state information such as heart rate and respiratory rate is calculated according to the body surface displacement data, which may include a signal processing process, a feature extraction process, an algorithm calculation process, and a verification and calibration process. In the signal processing process, the body surface displacement data is pre-processed by filtering, denoising, etc., and then the periodic signal related to the heartbeat and breathing is extracted. In the feature extraction process, characteristic parameters such as frequency, amplitude, etc. are extracted from the pre-processed signal, and these characteristic parameters are directly related to the heart rate and respiratory rate. In the algorithm calculation process, the characteristic parameters are analyzed using algorithms such as fast Fourier transform (FFT) and wavelet transform to calculate the heart rate and respiratory rate. Afterwards, verification and calibration are performed, and the calculation results of the heart rate and respiratory rate are compared and verified with the data of standard measuring equipment, such as electrocardiogram acquisition equipment and respiratory monitors. If necessary, calibration can also be performed to improve accuracy.

[0108] In this embodiment, laser radar can be used to accurately measure the tiny displacement of the body surface caused by heartbeat and breathing. By analyzing the body surface displacement data, the patient's heart rate and respiratory rate are monitored in real time. The monitoring results can be applied to specific applications such as myocardial perfusion imaging to filter the influence of the physiological state information of the detected object on the scanning results, so as to ensure the accuracy and reliability of the scanning results.

[0109] Figure 3 FIG. 4 is a flow chart of a motion control method in some embodiments. Figure 3 As shown, the motion control method includes the following steps:

[0110] Step S301, before scanning, obtaining posture information of the detection object through the laser radar; wherein, before the medical scan, the laser radar collects the posture information of the detection object and transmits it to the computer system associated with the probe.

[0111] Step S302, before scanning, obtaining a test requirement input by a user; wherein the user inputs a predetermined test requirement into the computer system, and the test requirement may specifically be a scanning requirement for constraining the scanning process and scanning results of the medical scanning of the detection object. The test requirement may specifically include scanning parameters such as the scanning range, scanning time, scanning data volume, and scanning quality of the scanning area.

[0112] Step S303, planning the initial motion path of the probe according to the above-mentioned posture information and test requirements; wherein, after receiving the data of step S301 and step S302, the computer system implements the planning of the initial motion path based on the path planning algorithm.

[0113] Step S304, based on the preset scanning parameters, determine the path optimization target corresponding to the scanning parameters, and adjust the path parameters of each path point in the initial motion path according to the path optimization target, so that the target motion path corresponding to the adjusted path parameters meets the path optimization target; wherein, after obtaining the initial motion path, the computer system adjusts the initial motion path in combination with the scanning parameters to obtain the target motion path. Afterwards, the computer system outputs the target motion path to the motion control system of the probe to control the probe to move based on the target motion path; then, step S305 and step S308 are executed simultaneously.

[0114] Step S305, during the scanning process, obtaining real-time posture information of the detection object;

[0115] Step S306, judging whether the posture of the detection object has changed according to the real-time posture information of the detection object during the scanning process; if so, executing step S307; wherein, the posture information of the detection object is obtained in real time during the scanning process by the laser radar; otherwise, continuing to control the probe to move relative to the detection object according to the above-mentioned target motion path.

[0116] Step S307, re-planning the motion path of the probe according to the changed posture information of the detection object to obtain detection data; wherein, the computer system re-plans the motion path of the probe and sends the re-planned current latest motion path to the motion control system of the probe so that the probe executes the updated motion path.

[0117] Step S308, during the scanning process, real-time monitoring of body surface displacement data caused by the physiological state of the detection object; wherein the body surface displacement data of the detection object is collected in real time by a laser radar.

[0118] Step S309, calculating the physiological status information of the detected object according to the body surface displacement data. Specifically, the computer system calculates the physiological status information such as the heart rate and respiratory rate of the detected object according to the body surface displacement data.

[0119] Step S310, processing the detection data according to the physiological state information to generate a graph; wherein the computer system can correct the detection data based on the physiological state information, or output it together with the detection data for analysis.

[0120] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here. For example, step S301 and step S302.

[0121] In this embodiment, a motion control device for a probe is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. The terms "module", "unit", "subunit" and the like used below can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0122] Figure 4 is a structural block diagram of the motion control device 40 of the probe of this embodiment, as shown in Figure 4 As shown, the motion control device 40 of the probe includes: a planning module 42, an adjustment module 44, and a scanning module 46; wherein:

[0123] The planning module 42 is used to plan the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range; the adjustment module 44 is used to determine the path optimization target corresponding to the scanning parameter based on the preset scanning parameter; according to the path optimization target, the path parameters of the path points in the initial motion path are adjusted so that the target motion path corresponding to the adjusted path parameters meets the path optimization target; the scanning module 46 is used to control the movement of the probe relative to the detection object according to the target motion path during the scanning process of the SPECT system to obtain detection data.

[0124] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0125] In this embodiment, a medical scanning system is also provided. Figure 5 is a schematic diagram of the structure of the medical scanning system 50 provided in this embodiment. Figure 5 As shown, the medical scanning system 50 includes: a probe 52, a laser radar 54 and a processor 56; wherein the probe 52 and the laser radar 54 are both connected to the processor 56; the laser radar 54 is used to obtain a three-dimensional model of the detection object; the processor 56 is used to execute the motion control method of the probe provided in the above embodiment; the probe 54 is used to perform a medical scan on the detection object based on the control of the processor 56.

[0126] Specifically, a computer system is installed in the processor 56. The computer system plans and adjusts the motion path of the probe by processing the posture information of the detection object input by the laser radar 54 and the test requirements input by the user, and outputs the target motion path to the motion control system of the probe 52. The motion control system of the probe 52 controls the probe 52 to move relative to the detection object according to the target motion path. Due to the introduction of the laser radar, the system can obtain key information such as the distance between the detection object and the probe, the movement speed of the probe, and the posture of the detection object in real time, so as to intelligently control the motion path of the probe.

[0127] The above-mentioned medical scanning system may be a SPECT system. Figure 6 FIG. 6 is a schematic diagram of the structure of a SPECT system 60 of this embodiment. Figure 6 As shown, the SPECT system 60 may include: a SPECT probe 61, a SPECT rack 62, an examination bed 63, a radiation source 64, a detection area 65, a laser radar (not shown in the figure) and a processor (not shown in the figure). Among them, the SPECT rack 62 supports the SPECT probe 61 to rotate, so that the SPECT probe 61 can rotate 180 degrees or 360 degrees around the detection object, and collect a series of planar projection images from multiple angles and directions. The examination bed 63 is used to carry the detection object into the field of view of the SPECT probe 61 for data collection and imaging. The processor can be specifically a computer, including data acquisition software, display software, image processing software, dynamic image analysis software, etc., which is used to reconstruct, correct, analyze and display the collected original images, and execute the motion control method provided in the above embodiment. The laser radar can be set on the SPECT probe 61.

[0128] In this embodiment, an electronic device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0129] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0130] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0131] S1, planning the distribution positions of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range;

[0132] S2, determining a path optimization target corresponding to the scanning parameter according to the preset scanning parameter; adjusting each path parameter of the path point in the initial motion path according to the path optimization target, so that the target motion path corresponding to the adjusted path parameter meets the path optimization target;

[0133] S3, according to the target motion path, during the scanning process of the single photon emission computed tomography system, controlling the probe to move relative to the detection object to obtain detection data.

[0134] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0135] In addition, in combination with the motion control method of the probe provided in the above embodiments, a storage medium may be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any of the motion control methods of the probe in the above embodiments is implemented.

[0136] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0137] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0138] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0139] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0140] The above-mentioned 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 patent protection. 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 scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A motion control method for a probe, characterized in that: The probe is arranged in a single photon emission computed tomography system, and the method comprises: Planning the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range; According to the preset scanning parameters, determining a path optimization target corresponding to the scanning parameters; according to the path optimization target, adjusting each path parameter of the path point in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target; According to the target motion path, during the scanning process of the single photon emission computed tomography system, the probe is controlled to move relative to the detection object to obtain detection data.

2. The motion control method of the probe according to claim 1, characterized in that: The step of planning the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range includes: Matching the posture information of the detection object with the preset scanning range to determine the movement range of the probe when scanning the detection object; According to the motion range, the distribution position of each path point in the initial motion path of the probe is planned.

3. The motion control method of the probe according to claim 1, characterized in that: The adjusting, according to the path optimization target, the path parameters of the path points in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target includes: The path optimization goal is to minimize the scanning time and ensure that the scanned data volume is higher than a preset data volume threshold. The path optimization model is used to iteratively adjust each path parameter in the initial motion path based on the path optimization goal until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

4. The motion control method of the probe according to claim 1, characterized in that: The adjusting, according to the path optimization target, the path parameters of the path points in the initial motion path so that the target motion path corresponding to the adjusted path parameters meets the path optimization target includes: Taking maximizing image quality as the path optimization goal, the path optimization model is used to iteratively adjust each path parameter of the initial motion path based on the path optimization goal until the target motion path corresponding to the adjusted path parameters meets the path optimization goal.

5. The motion control method of the probe according to claim 1, characterized in that: Before planning the distribution positions of the path points in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range, the method further includes: Detecting the detection object using a laser radar to obtain three-dimensional point cloud data of the detection object, wherein the laser radar is arranged on the probe; Based on the point cloud data, the position information and angle information of the detection object are reconstructed to obtain the posture information.

6. The motion control method of the probe according to claim 1, characterized in that: In the process of controlling the probe to move relative to the detection object, the method further includes: Performing posture detection on the detection object in real time, and generating a new motion path for the probe based on the current posture information of the detection object combined with the physiological state information of the detection object when determining that the current posture information of the detection object has changed, so that the new motion path matches the current posture information of the detection object; The probe is controlled to move relative to the detection object according to the new motion path.

7. The method for controlling the motion of a probe according to any one of claims 1 to 6, characterized in that: The method further comprises: In the process of controlling the probe to move relative to the detection object, collecting body surface displacement data of the detection object; After the single photon emission computed tomography system completes scanning of the detection object, the detection data is corrected according to the body surface displacement data.

8. A motion control device for a probe, characterized in that: The probe is arranged in a single photon emission computed tomography system, and the motion control device of the probe comprises: a planning module, an adjustment module, and a scanning module; wherein: The planning module is used to plan the distribution position of each path point in the initial motion path of the probe according to the posture information of the detection object and the preset scanning range; The adjustment module is used to determine a path optimization target corresponding to the scanning parameter according to the preset scanning parameter; and adjust each path parameter of the path point in the initial motion path according to the path optimization target so that the target motion path corresponding to the adjusted path parameter meets the path optimization target; The scanning module is used to control the movement of the probe relative to the detection object during the scanning process of the single photon emission computed tomography system according to the target motion path to obtain detection data.

9. A medical scanning system, characterized in that: include: A probe, a laser radar and a processor; wherein the probe and the laser radar are both connected to the processor; and the laser radar is arranged on the probe; The laser radar is used to obtain a three-dimensional model of the detection object; The processor is used to execute the motion control method of the probe according to any one of claims 1 to 7; The probe is used to move relative to the detection object based on the control of the processor.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling the motion of a probe according to any one of claims 1 to 7 are implemented.

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