Probe motion control methods, devices, medical scanning systems, and storage media

Abstract

This application relates to a motion control method, device, medical scanning system, and storage medium for a probe. The motion control method includes: planning the distribution of path points in the initial motion path of the probe based on the posture information of the object being detected and a preset scanning range; determining a path optimization target corresponding to the preset scanning parameters; adjusting 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 satisfies the path optimization target; and controlling the probe to move relative to the object being detected during scanning in a single-photon emission computed tomography (SPECT) system according to the target motion path to obtain detection data. This method can combine the posture information of the object being detected and the scanning requirements to achieve accurate and satisfactory motion path planning and adjustment, thereby reducing the application difficulty of motion planning.

Description

Technical Field

[0001] This application relates to the field of medical scanning, and in particular to methods, devices, medical scanning systems, and storage media for controlling the motion of probes. Background Technology

[0002] Single-photon emission computed tomography (SPECT) is a widely used clinical imaging diagnostic technique. The probe is the core component of the SPECT system. Properly planning the probe's scanning path plays a crucial role in improving image quality, reducing artifacts and noise, and enhancing image clarity and contrast, while also ensuring the acquisition of complete scan images.

[0003] In related technologies, the instantaneous velocity 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 precision in the algorithm, and the execution steps are quite cumbersome and complex in practical applications, thus making the application of probe motion path planning quite difficult.

[0004] There is currently no effective solution to the problem of high application difficulty in probe motion path planning in related technologies. Summary of the Invention

[0005] This embodiment provides a probe motion control method, device, medical scanning system, and storage medium to address the problem of high application difficulty in probe motion path planning in related technologies.

[0006] Firstly, this embodiment provides a motion control method for a probe, the probe being disposed in a single-photon emission computed tomography (SPECT) system, comprising:

[0007] Based on the posture information of the object being detected and the preset scanning range, the distribution positions of each path point in the initial motion path of the probe are planned;

[0008] Based on preset scanning parameters, a path optimization target corresponding to the scanning parameters is determined; based on the path optimization target, the path parameters of each path point in the initial motion path are adjusted so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization target.

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

[0010] In some embodiments, the step of planning the distribution positions of each path point in the initial motion path of the probe based on the pose information of the object being detected and a preset scanning range includes:

[0011] The pose information of the object being detected is matched with the preset scanning range to determine the range of motion of the probe when scanning the object being detected.

[0012] Based on the range of motion, the distribution positions of each path point in the initial motion path of the probe are planned.

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

[0014] The path optimization objective is to minimize the scanning time while ensuring that the amount of scanned data is higher than a preset data volume threshold. Based on the path optimization objective, 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 satisfies the path optimization objective.

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

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

[0017] In some embodiments, before planning the distribution positions of each path point in the initial motion path of the probe based on the pose information of the object being detected and a preset scanning range, the method further includes:

[0018] The object to be detected is detected using a lidar, and three-dimensional point cloud data of the object is obtained. The lidar is mounted on the probe.

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

[0020] In some embodiments, the method further includes, during the process of controlling the movement of the probe relative to the object being detected:

[0021] The probe performs real-time posture detection on the object being detected. If the current posture information of the object being detected changes, a new motion path is planned for the probe based on the current posture information of the object being detected and the physiological state information of the object being detected, so that the new motion path matches the current posture information of the object being detected.

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

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

[0024] During the process of controlling the movement of the probe relative to the object being detected, the surface displacement data of the object being detected are collected;

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

[0026] Secondly, this embodiment provides a motion control device for a probe, wherein the probe is installed in a single-photon emission computed tomography (SPECT) system, and the motion control device includes: a planning module, an adjustment module, and a scanning module; wherein:

[0027] The planning module is used to plan the distribution positions of each path point in the initial motion path of the probe based on the posture information of the object being detected and the preset scanning range.

[0028] The adjustment module is used to determine the path optimization target corresponding to the preset scanning parameters according to the preset scanning parameters; and to 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 satisfies the path optimization target.

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

[0030] Thirdly, this embodiment provides a medical scanning system, including: a probe, a lidar, and a processor; wherein the probe and the lidar are both connected to the processor; and the lidar is disposed on the probe.

[0031] The lidar is used to acquire a three-dimensional model of the object being detected.

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

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

[0034] Fourthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the motion control method for the probe described in the first aspect above.

[0035] Compared with related technologies, this embodiment provides a probe motion control method, device, medical scanning system, and storage medium. The probe motion control method plans the distribution of each path point in the initial motion path of the probe based on the posture information of the object being detected and a preset scanning range; determines the path optimization target corresponding to the preset scanning parameters; adjusts 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; and controls the probe to move relative to the object being detected during the scanning process of the single-photon emission computed tomography system according to the target motion path to obtain detection data. It can combine the posture information of the object being detected and the scanning requirements to achieve accurate and satisfactory motion path planning and adjustment, thereby reducing the application difficulty of motion planning.

[0036] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[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 This is a hardware structure block diagram of the terminal of the motion control method for the probe in this embodiment;

[0039] Figure 2 This is a flowchart of the motion control method for the probe in this embodiment;

[0040] Figure 3 These are flowcharts of motion control methods in some embodiments;

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

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

[0043] Figure 6 This is a schematic diagram of the structure of a SPECT system according to this embodiment. Detailed Implementation

[0044] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0045] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0046] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal of the probe motion control method in this embodiment. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 More or fewer components than shown, or with Figure 1 The different configurations shown are illustrated.

[0047] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the probe motion control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0048] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0049] This embodiment provides a method for controlling the motion of a probe. Figure 2 This is a flowchart of the motion control method for the probe in this embodiment, as shown below. Figure 2 As shown, the process includes the following steps:

[0050] Step S210: Based on the posture information of the object being detected and the preset scanning range, plan the distribution positions of each path point in the initial motion path of the probe.

[0051] Specifically, the probe mentioned above can be a probe installed in a SPECT system. The object being scanned can be a human or animal subject requiring medical scanning. The pose information of the object being scanned includes its position and angle information in three-dimensional space, as well as the resulting various body shapes and movement states. The three-dimensional reconstruction model of the object's pose information can be generated from the acquired point cloud data using surface reconstruction algorithms, such as Poisson reconstruction and moving cubes algorithm. The three-dimensional reconstruction model can specifically be the geometric representation of the object in three-dimensional space. For example, before the medical scan, the object can be scanned using a 3D scanner based on 3D scanning technology, and the point cloud data can be acquired. Then, the aforementioned three-dimensional reconstruction model can be obtained through 3D reconstruction. Alternatively, the object can be detected using LiDAR to obtain point cloud data, and the aforementioned three-dimensional reconstruction model can be obtained through 3D reconstruction. Then, the pose information of the object can be obtained. In addition, other pose detection technologies can also be used, such as using depth images acquired by an infrared camera to obtain the pose information of the object. The following will use LiDAR as an example. Before the medical scan begins, the LiDAR will acquire the pose information of the object for the first time and input this pose information into an associated electronic device equipped with a computer system for processing. Then, the computer system communicates with the probe's motion control system to achieve motion control of the probe.

[0052] Optionally, in some embodiments, the raw point cloud data acquired by the lidar can be preprocessed, including denoising, filtering, and registration, to improve the accuracy and reliability of the data. Then, a 3D reconstruction model of the patient is constructed using the preprocessed point cloud data, and the 3D reconstruction model is smoothed and mesh optimized to improve its accuracy and usability. This improves the accuracy of pose information extraction from the detected object.

[0053] Understandably, those skilled in the art can set the number of probes according to the needs of the actual application scenario. The distribution position and pattern of the LiDAR on the probes can also be varied according to the needs of the actual application scenario. Furthermore, medical scanning of the object can be performed based on different scanning protocols. The LiDAR on the probe can be fixed relative to the object; or it can rotate relative to the object at different angles as needed. For example, in a scenario where the scanning bed is constantly moving, the LiDAR can rotate with the scanning bed to always keep the object in the optimal field of view for LiDAR monitoring. The same applies to the probe movement settings. In particular, for scenarios requiring monitoring of heart rate and respiratory rate, the LiDAR's monitoring field of view can be focused on the heart and chest of the object.

[0054] After obtaining the posture information of the object to be scanned, the initial movement path of the probe will be planned based on the user-inputted testing requirements. Specifically, these testing requirements can be scanning requirements that constrain the scanning process and results of a medical scan of the object. These requirements may include: scanning range requirements representing the scanning area, and scanning quality requirements representing scanning time and data volume. For the scanning area, the user can specify the body part or region to be scanned, such as the heart, lungs, or brain. The specified body part or region can be a region corresponding to a specific anatomical structure or a specific body region defined according to clinical diagnostic needs. The scanning time can be the duration of the medical scan of the object. Approximate limits on the scanning speed or probe movement speed can be determined based on the scanning time and the size of the scanning area. The time overhead for probe movement pauses and pose adjustments during the scanning process also needs to be considered. The data volume can be the amount of data required for the medical scan of the object. The data volume can be matched by adjusting the density of the probe's scanning path points, dwell time, or data acquisition rate. For example, the scanning path density can be increased in areas requiring high resolution, while the density can be appropriately reduced in areas where resolution requirements are lower.

[0055] The scanning range in this step can specifically refer to the body part or area of ​​the detection object to be scanned as specified in the aforementioned test requirements. In this step, the initial motion path of the probe is planned by combining the posture information of the detection object and the preset scanning range. Specifically, the distribution positions of each path point in the initial motion path of the probe can be planned using a preset path planning algorithm, based on the posture information and the preset scanning range. The path planning algorithm can be a heuristic search algorithm (A-Star algorithm), a Rapidly-exploring Random Trees (RRT) algorithm, or a Dijkstra algorithm that uses a greedy strategy to progressively construct the shortest path tree. These path planning algorithms can find the optimal or feasible path from the starting point to the ending point in three-dimensional space. This embodiment does not specifically limit the use of path planning algorithms. The scanning range can be converted into a coordinate range or volume in three-dimensional space by matching or mapping with the three-dimensional reconstruction model of the detection object. Then, the distribution positions of each path point in the initial motion path are planned based on the defined coordinate range or volume in three-dimensional space.

[0056] Before scanning begins, this step involves initial planning of the probe's motion path based on the object's posture information and the user-inputted scanning range. This initial plan ensures the probe's motion path covers the entire scanning area. This planning not only considers covering the entire region of interest but also strives to minimize unnecessary movement, thereby reducing probe instability during movement. Therefore, by acquiring the object's posture parameters and intelligently and automatically planning the probe's motion trajectory, this process ensures that subsequent probe scanning covers the entire region of interest while minimizing unnecessary probe movement and adapting to objects of different body shapes.

[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 each path point in the initial motion path so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization target.

[0058] As described above, scanning parameters may specifically include scanning time, scanning data volume, and also the desired scanning radiation dose or the desired image quality. In some embodiments, the scanning parameters may further include the type of radionuclide, the peak energy of the radionuclide, and the corresponding window width; and the attribute information of the object being detected (e.g., age, height, weight, scanning site, and health status). Scanning parameters may also include the type of probe collimator and the scanning purpose (e.g., for diagnosis or treatment planning). After analyzing the test requirements, scanning parameters such as scanning range, scanning time, and scanning data volume are comprehensively evaluated to determine the priority and interrelationships between scanning parameters, thereby forming a path optimization objective. During the requirements assessment process, multiple path optimization objectives may need to be considered, such as minimizing scanning time, maximizing image quality, and reducing patient radiation dose. Subsequently, corresponding constraints are formed based on the determined path optimization objectives to perform path optimization. This step converts the user's test requirements into operable parameters and constraints for subsequent path optimization.

[0059] For example, when the scanned area is the head of the target, the scan range can be determined based on this area, and this determined scan range can be mapped to a preset path planning model in the form of mathematical parameters. Similarly, scan parameters such as scan time, scan data volume, disease type of the target, and scan purpose can also be mapped separately. Then, the priority and constraints between scan parameters are evaluated according to the scan requirements. For example, if the scan requirement is urgent diagnosis, the scan time parameter can be set to the highest priority; if the scan requirement is to focus on image quality, the scan image quality parameter can be set to the highest priority; if the scan requirement is that the target has high radiation sensitivity, the scan radiation dose parameter can be set to the highest priority.

[0060] Furthermore, there are constraints between scanning parameters. For example, there may be a constraint between scanning time and the amount of scanning data; a longer scanning time allows for the acquisition of more scanning data; higher scanning image quality requires a longer scanning time and / or a higher scanning radiation dose; additionally, the scanning range can also directly affect scanning time and the amount of scanning data.

[0061] Based on the above scanning parameters, an objective function for path planning can be formed. For example, a minimum function can be used to represent: minimizing the scanning time (T) while maintaining the scanned image quality (Q) above a certain quality threshold, and limiting the scanning radiation dose (D) within a safe range, while giving constraints such as the physical limitations of the probe (e.g., maximum scanning speed, minimum dwell time, etc.), and combining this with the patient's physiological conditions (e.g., radiation sensitivity), the objective function can be set as follows:

[0062] minT = f(x)

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

[0064] The constraints are:

[0065] gi(x)≤0

[0066] hj(x)=0

[0067] Where gi(x) represents inequality constraints (such as radiation dose limits) and hj(x) represents equality constraints (such as image quality thresholds); where 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 k-th path parameter.

[0071] Therefore, by setting the objective function, constraints, and decision variables as described above, a mathematical model for path optimization was constructed. After constructing this mathematical model, a selected path optimization algorithm can be used to solve it. The following explanation uses a particle swarm optimization algorithm as an example.

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

[0073] After updating the particles, their velocity and position can be adjusted. For example, based on the velocity and position update formulas in the particle swarm optimization algorithm, the particle velocity and position can be adjusted to ensure that the particles move within the search space and avoid getting trapped in local optima.

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

[0075] Understandably, the application of the particle swarm optimization algorithm described above is merely an example. Those skilled in the art can also update the path parameters based on other path optimization algorithms according to the needs of actual application scenarios. This embodiment does not impose any specific limitations on this.

[0076] The aforementioned path parameters may specifically include path point density, path point dwell time, data acquisition rate, path shape, acceleration, and velocity. Specifically, a path optimization model can iteratively optimize these parameters—data acquisition rate, shape, velocity, acceleration, path point density, and path point dwell time—according to the path optimization objective, until the corresponding target motion path satisfies the aforementioned path optimization objective. Finally, the optimized results of all path parameters are output. The scan achieved based on the motion path corresponding to the adjusted path parameters can satisfy the path optimization objective determined by the scan parameters. For example, adjusted path point density and dwell time can ensure that the actual scan time meets the limitations of the scan parameters; adjusted path point density can ensure that the actual image quality obtained by the scan meets the limitations of the scan parameters; or adjusted dwell time and path point density can ensure that the final actual scan dose meets the limitations of the scan parameters.

[0077] Specifically, based on the aforementioned scanning parameters, the path parameters of the initial motion path are evaluated and adjusted to ensure that the adjusted path parameters match the scanning parameters. A preset path optimization model can be used to optimize and adjust the initial motion path. This may also involve optimizing and adjusting path parameters such as the shape, velocity, and acceleration of the initial motion path. During the optimization process, the combined influence of multiple factors can be considered, such as scanning efficiency, image quality, and the comfort of the object being detected.

[0078] The aforementioned path optimization model can be constructed based on a preset path optimization algorithm, and can optimize the motion path according to scanning parameters (such as scanning time, data volume, etc.) and preset path optimization objectives (such as minimizing scanning time, maximizing image quality, etc.). In some embodiments, the path optimization model can be specifically implemented based on path optimization algorithms such as linear programming, nonlinear programming, genetic algorithms, and particle swarm optimization. Optionally, in some embodiments, the planned motion path can be simulated or tested on a small scale before the actual scan 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 (SPECT) system, the probe is controlled to move relative to the object being detected to obtain detection data. Specifically, after completing the initial motion path planning and motion path adjustment of the probe in steps S210 and S220 respectively, the probe is controlled to move relative to the object being detected during the scanning process of the SPECT system according to the finally adjusted target motion path to obtain detection data of the object being detected. The target motion path can be sent to the probe's motion control system to control the probe to move according to the target motion path to obtain detection data of the object being detected.

[0080] In related technologies, the quality of data acquisition is often improved by setting the instantaneous speed of the probe or the dwell time of data acquisition. However, the methods used in these technologies cannot achieve reasonable planning of the complete motion path of the probe as a whole, and they require high-precision algorithms and are relatively complicated to implement.

[0081] This embodiment, through steps S210 to S230, combines the pose information of the object being detected, the scanning range, and the scanning parameters to perform intelligent motion path planning via a computer system. It not only considers how to cover the entire region of interest but also strives to reduce unnecessary movement and decrease probe instability during movement. Precise real-time planning and adjustment of the probe's motion trajectory can adapt to objects of different body shapes while ensuring system safety. This embodiment achieves reasonable and accurate motion path planning and adjustment based solely on path planning and optimization steps, thus eliminating the need for highly precise algorithms; the processing steps are simple and efficient. Compared to related technologies, this embodiment improves the flexibility and adaptability of probe motion path planning in different application scenarios and reduces application difficulty.

[0082] Specifically, in some embodiments, after completing a medical scan of the subject, the detection data and motion path can be analyzed to evaluate the effectiveness and performance of the path planning. Based on the evaluation results, the motion path planning and optimization models are fed back and optimized to improve the efficiency and accuracy of subsequent scans.

[0083] Steps S210 to S230 above involve: planning the distribution of path points in the initial motion path of the probe based on the posture information of the object being detected and the preset scanning range; determining the path optimization target corresponding to the preset scanning parameters; adjusting 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; and controlling the probe to move relative to the object being detected during the scanning process of the SPECT system according to the target motion path to obtain detection data. This method combines the posture information of the object being detected and the scanning requirements to achieve accurate and satisfactory motion path planning and adjustment, thereby reducing the application difficulty of motion planning.

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

[0085] The pose information of the object to be detected is matched with the preset scanning range to determine the motion range of the probe when scanning the object; based on the motion range, the distribution positions of each path point in the initial motion path of the probe are planned.

[0086] Specifically, by matching or mapping the scan range with the 3D reconstructed model of the object being scanned, the scan range is converted into a coordinate range or volume in a specific 3D space. This determines the range of motion of the probe during subsequent medical scans. Based on this range of motion, the initial motion path of the probe is then planned.

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

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

[0089] The path optimization objective is to minimize the scanning time while ensuring that the amount of scanned data is higher than a preset data volume threshold. Based on this objective, the path optimization model iteratively adjusts the path parameters in the initial motion path until the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective.

[0090] Different detection objects may exhibit varying radiation intensities from radioactive nuclides after injection of radioactive tracers or imaging agents. When the intensity of the radiation signal acquired during scanning is strong, a path optimization model can be used to minimize the scanning time while obtaining a scan data volume exceeding a preset data volume threshold as the path optimization target. This involves iteratively optimizing path parameters such as path point density, path point dwell time, data acquisition rate, shape, velocity, and acceleration in the initial motion path to obtain the adjusted target motion path. Path point density represents the density of stop points encountered by the probe during the scanning process. Thus, based on the determined path optimization target, the path parameters of the initial motion path can be adjusted using the path optimization model to ensure that the adjusted target motion path satisfies the path optimization target of minimizing scanning time and obtaining a scan data volume exceeding a preset data volume threshold. This data volume threshold can be determined based on the actual application scenario. For example, in a specific scanning scenario, a minimum empirical value of data volume sufficient for scanning result analysis can be used as the data volume threshold.

[0091] Therefore, when it is necessary to optimize the initial motion path to achieve the goal of minimizing scan time while ensuring the scan data volume exceeds a preset threshold, the path parameters of the initial motion path need to be adjusted using a path optimization model. When the probe performs a scan based on the adjusted motion path, the number of path points it stops at will decrease, and the time spent at each path point will also decrease. This will increase the data acquisition rate, speed, and acceleration, and optimize the path shape, thereby reducing the overall scan time and improving scan efficiency.

[0092] In another embodiment, the path parameters of path points in the initial motion path are adjusted according to the path optimization objective, so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective. Specifically, this may include:

[0093] With maximizing image quality as the path optimization objective, a path optimization model is used to iteratively adjust the path parameters of the initial motion path based on this objective until the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective.

[0094] Specifically, maximizing image quality can be used as the path optimization objective. A path optimization model, based on this objective, optimizes path parameters such as path point density, path point dwell time, data acquisition rate, shape, velocity, and acceleration of the initial motion path. This yields the path parameters output by the path optimization model, which are then used to adjust the initial motion path to obtain the target motion path. The specific process of the path optimization model optimizing path parameters based on the objective can be found in the above embodiments and will not be repeated here.

[0095] In order to improve the quality of the final scanned image, this embodiment needs to ensure the amount of scanned data collected. Therefore, maximizing image quality can be used as the path optimization goal to adjust the path parameters, thereby increasing the amount of scanned data and thus improving image quality.

[0096] Understandably, those skilled in the art can 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 based on the posture information of the object being detected and the preset scanning range, the motion control method may further include:

[0098] A lidar sensor is used to detect the object, obtaining its three-dimensional point cloud data. The lidar sensor is mounted on the probe. Based on this point cloud data, the position and angle information of the object are reconstructed, yielding the aforementioned attitude information. Specifically, the lidar sensor mounted on the probe performs radar detection on the object to obtain its three-dimensional point cloud data. Then, 3D reconstruction is used to obtain the object's position and angle information in three-dimensional space, thus obtaining the attitude information. This embodiment, by integrating a lidar sensor, achieves the detection of the object's attitude information, improving the accuracy of the overall scanning process, the stability of the probe movement, and the scanning efficiency.

[0099] In particular, in one embodiment, during the process of controlling the movement of the probe relative to the object being detected according to the target motion path, the above motion control method may further include:

[0100] The probe performs real-time posture detection on the object being detected. When the current posture information of the object being detected changes, it generates a new motion path for the probe based on the current posture information of the object being detected and the physiological state information of the object being detected, so that the new motion path matches the current posture information of the object being detected; and controls the probe to move relative to the object being detected according to the new motion path.

[0101] The physiological state information may include heart rate, respiratory rate, etc., and can reflect the surface displacement of the detected object. During the scanning process, the LiDAR continuously acquires the object's posture information and continuously inputs it into the computer system. When the computer system detects a change in the object's posture information, it combines the physiological state information and the current posture information to replan the optimal and safest motion trajectory for the probe and inputs it into the probe's motion control system for execution. Specifically, this 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 move along the newly planned motion path.

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

[0103] This embodiment can acquire real-time posture information of the object being detected during the scanning process and respond instantly to special situations such as object movement, accurately adjusting the probe's movement path, thereby improving the accuracy and flexibility of probe scanning.

[0104] In another embodiment, the motion control method described above may further include:

[0105] During the process of controlling the movement of the probe relative to the object being detected, the surface displacement data of the object being detected is collected; after the single-photon emission computed tomography system completes the scanning of the object being detected, the above detection data is corrected based on the surface displacement data.

[0106] During the SPECT scan, the system continuously monitors the minute displacements of the body surface caused by the subject's heartbeat and respiration using lidar. Then, physiological information such as heart rate and respiratory rate are obtained from this displacement data. Finally, the physiological information, including heart rate and respiratory rate, is used to correct the scan data, or the physiological information, including heart rate and respiratory rate, is output along with the scan data for analysis. Furthermore, post-processing techniques, such as image reconstruction algorithms or motion correction software, can be used to correct the scan data based on the physiological information, improving the accuracy of medical scans.

[0107] Additionally, after obtaining body surface displacement data, physiological state information such as heart rate and respiratory rate are calculated based on this data. This process can include signal processing, feature extraction, algorithm calculation, and verification and calibration. Specifically: In signal processing, the body surface displacement data undergoes preprocessing such as filtering and noise reduction, and then periodic signals related to heart rate and respiration are extracted. In feature extraction, feature parameters such as frequency and amplitude are extracted from the preprocessed signal; these feature parameters are directly related to heart rate and respiratory rate. In algorithm calculation, algorithms such as Fast Fourier Transform (FFT) and wavelet transform are used to analyze the feature parameters and calculate heart rate and respiratory rate. Finally, verification and calibration are performed by comparing the calculated heart rate and respiratory rate results with data from standard measurement equipment, such as electrocardiogram (ECG) acquisition devices and respiratory monitors. Calibration can be performed as needed to improve accuracy.

[0108] In this embodiment, lidar can be used to accurately measure minute displacements on the body surface caused by heartbeat and respiration. By analyzing the body surface displacement data, the patient's heart rate and respiratory rate can be monitored in real time. This monitoring result can be applied to specific applications such as myocardial perfusion imaging to filter out the influence of the subject's physiological state information on the scan results, thereby ensuring the accuracy and reliability of the scan results.

[0109] Figure 3 This is a flowchart of one of the embodiments of motion control methods. For example... Figure 3 As shown, the motion control method includes the following steps:

[0110] Step S301: Before scanning, the pose information of the object to be detected is acquired by the lidar; wherein, before medical scanning, the lidar acquires the pose information of the object to be detected and transmits it to the computer system associated with the probe.

[0111] Step S302: Before scanning, obtain the test requirements input by the user; wherein, the user inputs predetermined test requirements into the computer system, which may specifically be scan requirements that constrain the scanning process and scan results of the medical scan of the object to be tested. Test requirements may specifically include scan parameters such as the scan range representing the scan area, scan time, scan data volume, and scan quality.

[0112] Step S303: Based on the above attitude information and test requirements, plan the initial motion path of the probe; wherein, after receiving the data from steps S301 and S302, the computer system plans the initial motion path based on the path planning algorithm.

[0113] Step S304: Based on preset scanning parameters, determine the path optimization target corresponding to the scanning parameters. According to the path optimization target, adjust the path parameters of each path point in the initial motion path so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization target. Specifically, after obtaining the initial motion path, the computer system adjusts the initial motion path in conjunction with the scanning parameters to obtain the target motion path. Then, the computer system outputs the target motion path to the probe's motion control system to control the probe to move based on the target motion path. Steps S305 and S308 are then executed simultaneously.

[0114] Step S305: During the scanning process, acquire the real-time pose information of the object being detected;

[0115] Step S306: Based on the real-time posture information of the object being detected during the scanning process, determine whether the posture of the object has changed; if so, proceed to step S307; wherein, the posture information of the object being detected is acquired in real time by the lidar during the scanning process; otherwise, continue to control the probe to move relative to the object being detected according to the above-mentioned target motion path.

[0116] Step S307: Based on the changed posture information of the object being detected, the motion path of the probe is replanned to obtain detection data; wherein, the computer system replans the motion path of the probe and sends the latest replanned 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, the surface displacement data caused by the physiological state of the object being detected is monitored in real time; wherein, the surface displacement data of the object being detected is collected in real time by lidar.

[0118] Step S309: Calculate the physiological state information of the subject based on the body surface displacement data. Specifically, the computer system calculates the subject's heart rate, respiratory rate, and other physiological state information based on the body surface displacement data.

[0119] Step S310: Process the detection data based on physiological state information to generate an image; wherein, the computer system can correct the detection data based on physiological state information, or output the detection data together for analysis.

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

[0121] This embodiment also provides a motion control device for the probe, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that implement a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0122] Figure 4 This is a structural block diagram of the motion control device 40 for the probe in this embodiment, as shown below. 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 positions of each path point in the initial motion path of the probe according to the posture information of the object being detected and the preset scanning range; the adjustment module 44 is used to determine the path optimization target corresponding to the preset scanning parameters based on the preset 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 satisfies the path optimization target; the scanning module 46 is used to control the probe to move relative to the object being detected during the scanning process of the SPECT system according to the target motion path to obtain detection data.

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

[0125] This embodiment also provides a medical scanning system. Figure 5 This is a schematic diagram of the structure of the medical scanning system 50 provided in this embodiment, as shown below. Figure 5 As shown, the medical scanning system 50 includes: a probe 52, a lidar 54, and a processor 56; wherein, the probe 52 and the lidar 54 are both connected to the processor 56; the lidar 54 is used to acquire a three-dimensional model of the object to be detected; 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 medical scanning on the object to be detected based on the control of the processor 56.

[0126] Specifically, the processor 56 contains a computer system. This computer system processes the attitude information of the object being detected input from the lidar 54 and the test requirements input by the user, plans and adjusts the probe's motion path, 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 object being detected according to the target motion path. Due to the introduction of the lidar, this system can acquire key information in real time, such as the distance between the object being detected and the probe, the probe's speed, and the object's attitude, thereby enabling intelligent control of the probe's motion path.

[0127] The aforementioned medical scanning system can be a SPECT system. Figure 6 This is a schematic diagram of the structure of a SPECT system 60 according to this embodiment, as shown below. Figure 6 As shown, the SPECT system 60 may include: a SPECT probe 61, a SPECT frame 62, an examination table 63, a radiation source 64, a detection area 65, a lidar (not shown), and a processor (not shown). The SPECT frame 62 supports the rotation of the SPECT probe 61, allowing it to rotate 180 degrees or 360 degrees around the object being detected, acquiring a series of planar projection images from multiple angles and directions. The examination table 63 carries the object into the field of view of the SPECT probe 61 for data acquisition and imaging. The processor may be a computer, including data acquisition software, display software, image processing software, and dynamic image analysis software, used to reconstruct, correct, analyze, and display the acquired raw images, and execute the motion control methods provided in the above embodiments. The lidar may be mounted on the SPECT probe 61.

[0128] This embodiment also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any 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 can be configured to perform the following steps via a computer program:

[0131] S1, Based on the posture information of the object being detected and the preset scanning range, plan the distribution positions of each path point in the initial motion path of the probe;

[0132] S2, based on the preset scanning parameters, determine the path optimization target corresponding to the scanning parameters; based on the path optimization target, adjust the path parameters of each path point in the initial motion path so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization target;

[0133] S3, according to the target's motion path, during the scanning process of the single-photon emission computed tomography system, controls the probe to move relative to the object being detected in order 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 implementations, and will not be repeated in this embodiment.

[0135] Furthermore, in conjunction with the probe motion control method provided in the above embodiments, this embodiment can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the probe motion control methods described in the above embodiments.

[0136] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection 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, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0138] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0139] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A motion control method for a probe, characterized in that, The probe is mounted on a single-photon emission computed tomography (SPECT) system, and the method includes: Based on the posture information of the object being detected and the preset scanning range, the distribution positions of each path point in the initial motion path of the probe are planned; Based on preset scanning parameters, a path optimization target corresponding to the scanning parameters is determined; based on the path optimization target, the path parameters of each path point in the initial motion path are adjusted so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization target. Based on 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 object being detected to obtain detection data; wherein: The step of planning the distribution positions of each path point in the initial motion path of the probe based on the posture information of the object being detected and the preset scanning range includes: The pose information of the object being detected is matched with the preset scanning range to determine the range of motion of the probe when scanning the object being detected. Based on the range of motion, the distribution positions of each path point in the initial motion path of the probe are planned.

2. The motion control method for the probe according to claim 1, characterized in that, The step of adjusting the path parameters of each path point in the initial motion path according to the path optimization objective, so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective, includes: The path optimization objective is to minimize the scanning time while ensuring that the amount of scanned data is higher than a preset data volume threshold. Based on the path optimization objective, 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 satisfies the path optimization objective.

3. The motion control method for the probe according to claim 1, characterized in that, The step of adjusting the path parameters of each path point in the initial motion path according to the path optimization objective, so that the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective, includes: With maximizing image quality as the path optimization objective, a path optimization model is used to iteratively adjust each path parameter of the initial motion path based on the path optimization objective, until the target motion path corresponding to the adjusted path parameters satisfies the path optimization objective.

4. The motion control method for the probe according to claim 1, characterized in that, Before planning the distribution positions of each path point in the initial motion path of the probe based on the posture information of the object being detected and the preset scanning range, the method further includes: The object to be detected is detected using a lidar, and three-dimensional point cloud data of the object is obtained. The lidar is mounted on the probe. Based on the point cloud data, the position and angle information of the detected object are reconstructed to obtain the pose information.

5. The motion control method for the probe according to claim 1, characterized in that, In controlling the movement of the probe relative to the object being detected, the method further includes: The probe performs real-time posture detection on the object being detected. If the current posture information of the object being detected changes, a new motion path is generated for the probe based on the current posture information of the object being detected and the physiological state information of the object being detected, so that the new motion path matches the current posture information of the object being detected. The probe is controlled to move relative to the object being detected according to the new motion path.

6. The motion control method for the probe according to any one of claims 1 to 5, characterized in that, The method further includes: During the process of controlling the movement of the probe relative to the object being detected, the surface displacement data of the object being detected are collected; After the single-photon emission computed tomography system completes the scanning of the object to be detected, the detection data is corrected based on the body surface displacement data.

7. A motion control device for a probe, characterized in that, The probe is installed in a single-photon emission computed tomography (SPECT) system, and the motion control device for the probe includes: a planning module, an adjustment module, and a scanning module; wherein: The planning module is used to plan the distribution positions of each path point in the initial motion path of the probe based on the posture information of the object being detected and a preset scanning range; including: matching the posture information of the object being detected with the preset scanning range to determine the motion range of the probe when scanning the object being detected; and planning the distribution positions of each path point in the initial motion path of the probe based on the motion range. The adjustment module is used to determine the path optimization target corresponding to the preset scanning parameters according to the preset scanning parameters; and to 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 satisfies the path optimization target. The scanning module is used to control the probe to move relative to the object being detected during the scanning process of the single-photon emission computed tomography system according to the target's motion path, so as to obtain detection data.

8. A medical scanning system, characterized in that, include: The system comprises a probe, a lidar, and a processor; wherein the probe and the lidar are both connected to the processor; and the lidar is mounted on the probe. The lidar is used to acquire a three-dimensional model of the object being detected. The processor is used to execute the motion control method of the probe according to any one of claims 1 to 6; The probe is used to move relative to the object being detected, based on the control of the processor.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the motion control method for the probe as described in any one of claims 1 to 6.

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