Motion control signal generation method, target image acquisition method, processing method and imaging system

Abstract

The invention provides a motion control signal generation method, a target image acquisition method, a target image processing method and an imaging system. The motion control signal of the imaging device is generated by acquiring the current pose of the imaging device, the current pose of the target and the stored third pose information and fourth pose information, so that the imaging device is automatically adjusted to the target pose position, and accurate overlapping of the imaging space and the target is ensured. Through the data processing process, the control device can calculate the ideal position and angle of the imaging device in real time and adjust the imaging device to the best imaging state stored in advance. Compared with a traditional manual pose adjusting mode, the method has the advantages that automatic control is achieved, the repeated adjusting time in the operation process is remarkably shortened, and the efficiency of adjusting the imaging device to the optimal image collecting position is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical image processing, and in particular to a method for generating a motion control signal, a method for acquiring a target image, a processing method and an imaging system. Background Art

[0002] An imaging device, such as a mobile C-arm X-ray machine, is an X-ray device used for medical imaging diagnosis and is widely used in operating rooms and interventional departments. It is particularly suitable for surgeries that require real-time imaging guidance, such as orthopedics, traumatology, cardiovascular intervention, and urology surgeries.

[0003] In the related art, there is a technical problem of inefficiency in adjusting the imaging device to the optimal imaging position during surgery. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method for generating a motion control signal, a method for acquiring a target image, a processing method and an imaging system to solve the technical problem in the related art that, during surgery, the imaging device is inefficiently adjusted to the optimal imaging position.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a method for generating a motion control signal of an imaging device, the method comprising:

[0007] In the case where an imaging device is required to acquire a target image, first pose information and second pose information are received; wherein the first pose information is used to characterize the pose information of the current first tracker in the pose detection device, and the second pose information is used to characterize the pose information of the current second tracker in the pose detection device; wherein the first tracker is a tracker for calibrating the pose of the imaging device, and the second tracker is a tracker for calibrating the pose of the target;

[0008] Extracting pre-stored third pose information and fourth pose information; wherein the third pose information is used to characterize the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to characterize the relative pose information between the imaging space and the first tracker;

[0009] Based on the second posture information, the third posture information and the fourth posture information, fifth posture information is generated; wherein, the fifth posture information is posture information used to characterize the target posture to which the first tracker is about to move; wherein, the target posture is used to characterize that when the first tracker moves to the target posture, the imaging space at this time coincides with the target.

[0010] Based on the fifth posture information and the first posture information, a motion control signal of the imaging device is generated to make the imaging device perform corresponding motion, so that the first tracker moves to the target posture.

[0011] In a second aspect, the present invention provides a method for acquiring a target image, wherein the target image is acquired by an imaging device, wherein the imaging device comprises an image acquisition module and a motion module with at least one degree of freedom, and the method comprises:

[0012] Based on the motion control signal, the motion module of the at least one degree of freedom is controlled to perform corresponding motion, so that the first tracker moves to the target posture; wherein the motion control signal is generated by the above method;

[0013] When the first tracker moves to the target posture, in response to a fourth operation of the user, the image acquisition module is controlled to perform an image acquisition action on the target to obtain a target image.

[0014] In a third aspect, the present invention provides a method for processing a target image, the method comprising:

[0015] Receiving a target image; wherein the target image is acquired by one of the target image acquisition methods described above;

[0016] At least one image processing method is performed on the target image, so that the target image after image processing approaches a preset optimal imaging effect image.

[0017] In a fourth aspect, the present invention provides an imaging system, the system comprising:

[0018] An imaging device, which is used to move to a target position and acquire a target image;

[0019] A posture detection device, which is used to obtain first posture information and second posture information; wherein the first posture information is used to characterize the posture information of the current first tracker in the posture detection device; the second posture information is used to characterize the posture information of the current second tracker in the posture detection device;

[0020] A first tracker, which represents a tracker for calibrating the position and posture of the imaging device;

[0021] A second tracker, which represents a tracker for calibrating the pose of the target;

[0022] A control device, which is used to first receive first pose information and second pose information when an imaging device is needed to acquire a target image, and then extract pre-stored third pose information and fourth pose information; wherein the third pose information is used to represent the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to represent the relative pose information between the imaging space and the first tracker; then, based on the second pose information, the third pose information and the fourth pose information, fifth pose information is generated; wherein the fifth pose information is pose information for representing the target pose to which the first tracker is to move; wherein the target pose is used to represent that when the first tracker moves to the target pose, the imaging space coincides with the target; finally, based on the fifth pose information and the first pose information, a motion control signal of the imaging device is generated to enable the imaging device to perform a corresponding motion, thereby enabling the first tracker to move to the target pose.

[0023] Beneficial effects:

[0024] The present invention generates a motion control signal for the imaging device by acquiring the current posture of the imaging device, the current posture of the target, and the stored third posture information and fourth posture information, so that the imaging device is automatically adjusted to the target posture position to ensure the accurate overlap of the imaging space and the target. Through the above-mentioned data processing process, the control device can calculate the ideal position and angle of the imaging device in real time and adjust it to the previously stored optimal imaging state. Compared with the traditional manual posture adjustment method, this method realizes automated control, significantly reduces the repeated adjustment time during the operation, and greatly improves the efficiency of adjusting the imaging device to the optimal imaging position. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of a scenario example of an imaging system provided by an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a scenario example of an imaging system provided by an embodiment of the present invention;

[0027] Figure 3 : is a flow chart of a method for generating a motion control signal of an imaging device provided by an embodiment of the present invention:

[0028] Figure 4 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0030] Figure 6is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0031] Figure 7 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0033] Fig. 9 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0034] Fig.10 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0035] Fig.11 is a schematic diagram of a posture relationship in an imaging system provided by an embodiment of the present invention;

[0036] Fig.12 : is a flow chart of a method for generating a motion control signal of an imaging device provided by an embodiment of the present invention:

[0037] Fig.13 This is a flow chart of a method for acquiring a target image provided by an embodiment of the present invention:

[0038] Fig.14 It is a block diagram of an electronic device used in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0040] Overview:

[0041] In the related art, imaging devices, especially C-arm imaging devices, have been widely used in various complex surgeries, especially in orthopedics and interventional surgeries. As a key image-guiding device, it can help doctors accurately confirm the patient's anatomical structure. The C-arm imaging device is generally composed of an image acquisition module and a motion module with multiple degrees of freedom, which can adjust the posture around the patient to obtain images at different angles. However, in the surgical environment, the operation of the imaging device often faces many complexities. For example, the placement of the operating table and other equipment, space limitations, surgical requirements and other factors make the adjustment of the C-arm cumbersome, especially when achieving the optimal imaging position, the posture needs to be adjusted multiple times, which seriously affects the operating efficiency.

[0042] Traditional imaging devices usually rely on manual operation by doctors to adjust the angle and position of the C-arm. During the operation, doctors often need to gradually adjust multiple degrees of freedom (for example, rotation, translation, etc.) to achieve the desired imaging effect. This manual adjustment is not only time-consuming, but also increases the radiation exposure of doctors and patients. In addition, since it is impossible to accurately remember the imaging position during complex operations, doctors often need to repeatedly adjust the position and make multiple exposures during intraoperative and postoperative examinations to reproduce the preoperative imaging position. This multiple adjustment process is inefficient, which not only prolongs the operation time, but also affects the accuracy and safety of the operation.

[0043] Example scenario:

[0044] like Figure 1 and Figure 2 The present application provides a scenario example of an imaging system. The imaging system may include: an imaging device, a posture detection device, and a control device.

[0045] In a surgical scenario, in an operating room, a user (e.g., a doctor) can perform a first operation on a control device, such as an industrial computer, and the first operation can be a "posture information acquisition request" UI element on the interface by clicking a mouse. After the control device detects the first operation, it can issue a posture information acquisition request to the posture detection device. The posture detection device responds to the request to perform posture information detection. For example, the first posture information can be detected from the imaging device, and the second posture information can be detected from the target (e.g., the patient's knee joint). It should be noted that before the posture detection device detects, a first tracker can be configured on the imaging device, and a second tracker can be configured at or around the target, so that the posture detection device can detect the first posture information and the second posture information.

[0046] After the posture detection device detects the first posture information and the second posture information, the first posture information and the second posture information can be sent to the control device in a wired or wireless manner.

[0047] After the control device receives the first posture information and the second posture information, the doctor can perform a second operation on the control device, for example, selecting the best imaging effect image displayed on the interface by mouse. The best imaging effect image can be a thumbnail, and the doctor can double-click the thumbnail to indicate confirmation and selection.

[0048] When the control device extracts the pre-stored third posture information and fourth posture information based on the best imaging effect image selected by the user; then, generates the fifth posture information based on the second posture information, the third posture information and the fourth posture information; then, generates the motion control signal of the imaging device based on the fifth posture information and the first posture information.

[0049] When the control device generates a motion control signal, it can be sent to the imaging device via a wired or wireless method, so that the imaging device moves to the target position.

[0050] When the control device moves to the target posture, the control device can generate a target image acquisition instruction based on the doctor's fourth operation, and send the target image acquisition instruction to the imaging device, so that the imaging device captures the target image.

[0051] System architecture:

[0052] The present application provides a system architecture of an imaging system, wherein the imaging system may include: an imaging device, a posture detection device, and a control device.

[0053] The imaging device may be: a fixed C-arm, a mobile C-arm, a mobile bedside X-ray machine, an intraoperative CT (computed tomography) or an intraoperative MRI (magnetic resonance imaging).

[0054] The posture detection device can be: an electromagnetic tracking device, a laser tracking device, an ultrasonic positioning device, an RFID or a Bluetooth positioning system.

[0055] The control device may be: a digital signal processor (DSP), an industrial computer (IPC), a programmable logic controller (PLC), an MCU, an embedded control system (for example, an embedded control system based on ARM or FPGA), or an industrial-grade single-board computer.

[0056] Example method:

[0057] like Figure 3 As shown, this embodiment provides a method for generating a motion control signal of an imaging device, and the method can be applied in a control device. The generation method may include:

[0058] Step S12: When it is necessary to use an imaging device to acquire a target image, receive first pose information and second pose information; wherein the first pose information is used to characterize the pose information of the current first tracker in the pose detection device, and the second pose information is used to characterize the pose information of the current second tracker in the pose detection device; wherein the first tracker is a tracker used to calibrate the pose of the imaging device, and the second tracker is a tracker used to calibrate the target pose.

[0059] In this embodiment, the situation where the imaging device is needed to obtain the target image can be expressed as an intraoperative situation. Specifically, in many complex surgical procedures, especially in orthopedic and cardiovascular surgery, doctors need to repeatedly obtain target images to ensure the accuracy of surgical operations, verify the progress of steps, find problems in time, and adjust the position of lesions or surgical instruments in real time. For example, in knee surgery, doctors need to understand the state of the knee joint in real time to ensure the accurate position of implants or fixtures to avoid misoperation or unnecessary damage. In this case, the surgical operation is not static, and the patient's position or internal structure may change slightly as the operation progresses. In addition, the doctor's specific operating steps often require applying force to the knee joint, hip joint and other parts, which may cause a slight displacement of the target position. Whenever the key steps of the operation are completed or the doctor needs to check and adjust, the imaging device (e.g., C-arm) needs to collect new images to confirm whether the target part is still in the ideal position, or to determine how the next operation needs to be adjusted. This repeated imaging not only helps doctors to instantly grasp the operation effect, but also greatly reduces the need for postoperative review and correction. Therefore, the imaging device will be called multiple times during the operation to provide real-time image information at different stages of the operation, helping doctors to confirm the progress of the operation at any time and ensure that each step of the operation is under control.

[0060] In this embodiment, the imaging device may be an imaging device having a motion module and an image acquisition module with at least one degree of freedom. It is understood that the motion module may provide the imaging device with mobility, enabling it to be adjusted in multiple degrees of freedom. These degrees of freedom may include translation, rotation, and angle adjustment so that the imaging device can image from different angles and positions. The imaging device is responsible for acquiring real-time images of the target (surgical site).

[0061] Specifically, the motion module may include a motor and a driver. The motor is the core driving unit of the motion module, providing power for each degree of freedom of the imaging device. The imaging device can use multiple motors to control different directions of motion respectively. For example, it can be a linear motor and a rotary motor. The linear motor can be used for translational motion, so that the imaging device moves on different planes, close to or away from the target area. The rotary motor can be used for angle adjustment, so that the imaging device can rotate in different directions to achieve precise adjustment of the imaging angle. The rotary motor can also be responsible for the pitch, yaw and other multi-dimensional rotation requirements of the imaging device.

[0062] The driver is responsible for controlling the operation of the motor to achieve precise displacement and speed control. The driver receives motion instructions from the control device and controls the speed, torque and position of the motor to move the imaging device according to the required degree of freedom and direction.

[0063] More specifically, the motion module may also include a position sensor and an encoder. The position sensor and encoder may be used to monitor the real-time position and angle of the imaging device. The position sensor measures the position information of the imaging device, such as height, front and back position, left and right position, etc., to ensure that the device moves within a specified spatial range. The encoder records the rotation angle and speed of the motor and feeds this data back to the driver to achieve precise rotation control and position adjustment.

[0064] In this embodiment, the imaging device may be a fixed C-arm.

[0065] In this embodiment, the imaging device may be a mobile C-arm.

[0066] In this embodiment, the imaging device may be a mobile DR.

[0067] In this embodiment, the imaging device may also be an intraoperative CT (computed tomography).

[0068] In this embodiment, the imaging device may also be an intraoperative MRI (magnetic resonance imaging).

[0069] In this embodiment, the target may be the patient's knee joint. It is understood that in knee replacement, arthroscopy or knee injury repair surgery, doctors need real-time images to observe the bone structure, joint space and implant position. Knee joint imaging can help doctors ensure accurate positioning of the joint, check the effect of the surgery, or adjust the position of the implant during the operation.

[0070] In this embodiment, the target may be a hip joint. It is understood that in hip replacement, reduction and reconstruction surgery, the imaging device is used to monitor the positional relationship between the femur and the acetabulum to ensure the accurate positioning of the artificial joint. Real-time imaging assists doctors in observing the alignment, angle and stability of the hip joint during surgery to prevent joint dislocation or wear problems after surgery.

[0071] In this embodiment, the target may also be a spinal segment or a cardiovascular system, etc.

[0072] In this embodiment, the target image may be a two-dimensional image. Specifically, the two-dimensional image may be a two-dimensional plane image acquired by X-ray or ultrasound.

[0073] In this embodiment, the target image may be a three-dimensional reconstructed image. Specifically, the three-dimensional reconstructed image may be a three-dimensional image synthesized from multi-angle tomographic data (eg, acquired through CT or MRI).

[0074] In this embodiment, the target image may also be a CT image.

[0075] In this embodiment, the target image may also be an MRI image.

[0076] In this embodiment, the target image may also be an ultrasound image.

[0077] In this embodiment, the first tracker is a tracker for calibrating the position and posture of the imaging device. Specifically, the first tracker can be a tracker directly configured on the imaging device. The first tracker can also be a tracker that is not directly configured on the imaging device, but can calibrate the position and posture of the imaging device.

[0078] More specifically, the first tracker may be directly disposed on the main structure of the imaging device.

[0079] The first tracker may be disposed directly around an image acquisition module of the imaging device.

[0080] The first tracker may be arranged directly at the rotational hinge or joint location.

[0081] The first tracker may also be directly disposed on a base or a mount of the imaging device.

[0082] In some embodiments, the first tracker is not directly mounted on the imaging device, but is located at another location, but the position and posture of the imaging device can be calibrated by an indirect method. For example, a fixed reference point in space can be used to calibrate the position and posture of the imaging device. For example, the first tracker is mounted on an operating table or an operating room wall, etc.

[0083] The second tracker is a tracker used to calibrate the target posture.

[0084] Similarly, the second tracker may be a tracker directly disposed on or around the target. The second tracker may also not be directly disposed on the patient's body, but may be capable of calibrating the target's position and posture.

[0085] Specifically, the second tracker can be directly attached to the target anatomical part, for example, near a joint or bone, or fixed to the skin surface, close to the surgical area. The second tracker can also be configured on the body surface near the surgical target, for example, by installing the tracker on a bone or joint adjacent to the target anatomical area. Such a location can avoid direct interference with the surgical area.

[0086] In some embodiments, the second tracker may not be directly mounted on the patient's body, but may be used to calibrate the target position indirectly. For example, a reference point of known position may be set on the operating table or the patient's bed, and the second tracker may be configured on the reference point. This method does not require the addition of a tracker on the patient's body surface, is easy to operate, and does not interfere with the surgical area.

[0087] In this embodiment, the first tracker and the second tracker may be optical trackers.

[0088] In this embodiment, the first tracker and the second tracker may be electromagnetic trackers.

[0089] In this embodiment, the second tracker may also be a skin patch tracker.

[0090] In this embodiment, the posture detection device may be an optical tracking device. Specifically, the optical tracking device uses an optical camera and a reflective marker or an infrared emission marker to detect the first posture information and the second posture information.

[0091] In this embodiment, the posture detection device may also be an electromagnetic tracking device. Specifically, the electromagnetic tracking device may receive electromagnetic signals emitted by the first tracker and the second tracker (electromagnetic tracker) through an electromagnetic receiver, thereby determining the posture.

[0092] In this embodiment, the posture detection device may also be a laser tracking device.

[0093] In this embodiment, the posture detection device may also be an ultrasonic positioning device.

[0094] In this embodiment, the posture detection device may also be an RFID or Bluetooth positioning system.

[0095] In this embodiment, the receiving action can be represented by the control device receiving the first posture information and the second posture information from the posture detection device in a wired or wireless manner.

[0096] In this embodiment, the control device may actively send a request to the posture detection device to request the first posture information and the second posture information. After receiving the request, the posture detection device responds to the request and performs the posture detection action. After the posture detection device detects the first posture information and the second posture information, the first posture information and the second posture information can be sent to the control device by wire or wirelessly.

[0097] In this embodiment, the control device may be triggered to actively send a request to the posture detection device based on the user's operation. The user's operation may be a touch operation performed by the user through a touch screen to trigger the control device to actively send a request to the posture detection device.

[0098] The user's operation may also be a physical button operation, for example, the user presses a physical button on a control panel or device to trigger the request.

[0099] The user's operation may also be a voice command.

[0100] The user's operation may also be a foot switch operation.

[0101] The user's operation may also be a gesture recognition operation.

[0102] The user's operation may also be an operation of a remote control device.

[0103] Specifically, the control device can be directly connected to the posture detection device through a cable to transmit the first posture information and the second posture information in real time. For example, a high-speed data transmission cable (USB, Ethernet or a dedicated interface) can be used to ensure the stability and reliability of data transmission. It is understandable that in a medical environment, the wired method is less susceptible to external electromagnetic interference than the wireless method, ensuring the high accuracy of the posture information.

[0104] The control device may also receive posture information from the posture detection device via wireless communication technology (eg, Wi-Fi, Bluetooth, or radio frequency RF technology).

[0105] In this embodiment, the control device may be a digital signal processor (DSP). It is understood that the DSP has high-performance computing capabilities and is suitable for processing complex motion control algorithms, such as posture calculation, path planning, etc. At the same time, the DSP has strong real-time performance, which can ensure that the imaging device accurately responds to posture adjustment requirements during surgery.

[0106] In this embodiment, the control device may be an industrial computer (IPC). It is understood that the IPC can run complex control algorithms, has a rich interface, and can be integrated with other devices.

[0107] In this embodiment, the control device may be a programmable logic controller (PLC).

[0108] In this implementation, the control device may be an MCU.

[0109] In this embodiment, the control device may also be an embedded control system (for example, an embedded control system based on ARM or FPGA).

[0110] In this embodiment, the control device may also be an industrial-grade single-board computer.

[0111] In one possible and specific implementation, the control device may be an industrial-grade single-board computer of the NVIDIA Jetson series.

[0112] In this embodiment, the first posture information may be a posture matrix of the first tracker in the posture detection device. The second posture information may be a posture matrix of the target in the posture detection device.

[0113] In this embodiment, the first posture information and the second posture information may be a combination of a quaternion and a position vector. It is understood that a quaternion is a mathematical representation for describing rotation, and a combination of a quaternion and a position vector may fully describe the three-dimensional position and rotation information of an object.

[0114] In this embodiment, the first posture information and the second posture information may also be a combination of Euler angles and position vectors. It is understood that the Euler angles may represent the rotational posture through three angles (eg, pitch, yaw, roll).

[0115] In this embodiment, the first posture information and the second posture information may also be a combination of a direction cosine matrix (DCM) and a position vector. It is understood that the DCM is a 3x3 matrix that can be used to describe the rotation of a coordinate system.

[0116] In this embodiment, the first posture information and the second posture information may also be: SLAM data.

[0117] Step S14: extracting the pre-stored third pose information and fourth pose information; wherein the third pose information is used to characterize the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to characterize the relative pose information between the imaging space and the first tracker.

[0118] In this embodiment, the third posture information and the fourth posture information are predetermined and stored in a storage device. The storage device may be a component of the control device or an independent storage device, for example, a cloud storage platform.

[0119] Specifically, the storage device may be a local storage device. The local storage device may be an embedded memory. For example, it may be a flash memory. The local storage device may also be an independent local storage device. The independent local storage device may be connected to the control device via a data bus or an interface. The independent local storage device may be a solid state drive (SSD). The independent local storage device may also be a mechanical hard disk.

[0120] The storage device may be an external removable storage device, for example, a USB memory, an SD card, a U disk, etc.

[0121] The storage device may be a network storage device (NAS).

[0122] The storage device may also be a cloud storage platform. It is understandable that the cloud storage platform provides remote data storage services via the Internet.

[0123] In this embodiment, when the storage device is an embedded memory or an independent local storage device, the extraction action can be represented by the control device directly reading the third posture information and the fourth posture information stored locally.

[0124] In this embodiment, when the storage device is an external removable storage device, the extracting action can be represented as the control device identifying the external storage device and reading the third posture information and the fourth posture information through the interface protocol.

[0125] In this embodiment, when the storage device is a network storage device (NAS), the extraction action can be represented as controlling the device to access the storage files in the NAS through a network protocol (eg, SMB or NFS).

[0126] In this embodiment, when the storage device is a cloud storage platform, the extraction action can be represented as the control device performing identity authentication through an API or a security access credential and extracting the third posture information and the fourth posture information from the cloud. The extracted third posture information and the fourth posture information can be directly loaded into the control device.

[0127] In this embodiment, the third pose information is used to characterize the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target. The relative pose information or the third pose information can be a pose matrix or relative pose information in other representation forms. For example, the combination of the above-mentioned quaternion and position vector.

[0128] In this embodiment, the third posture information is predetermined and stored in a storage device.

[0129] In this embodiment, the imaging space is the image area captured by an imaging device (such as a mobile C-arm or CT, etc.), which is the three-dimensional space range that the device can cover and can capture images of the target (for example, a specific anatomical part of a patient).

[0130] In a possible and specific implementation, the third posture information may be predetermined by the following method:

[0131] First, the user needs to determine the best location for taking pictures.

[0132] Specifically, before the operation, the user (for example, a doctor) uses a mobile C-arm to adjust the position and angle of the patient's surgical site multiple times to find the best imaging position. This position can provide clear images that meet surgical requirements, so that the imaging space perfectly coincides with the surgical target (for example, bones, blood vessels, etc.). The doctor can continuously adjust the position and angle of the mobile C-arm's motion module (translation, rotation, pitch and other degrees of freedom) to achieve the best imaging effect of the imaging chain and ensure that the target is clearly presented in the image. During the adjustment process, the doctor will confirm the image quality through the display module (for example, display screen) of the imaging device until the best imaging effect is obtained.

[0133] Then, the current position and pose information of the first tracker and the second tracker is obtained.

[0134] When the target image achieves the best imaging effect, the user performs an operation (for example, clicks the touch screen or presses a control button) to trigger the posture detection device to collect the current posture information of the first tracker and the second tracker.

[0135] The pose information of the first tracker can describe the pose of the imaging device (eg, a mobile C-arm), including the spatial position and angle information of the device.

[0136] The posture information of the second tracker can describe the posture of the surgical site of the patient, that is, the spatial position and angle of the target.

[0137] Finally, third pose information is calculated based on the pose information of the current first tracker and the second tracker and the pre-stored fourth pose information.

[0138] The control device retrieves the pre-stored fourth position information, which is used to characterize the relative position between the imaging space and the first tracker, that is, how the imaging device is aligned with the internal imaging area of ​​the imaging space.

[0139] The control device calculates the relative position and angle between the imaging space and the target based on the current posture information of the first tracker, the current posture information of the second tracker, and the fourth posture information. This step is achieved by converting the relative posture, calculating the relative posture between the imaging space and the target, and ensuring that the posture can be accurately reproduced in subsequent operations.

[0140] The result of the above calculation is the third posture information, which describes the relative posture relationship between the imaging space and the patient's target area at the optimal imaging position. This posture information ensures that the imaging device can automatically reset to this optimal position during subsequent surgical operations to achieve precise alignment between the image and the surgical target.

[0141] The control device can store the determined third posture information in a storage device. The storage device can be an embedded memory, a local independent storage device, a NAS, a cloud storage platform, etc., so that it can be retrieved at any time during the operation.

[0142] When the operation begins, the user (eg, doctor) can call up the stored third posture information, and the control device will automatically move the imaging device to that position without the doctor having to manually adjust it again.

[0143] In this embodiment, the fourth pose information is used to represent the relative pose information between the imaging space and the first tracker. The fourth pose information can be a pose matrix or pose information in other representation forms. For example, the combination of the above-mentioned quaternion and position vector.

[0144] In this embodiment, the fourth posture information is obtained through pre-calibration and stored in a storage device.

[0145] In a possible and specific implementation, the fourth posture information can be pre-calibrated by the following method:

[0146] First, set up the calibration environment and configure the pose detection device.

[0147] In the calibration environment, the pose detection device is used as a unified reference system to accurately measure the pose of the first tracker and the imaging space. The pose detection device can directly measure the pose information of the tracker installed in the imaging space and the imaging device.

[0148] Then, configure the tracker.

[0149] A first tracker is installed on the imaging device to represent the overall position and posture of the imaging device.

[0150] The imaging space tracker is installed at a known position in the imaging space (for example, the center of the imaging space) to directly calibrate the position and posture of the imaging space.

[0151] Next, the posture of the imaging space and the first tracker is measured by a posture detection device.

[0152] Since the posture detection device is a unified reference system, these two posture information can be directly used for subsequent relative posture calculation without further coordinate conversion.

[0153] Finally, the relative pose (fourth pose information) between the imaging space and the first tracker is calculated.

[0154] The position and rotation of the imaging space in the reference system of the position and posture detection device are represented by using the position and posture information of the imaging space tracker. The position and rotation of the imaging device in the reference system of the position and posture detection device are represented by using the position and posture information of the first tracker.

[0155] The relative posture between the imaging space and the imaging device (first tracker) is calculated through the posture relationship between the two. This relative posture is the fourth posture information, which can be expressed as a posture matrix or a combination of a quaternion and a position vector.

[0156] Step S16: Generate fifth posture information based on the second posture information, the third posture information and the fourth posture information; wherein the fifth posture information is posture information used to characterize the target posture to which the first tracker is about to move; wherein the target posture is used to characterize that when the first tracker moves to the target posture, the imaging space at this time coincides with the target.

[0157] In this embodiment, the fifth posture information may be a posture matrix representing the target posture to which the first tracker is to move, or a combination of a quaternion and a position vector, and the like.

[0158] In this embodiment, the fifth posture information can be used to describe the target posture of the first tracker, that is, the position and angle to which the imaging device needs to move so that the imaging space coincides with the target.

[0159] In a possible and specific implementation, the fifth pose information may be generated by the following method:

[0160] First, the second posture information, the third posture information and the fourth posture information are input into a preset function.

[0161] The second pose information, the third pose information and the fourth pose information may be corresponding pose matrices, for example, the second pose matrix, the third pose matrix and the fourth pose matrix.

[0162] The second pose matrix may represent the pose matrix of the current second tracker in the pose detection device, and the pose matrix describes the current position and direction of the patient's target.

[0163] The third pose matrix may represent a relative pose matrix between the imaging space and the second tracker when the imaging space coincides with the target. The pose matrix describes the relative position and orientation when the imaging space coincides with the target under ideal conditions.

[0164] The fourth pose matrix may represent a relative pose matrix between the imaging space and the first tracker. The fourth pose matrix describes a fixed relationship between the imaging device and the imaging space, and is used to convert the pose of the imaging space into the pose of the imaging device.

[0165] The function may be a function that transposes and multiplies multiple matrices.

[0166] Specifically, the fourth pose matrix is ​​transposed to obtain a transposed fourth pose matrix. The second pose matrix is ​​transposed to obtain a transposed second pose matrix.

[0167] The fifth pose matrix is ​​obtained by multiplying the transposed fourth pose matrix, the transposed second pose matrix, and the third pose matrix, and then transposing the multiplied matrix.

[0168] It can be understood that, using the third pose matrix, the ideal pose of the imaging space can be expressed as a pose relative to the second tracker, so that the ideal position of the imaging space relative to the target (eg, knee joint) can be obtained when the target is aligned.

[0169] The second pose matrix can be used to convert the current position of the target into the ideal position in the imaging space, that is, to combine the current pose of the surgical target with the ideal relative pose, so as to obtain the ideal pose in the imaging space under the current pose of the surgical target.

[0170] According to the fourth pose matrix, the ideal pose of the imaging space can be converted to the ideal pose (target pose) of the first tracker. The fourth pose matrix provides a fixed relationship between the imaging space and the first tracker, and the ideal pose of the imaging space can be mapped to the target pose of the first tracker by multiplication.

[0171] Step S18: Based on the fifth posture information and the first posture information, a motion control signal of the imaging device is generated to enable the imaging device to perform corresponding movements, thereby enabling the first tracker to move to the target posture.

[0172] In this embodiment, the fifth posture information describes the target position and posture that the imaging device needs to reach, that is, the target position and posture that the first tracker needs to reach. That is, when the first tracker moves to this posture, the imaging space coincides with the target, which is the best shooting position.

[0173] The first position information represents the actual position and posture of the current imaging device.

[0174] In this embodiment, the posture difference can be calculated based on the fifth posture information and the first posture information. That is, by comparing the fifth posture information with the first posture information, the difference between the current posture and the target posture is calculated. The difference can be decomposed into position difference (e.g., translation of the X, Y, and Z axes) and posture difference (e.g., rotation angle and direction).

[0175] It is understandable that imaging devices often have multiple degrees of freedom. Therefore, in order to generate accurate motion control signals, the position difference is further decomposed into the various motion axes of the imaging device. For example, the translation axis (translation of the X, Y, and Z axes), which controls the position of the imaging device in space to bring it close to the target area. The rotation axis (for example, the pitch angle and the yaw angle) controls the rotation angle of the imaging device to align its posture with the target. Therefore, the vectors of the position difference and the posture difference can be calculated and converted into the displacement and rotation of each motion axis.

[0176] A specific motion control signal may be generated according to the displacement and rotation amount of each motion axis. The motion control signal may include: a translation control signal and a rotation control signal.

[0177] The control signals mentioned above are calculated by the control device and sent to the motion module (eg, motor, driver and other components) of the imaging device to perform translation and rotation operations.

[0178] After the imaging device receives the above control signal, the motor and driver in the motion module start to perform corresponding actions.

[0179] Specifically, during the movement and rotation process, sensors (e.g., position sensors and angle encoders) will feedback the current state of the motion module to ensure that the movement amount and angle of each motion axis reach the required accuracy. If the data fed back by the sensor differs from the expected position, the control device will immediately adjust the control signal to compensate to ensure that the imaging device accurately reaches the target position.

[0180] When the imaging device approaches the target posture, the control device verifies through the posture detection device whether the current first posture information is consistent with the fifth posture information. When the target posture is reached, the imaging space completely overlaps with the surgical target area, and the control device completes automatic alignment.

[0181] This embodiment generates a motion control signal for the imaging device by acquiring and processing the current posture of the imaging device (for example, it can be a mobile C-arm), the current posture of the target (for example, it can be the patient's knee joint), and the stored third posture information (which can be the relative posture of the imaging space and the target under the condition of the best imaging effect) and the fourth posture information (the relative posture of the pre-calibrated imaging space and the mobile C-arm tracker), so that it can automatically adjust to the target posture position to ensure the accurate overlap of the imaging space and the target. Through the above data processing process, the control device can calculate the ideal position and angle of the imaging device in real time and adjust it to the previously stored optimal imaging state. Compared with the traditional manual posture adjustment method, this method realizes automated control, significantly reduces the repeated adjustment time during the operation, reduces the difficulty of operation, and greatly reduces the cumulative radiation caused by repeated exposure of doctors and patients. In addition, since the imaging device can be accurately reset to the optimal imaging posture during the operation, even if the patient's posture changes slightly during the operation, the system can still quickly and accurately adjust the imaging device to the optimal position. This not only ensures the consistency of imaging quality and imaging area, but also improves the efficiency of intraoperative monitoring and postoperative examination, ensures the safety of surgery and the accuracy of imaging effects, provides doctors with clearer imaging information support, and optimizes the overall surgical process.

[0182] In a possible and specific implementation, a method for generating a motion control signal of an imaging device is provided, which may specifically include:

[0183] The imaging device may be a mobile C-arm, and the movement direction of the mobile C-arm may be as follows: Figure 4 shown.

[0184] In the case of motion in direction 1 and direction 2, the position of any point on the slide can be determined using Figure 5 The circle represents, O1 represents the rotation center of the slide rail, α represents the rotation in direction 1, β represents the rotation in direction 2, and the pose matrix T is used. αβ It represents a combination of rotations in any αβ direction, and the radius R represents the rotation radius of the slide rail.

[0185] The imaging space of the patient and the mobile C-arm is represented on the image. Figure 6 As shown, in fact, the basic spatial positions are overlapping, such as Figure 6 In order to facilitate the analysis of the calculation process, the display will be simplified.

[0186] The actual problem to be solved is: after moving the patient and the C-arm, the imaging space needs to overlap with the same area on the patient entity during the re-imaging process. Figure 7 shown.

[0187] like Figure 8 As shown, an imaging device tracker (first tracker) and a patient tracker (second tracker) are installed on a mobile C-arm, and the posture matrix of the imaging device tracker and the patient tracker (which can be equivalent to the patient's position after being aligned with the patient's space) under the visualization camera can be directly obtained through a visualization camera (posture detection device). Figure 8 In, M T It can be expressed as the pose matrix of the first tracker. P It can be expressed as the pose matrix of the second tracker. PI It can be expressed as the third posture information, that is, the relative posture matrix between the optimal imaging space and the patient.

[0188] like Fig. 9 As shown in the figure, it is a diagram of two images taken, in which the matrix relationship between the patient and the imaging space is M PI If it can be guaranteed that M PI are equal, then the images completely overlap, that is: M PI =M' PI In other words, if the best imaging effect can be obtained when the image is taken again, the relative position matrix (M') between the imaging space and the patient is PI ) should be equal to the relative posture matrix (M PI ).

[0189] like Fig. 9 As shown, M' T It can be expressed as the pose matrix of the imaging device tracker (first tracker) collected by the visualization camera (pose detection device) when taking the picture again. M' P It can be expressed as the pose matrix of the patient tracker (second tracker) collected by the visualization camera (pose detection device) when taking the picture again.

[0190] It can be understood that the position relationship M between the imaging space and the imaging device tracker TI is fixed.

[0191] Therefore, M can be calculated by the following equation: PI :

[0192] M PI =M TI *(M T )'*M P (1)

[0193] In formula (1), M TI It is obtained by calibrating the image device tracker after installation. T and M P is directly obtained through the visualization camera, MPI is the calculated relative pose, (M T )' is represented by M T The transpose of .

[0194] like Fig.10 As shown, Fig.10 The left figure in FIG. 1 shows that before taking another image, the patient and the imaging space are often not overlapped, because the mobile C-arm and the patient are often moved multiple times. However, the user (e.g., doctor) expects that the patient can overlap with the imaging space, so that the best imaging effect can be obtained, and then the image can be taken again.

[0195] It can be understood that in this scenario, it is desired that the imaging device moves and rotates (automatically moves and rotates the imaging device) so that the patient can coincide with the imaging space, rather than adjusting the patient's posture so that the patient can coincide with the imaging space.

[0196] That is, in this scenario, the first image can be taken before the operation to confirm the best shooting effect, and the second image can be taken during the operation. When the image needs to be taken again, the patient's posture needs to be fixed, and the position of the mobile C-arm needs to be adjusted actively. This does not mean that the patient's posture will never change. It is understandable that during the operation, the patient's posture is often adjusted many times due to the needs of the operation. It is just that when the image needs to be taken again, the patient's posture is fixed and the position of the C-arm needs to be adjusted. Fig.10 Left center, It can be represented as the position of the patient tracker in the visualization camera before taking the image again when the C-arm has not been adjusted. It can be expressed as the position and posture of the imaging device tracker in the visualization camera before taking the image again when the C-arm has not been adjusted.

[0197] Fig.10 In the right figure, M' T It can be expressed as when taking a picture again, after the C-arm is adjusted, the position of the imaging device tracker (that is, the target position) is such that when the imaging device tracker is in this position, the patient and the imaging space coincide.

[0198] It can be expressed as the position of the patient tracker in the visualization camera when the image is taken again. It can be understood that because the position of the patient is fixed,

[0199] M' PI It can be expressed as the optimal relative posture matrix between the imaging space and the patient when the image is taken again and the patient and the imaging space coincide with each other.

[0200] Fig.10The left picture clearly shows that when the C-arm has not been adjusted, the patient and the imaging space do not overlap, and the image obtained at this time is often not the best imaging effect image, which is often not what the doctor needs.

[0201] Fig.10 The right picture clearly shows that when the C-arm is automatically adjusted (the patient's position is fixed), the patient and the imaging space coincide with each other. The image acquired at this time is often the best imaging effect image, which is often what the doctor needs.

[0202] Therefore, if Fig.10 As shown in Figure 2, since the patient's posture is fixed, the posture matrix M' of the current patient tracker can be obtained based on the visualization camera. P (Understandably, because the patient's position is fixed, ), becomes the pose matrix to which the imaging device tracker will move.

[0203] M' PI =M PI =M TI *(M' T )*M' P (2)

[0204] In formula (2), M TI It is represented by the pose matrix obtained by calibrating the image device tracker after installation, M' P Denotes the pose of the patient tracker. M' T Represents the target pose (fifth pose information) of the image device tracker.

[0205] When the device is in the target position, the imaging space coincides with the target. (M' T )′ is expressed as M' T The transpose of .

[0206] Then M' T for:

[0207] M' T =((M TI )'*(M PI )*(M' P )')′ (3)

[0208] like Fig.11 As shown, it can be understood that the position M of the center of the imaging space I and the image device tracker pose matrix M T Has the following relationship:

[0209] M' T =M I *MTI (3)

[0210] In formula (3), M I It is represented as the pose of the center of the imaging space when the imaging device tracker moves to the target pose. TI It is obtained by calibrating the image device tracker after installation. T is the pose that the camera tracker moves to the target pose.

[0211] Then the pose of the center of the imaging space can be calculated:

[0212] M I =M' T *(M TI )'

[0213] Therefore, the tracker pose matrix of the imaging device before taking the picture again can be Corresponding and the expected image device tracker pose matrix M' T The corresponding M' I . Calculate the pose difference of the center of the imaging space.

[0214] The current pose (that is, before taking the picture again) and the target pose matrix M I , then the position and attitude (T αβ ) two elements. αβ ) is decomposed into rotation in αβ directions (i.e. directions 1 and 2), and the position is decomposed into movement in directions 3, 4, and 5. Based on the difference between the two calculations, the movement in these directions can be controlled to produce an overlapping image effect.

[0215] In some cases, during surgery, doctors need to frequently adjust the position of the imaging device to aim at the target area, which complicates the operation and increases the operation time and workload of medical staff. In addition, manual alignment may also introduce human errors, affecting imaging accuracy and thus affecting surgical results.

[0216] Therefore, for this technical problem, Fig.12 As shown, in some embodiments, when the target image needs to be acquired using an imaging device, the step of receiving the first posture information (the current posture of the C-arm) and the second posture information (the current posture of the patient) includes:

[0217] Step S122: In response to the user's first operation, a posture information acquisition request is sent to the posture detection device, so that the posture detection device detects the first posture information of the current first tracker and the second posture information of the current second tracker.

[0218] In this embodiment, the first operation may represent an operation for triggering the control device to send a posture information acquisition request to the posture detection device.

[0219] In this embodiment, the first operation may be a user (eg, a doctor) performing a touch operation on a UI interface provided by a touch screen through a touch screen to trigger the control device to actively send a request to the posture detection device.

[0220] Specifically, in one possible scenario example, during surgery, the user can perform operations through the touch screen next to the operating table, such as clicking the "Get Posture Information" UI button to trigger the position detection device to perform posture detection on the C-arm and the patient.

[0221] In this embodiment, the first operation may be a UI operation performed by a user using a mouse.

[0222] Specifically, in a possible scenario example, a user clicks a UI element (eg, a control) on a UI interface provided by a display screen with a mouse to trigger a position detection device to perform posture detection on a C-arm and a patient.

[0223] The user's operation may also be a physical button operation, for example, the user presses a physical button on a control panel or device to trigger the request.

[0224] Specifically, in a possible scenario example, a physical button for "obtaining posture information" is configured on an imaging device or an operating table, and the user can trigger a posture detection request by pressing the button when needed.

[0225] The user's operation may also be a voice command.

[0226] Specifically, in one possible scenario example, during surgery, the user can trigger the control device to send a request by issuing a voice command (e.g., "obtain posture information"). This method does not require the doctor to manually operate the device.

[0227] The user's operation may also be a foot switch operation.

[0228] Specifically, in a possible scenario example, a foot switch is placed on the floor of an operating room, and the user only needs to step on the switch to trigger a request for obtaining posture information.

[0229] The user's operation may also be a gesture recognition operation.

[0230] Specifically, in one possible scenario example, a gesture recognition system may be pre-configured in an operating room, and a user may trigger a posture detection request through a specific gesture (eg, waving or pointing at an imaging device).

[0231] The user's operation may also be an operation of a remote control device.

[0232] Specifically, in a possible scenario example, the user holds the remote control and presses the "get posture information" button on the remote control, and the remote control triggers the control device to send a request through a wireless signal.

[0233] Step S124: receiving the first posture information and the second posture information sent by the posture detection device.

[0234] In this embodiment, the posture information acquisition request is triggered by responding to the user's first operation, thereby automatically detecting and receiving the current posture information of the imaging device and the patient. This method can obtain the precise posture information of the device and the patient in real time through simple user operations, avoiding the tedious process of manual measurement and multiple adjustments, thereby simplifying the operation process and improving the real-time and accuracy of posture information acquisition. This can ensure that the imaging device is quickly aligned with the target area, improve surgical efficiency, and reduce the error of repeated positioning, providing a guarantee for accurate imaging.

[0235] In some cases, if there is no convenient way for doctors to directly select the best imaging effect image during surgery, then the doctor will have to adjust the position and angle of the device multiple times to obtain the same image effect as before the operation, which will become very cumbersome and time-consuming. If a visual interface can be provided, allowing users to intuitively select the best imaging effect image determined before the operation, directly representing the imaging effect required by the doctor in the subsequent shooting process. In this way, the doctor can quickly select the ideal image, and the control device can automatically extract its corresponding posture information, avoiding complicated manual adjustments, achieving rapid and accurate resetting of the device position during surgery, and improving operational efficiency and imaging consistency.

[0236] Therefore, in response to this technical problem, in some implementations, the step of extracting the pre-stored third posture information and the fourth posture information includes:

[0237] Step S142: In response to a second operation of the user, determining an optimal imaging effect image corresponding to the second operation; wherein the optimal imaging effect image is used to represent an image acquired when the imaging space coincides with the target.

[0238] In this implementation, the second operation may be represented as an operation in which the user selects an image with the best imaging effect.

[0239] In this embodiment, the best imaging effect image is acquired in advance. For example, before the operation, the user (for example, a doctor) adjusts the posture of the imaging device multiple times to determine the best imaging position, and acquires the best imaging effect image for the target at the best imaging position.

[0240] In this embodiment, the second operation may be a user (e.g., a doctor) performing a touch operation on a UI interface provided by a touch display screen. It is understandable that the UI interface may display one or more images. The one or more images may be images of one target (e.g., all images of knee joints), or images of multiple targets, etc. The user may select one of the images, which may be an image with the best imaging effect.

[0241] In one possible scenario example, during surgery, when the user needs to take another picture, the user views the images taken before the surgery through a display interface on the touch screen, and directly selects the image with the best imaging effect. For example, the display interface can display thumbnails of multiple imaging images acquired before the surgery, and the user clicks on the desired image with the best imaging effect and selects the image by touch. After the user clicks on the image, the control device can immediately extract the third posture information and the fourth posture information associated with the image. It can be understood that the third posture information and the fourth posture information have been collected and stored in the storage device before the surgery, and the best imaging effect image has an index with the third posture information and the fourth posture information.

[0242] In this implementation, the second operation may be that the user selects the best imaging effect image on the UI interface using a mouse.

[0243] In a possible scenario example, a display interface of a display screen may display a list of imaging images taken before surgery, and a user clicks on the best imaging effect image marked before surgery with a mouse. The control device automatically extracts the corresponding third posture information and fourth posture information according to the image selected by the user's click operation.

[0244] In this embodiment, the determined action may be represented as identifying and confirming the image intended by the user through a user operation (eg, touch selection, mouse click, etc.).

[0245] Step S144: Based on the best imaging effect image, extract the third posture information and the fourth posture information corresponding to the best imaging data.

[0246] In this embodiment, the extracting action may be represented as the control device retrieving and acquiring the third posture information and the fourth posture information associated with the image from the storage device based on the best imaging effect image selected by the user during surgery.

[0247] It is understandable that after the user confirms the image with the best imaging effect, the control device locates the posture information associated with the image in the storage device through the unique index of the image. This index has been established during preoperative storage to ensure quick access between the image and posture information. The control device can find the third posture information associated with the image through the index. The third posture information was collected when the preoperative imaging space coincided with the target. Correspondingly, the control device also locates the fourth posture information through the index to describe the fixed relative posture relationship between the imaging space and the imaging device, ensuring that the imaging device can maintain the stability of the imaging space when moving. Once the third posture information and the fourth posture information are retrieved, the control device loads these data so that they can be used to generate the target posture of the imaging device and achieve precise alignment.

[0248] In this embodiment, a convenient and visual image selection method is provided, which enables the doctor to quickly and intuitively select the best imaging effect image that has been marked before the operation. This image directly represents the imaging effect required by the doctor in the subsequent shooting process, ensuring that the imaging device can quickly return to the ideal shooting position confirmed before the operation. By extracting the posture information associated with this image, the processing device can automatically adjust the position of the device to achieve precise alignment of the imaging space with the surgical target, thereby reducing the tedious steps of manual adjustment, improving surgical efficiency and imaging accuracy, and providing doctors with more stable and reliable imaging support.

[0249] In some cases, related technologies use methods such as Euler angles or quaternions to represent posture information, which requires complex calculations during the posture conversion process and is prone to introducing cumulative errors. In particular, in the combined operation of rotation and translation, this may lead to inaccurate alignment between the imaging device and the target area, affecting the imaging effect.

[0250] Therefore, in view of this technical problem, in some embodiments, the second pose information is represented as a second pose matrix, which is a pose matrix representing the current second tracker in the pose detection device; the third pose information is represented as a third pose matrix, which is a relative pose matrix between the imaging space and the second tracker when the imaging space coincides with the target; the fourth pose information is represented as a fourth pose matrix, which is a relative pose matrix between the imaging space and the first tracker;

[0251] The step of generating fifth posture information based on the second posture information, the third posture information and the fourth posture information comprises:

[0252] Step S162: transposing the fourth pose matrix and the second pose matrix respectively to obtain a transposed fourth pose matrix and a transposed second pose matrix;

[0253] Step S164: Use the transposed fourth pose matrix, the transposed second pose matrix and the third pose matrix to perform multiplication, and then transpose the matrix obtained by multiplication to obtain a fifth pose matrix.

[0254] In this embodiment, the second posture information, the third posture information and the fourth posture information are represented by using the form of a posture matrix, and the fifth posture matrix is ​​generated by matrix multiplication. Compared with other posture representation methods (for example, Euler angles or quaternions), the posture matrix can simultaneously express the position and translation relationship, and supports intuitive matrix operations, making the calculation of relative posture transformation simpler and more accurate. The target posture (fifth posture matrix) is directly obtained by matrix transposition and multiplication, which not only reduces the conversion steps and calculation complexity, but also avoids the cumulative errors that may occur during rotation and translation. This method ensures that the imaging device can be accurately reset to the optimal image acquisition position, so that the imaging space and the surgical target area can be quickly and accurately aligned, improving the surgical efficiency and image stability.

[0255] In some cases, in some C-arm imaging control technologies, complex posture transformation and comparison are usually required on multiple coordinate levels to generate control signals to restore the C-arm to the optimal imaging position during surgery. This multi-level posture transformation process is not only computationally complex, but also prone to error accumulation, affecting the final alignment accuracy and imaging efficiency. At the same time, frequent manual adjustments during surgery may lead to prolonged surgery time and increase radiation exposure for doctors and patients.

[0256] Therefore, in response to this technical problem, in some implementations, the first posture information is represented as a first posture matrix, and the first posture matrix is ​​a posture matrix representing the current first tracker in the posture detection device;

[0257] The step of generating a motion control signal of an imaging device based on the fifth posture information and the first posture information comprises:

[0258] Step S182: Calculate a sixth pose matrix based on the fifth pose matrix and the fourth pose matrix; wherein the sixth pose matrix is ​​a matrix representing the pose of the target in the imaging space.

[0259] In this implementation, the fourth pose matrix may be transposed first to obtain a transposed fourth pose matrix, and then the transposed fourth pose matrix may be multiplied by the fifth pose matrix to obtain a sixth pose matrix.

[0260] Step S184: Calculate a seventh pose matrix based on the first pose matrix and the fourth pose matrix; wherein the seventh pose matrix is ​​a matrix used to represent the current imaging space pose.

[0261] Similarly, the fourth pose matrix can be transposed first to obtain the transposed fourth pose matrix, and then the transposed first pose matrix is ​​multiplied with the fourth pose matrix to obtain the seventh pose matrix.

[0262] Step S186: Generate a motion control signal for the imaging device based on the sixth posture matrix and the seventh posture matrix.

[0263] In this embodiment, first, the pose matrix can be decomposed. That is, the sixth pose matrix (the pose of the target imaging space) and the seventh pose matrix (the pose of the current imaging space) can be decomposed respectively to extract their respective position vectors (for example, they can be as follows Figure 1 ) and the attitude vector (for example, it can be as follows Figure 1 1 and 2 described in the figure). It can be understood that the position vector can represent the translation position of the center of the imaging space. The attitude vector can represent the rotation angle of the imaging space to ensure the alignment of the imaging angle and direction.

[0264] Then, the position and attitude differences can be calculated. Based on the target posture (sixth posture matrix) and the current posture (seventh posture matrix), the position difference vector and the attitude difference vector are calculated. The position difference vector can represent the required translation of the center of the imaging space in directions 3, 4, and 5. The attitude difference vector can represent the rotation compensation amount of the imaging space in directions 1 and 2 to ensure that the angle of the imaging space is consistent with the target. Finally, a specific motion control signal can be generated by calculating the position and attitude differences, and the signal can be transmitted to each motion mechanism of the imaging device. The motion control signal can be a translation control signal and a rotation control signal. The translation control signal can be based on the position difference vector to control the translational movement of the C-arm in directions 3, 4, and 5. The rotation control signal can be based on the attitude difference vector to control the rotational movement of the C-arm in directions 1 and 2.

[0265] In this embodiment, the fifth pose matrix (the target pose matrix of the first tracker) is first converted to the sixth pose matrix (the pose of the target imaging space), and then the motion control signal is generated by calculating the pose of the current imaging space (the seventh pose matrix) and comparing the difference between the two. This embodiment directly compares the pose difference between the current imaging space and the target imaging space by converting the target pose matrix to the imaging space level, without generating control signals at the pose level of the first tracker. This method simplifies the calculation process, avoids the complexity of multi-layer conversion, and makes the generation of motion control signals more efficient and accurate, thereby ensuring that the imaging device is quickly reset to the target position, achieving precise alignment of the imaging space with the surgical target area, and improving surgical accuracy and operating efficiency.

[0266] In some embodiments, before the step of receiving the first posture information (the current posture of the C-arm, that is, the posture of the first tracker) and the second posture information (the current posture of the patient, that is, the posture of the second tracker) when the target image needs to be acquired using the imaging device, the method further includes:

[0267] Step S102: when the acquired target image is an image with the best imaging effect, in response to a third operation of the user, acquiring the current position and posture information of the first tracker and the current position and posture information of the second tracker.

[0268] In this embodiment, the third operation of the user can be represented as an operation of confirming that the currently acquired target image is the image with the best imaging effect, thereby triggering the control device to send a request to the posture detection device to obtain posture information.

[0269] In this embodiment, the third operation may be that a user (eg, a doctor) performs a touch operation on a UI interface provided by a touch display screen to confirm that the currently acquired target image is an image with the best imaging effect.

[0270] Specifically, in a possible scenario example, the user can continuously adjust the posture of the imaging device and observe the shooting effect through the touch display screen. When the user confirms that a certain image is the image with the best imaging effect, the user can click the "Confirm" UI button to trigger the control device to send a request to the posture detection device to obtain posture information.

[0271] In this embodiment, the third operation may be a UI operation performed by the user using a mouse.

[0272] Specifically, in a possible scenario example, during the operation, the user observes the real-time image captured through the display screen of the imaging device and continuously adjusts the posture of the imaging device. When the user confirms that the current image has achieved the best imaging effect, the user can click the "Confirm" UI element on the UI interface on the display screen through the mouse. This operation triggers the control device to send a request to the posture detection device to record the current posture of the C-arm.

[0273] In this implementation, the third operation may be a physical button operation.

[0274] In this implementation, the third operation may be a voice command.

[0275] In this embodiment, the third operation may be a foot switch operation.

[0276] In this implementation, the position and posture information of the current first tracker may be a position and posture matrix of the current first tracker.

[0277] In this implementation, the position and posture information of the current second tracker may be a position and posture matrix of the current second tracker.

[0278] Step S104: Determine the third pose information based on the current pose information of the first tracker, the current pose information of the second tracker, and the pre-stored fourth pose information.

[0279] In this embodiment, the fourth posture information may be a fourth posture matrix. The third posture information may be a third posture matrix.

[0280] In this embodiment, the third pose matrix can be obtained by transposing the pose matrix of the current first tracker, multiplying the pose matrix of the current second tracker and the fourth pose matrix.

[0281] Step S106: Store the third posture information.

[0282] In this embodiment, the control device may store the third posture information in the storage device.

[0283] In this embodiment, before the operation, the doctor can find the best imaging position and obtain clear medical images (that is, the best imaging effect image) by adjusting the position of the imaging device multiple times. When the best imaging effect is determined, the control device will automatically record the posture information of the C-arm and the patient at this time, and store the relative posture related to the best imaging position. This process simplifies the repeated adjustment of imaging during and after the operation, allowing the doctor to quickly return to the best image acquisition position in subsequent operations, reducing manual adjustment time, improving surgical efficiency, and reducing radiation exposure of doctors and patients, helping to ensure the accuracy and safety of the operation.

[0284] like Fig.13 As shown, this embodiment provides a method for acquiring a target image, wherein the target image is acquired by an imaging device, wherein the imaging device includes an image acquisition module and a motion module with at least one degree of freedom. The method may include:

[0285] Step S22: Based on the motion control signal, control the motion module of the at least one degree of freedom to perform corresponding movement, so that the first tracker moves to the target position; wherein the motion control signal is generated by the method for generating a motion control signal of an imaging device in the above-mentioned embodiment.

[0286] In this embodiment, the control action can be represented as the control device sending the generated motion control signal to the imaging device via wired or wireless means, so that the motion module of at least one degree of freedom in the imaging device performs corresponding motion, thereby causing the first tracker to move to the target position.

[0287] Step S24: when the first tracker moves to the target position, in response to a fourth operation of the user, the image acquisition module is controlled to perform an image acquisition operation on the target, so as to obtain the target image by an imaging device.

[0288] In this embodiment, in this step, the control action can be represented as the control device sending an image acquisition instruction to the imaging device in a wired or wireless manner based on the fourth operation of the user, so that the imaging device obtains the target image.

[0289] In this embodiment, the fourth operation can be a user (e.g., a doctor) performing a touch operation on a UI interface provided by a touch screen. On the touch screen equipped with the imaging device, the user (e.g., a doctor) can observe the picture after the imaging device reaches the target position. When the user confirms that it is ready, he can directly click the "shoot" button on the UI interface on the touch screen. This touch operation will trigger the image acquisition module, perform the image acquisition operation and acquire the target image.

[0290] In this embodiment, the fourth operation may be a UI operation performed by the user using a mouse.

[0291] In this implementation, the fourth operation may be a physical button operation.

[0292] In this implementation, the fourth operation may be a voice command.

[0293] In this embodiment, the fourth operation may be a foot switch operation.

[0294] In this embodiment, the first tracker is accurately positioned to the target posture by automatically controlling the motion module of the imaging device, so that the imaging device is quickly and accurately adjusted to the optimal shooting position. Combined with the user's fourth operation (e.g., touch, mouse click, voice command, etc.) to trigger the image acquisition action, the doctor can obtain high-quality target images without manually adjusting the device repeatedly. This not only improves imaging efficiency and saves operation time, but also reduces radiation exposure of doctors and patients, ensures the accuracy and safety of the operation, and provides flexible operation options to meet the needs of different surgical scenarios.

[0295] This embodiment provides a method for processing a target image, which may include:

[0296] Step S32: receiving a target image; wherein the target image is acquired by one of the target image acquisition methods mentioned above.

[0297] In this embodiment, the receiving action may be represented as the processing device accepting the target image sent by the imaging device.

[0298] In this embodiment, the target image may be a knee joint or hip joint image.

[0299] In this embodiment, the target image may also be an image of a spinal segment or a cardiovascular system.

[0300] In this embodiment, the target image may be a two-dimensional image.

[0301] In this embodiment, the target image may be a three-dimensional reconstructed image.

[0302] In this embodiment, the target image may also be a CT image.

[0303] In this embodiment, the target image may also be an MRI image.

[0304] In this embodiment, the target image may also be an ultrasound image.

[0305] Step S34: performing at least one image processing method on the target image, so that the target image after image processing approaches a preset optimal imaging effect image.

[0306] In this implementation, the at least one image processing means may be an image denoising algorithm.

[0307] In this embodiment, the at least one image processing means may be an image enhancement algorithm.

[0308] In this embodiment, the at least one image processing means may be an artifact removal algorithm.

[0309] In this embodiment, the at least one image processing method may also be an image segmentation and region enhancement algorithm.

[0310] In this embodiment, the at least one image processing method may also be a super-resolution reconstruction algorithm.

[0311] In some cases, especially when the imaging device is a C-arm imaging device, the C-arm may be limited in certain directions. Specifically, on the one hand, in the operating room, the C-arm needs to surround the patient for imaging, but the placement of the operating table, other equipment and instruments may limit the C-arm in directions 1 and 2 (such as Figure 4On the other hand, the mechanical structure design of the C-arm itself often has certain limitations, especially for large C-arm systems, which may not allow excessive rotation in directions 1 and 2 to avoid physical interference with the equipment or maintain stability. On the other hand, in some surgical scenarios, the patient's position or the exposure requirements of the surgical area may prevent the C-arm from rotating completely freely in directions 1 and 2. For example, in spinal surgery, the rotation range of the C-arm may need to be strictly controlled to avoid affecting the doctor's operating space or causing unnecessary risks to the patient.

[0312] Therefore, in some embodiments, the step of performing at least one image processing means on the target image so that the target image after image processing approaches a preset optimal imaging effect image may include:

[0313] Get the best imaging results.

[0314] A three-dimensional image matching process is performed on the target image based on the best imaging effect image, so that the target image approaches the best imaging effect image.

[0315] Specifically, the process of performing three-dimensional image matching on the target image based on the best imaging effect image may be: first, identifying feature areas of the best imaging effect image and the target image. The feature areas may be feature areas in the image with feature points of anatomical structures such as bone contours, vascular bifurcation points, and edges.

[0316] Then, the correspondence of the feature points is calculated to obtain the feature point pairs. A feature matching algorithm can be used to determine the correspondence of the feature points between the best imaging effect image and the target image.

[0317] Next, based on the feature point pairs, a three-dimensional rigid body transformation estimation algorithm is used to calculate the rotation matrix and the translation vector, thereby obtaining a transformation matrix for aligning the best imaging effect image to the target image.

[0318] Finally, the target image is adjusted using the transformation matrix to obtain a transformed target image.

[0319] In this embodiment, by performing three-dimensional image matching processing on the target image when the C-arm rotation is limited, the processing device can automatically adjust the target image to accurately align it with the image with the best imaging effect. This method optimizes and adjusts the target image by identifying the feature area in the image and calculating the rotation and translation vectors using three-dimensional rigid body transformation to achieve high-quality image overlap. Even when the operating room space is limited or the patient's position is restricted, the doctor can still obtain clear and accurate images, which improves the flexibility and adaptability of the imaging equipment and ensures the image quality and ease of operation during the operation.

[0320] This embodiment provides an imaging system, which may include:

[0321] An imaging device, which is used to move to a target position and acquire a target image;

[0322] A posture detection device, which is used to obtain first posture information and second posture information; wherein the first posture information is used to characterize the posture information of the current first tracker in the posture detection device; the second posture information is used to characterize the posture information of the current second tracker in the posture detection device;

[0323] A first tracker, which represents a tracker for calibrating the position and posture of the imaging device;

[0324] A second tracker, which represents a tracker for calibrating the pose of the target;

[0325] A control device, which is used to first receive first pose information and second pose information when an imaging device is needed to acquire a target image, and then extract pre-stored third pose information and fourth pose information; wherein the third pose information is used to represent the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to represent the relative pose information between the imaging space and the first tracker; then, based on the second pose information, the third pose information and the fourth pose information, fifth pose information is generated; wherein the fifth pose information is pose information for representing the target pose to which the first tracker is to move; wherein the target pose is used to represent that when the first tracker moves to the target pose, the imaging space coincides with the target; finally, based on the fifth pose information and the first pose information, a motion control signal of the imaging device is generated to enable the imaging device to perform a corresponding motion, thereby enabling the first tracker to move to the target pose.

[0326] According to an embodiment of the present invention, an electronic device is provided. Fig.14The electronic device in this embodiment may include one or more of the following components: a processor, a network interface, a memory, a non-volatile memory, and one or more applications, wherein the one or more applications may be stored in the non-volatile memory and configured to be executed by one or more processors, and the one or more programs are configured to execute the method described in the aforementioned method embodiment.

[0327] According to an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a computer, the computer executes the method described in any of the above embodiments.

[0328] According to an embodiment of the present invention, a computer program product including instructions is also provided. When the instructions are executed by a computer, the computer executes a method in any one of the above embodiments.

[0329] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. Optionally, the specific examples in the present embodiment can refer to the examples described in the above-mentioned embodiments, and the present embodiment will not be repeated here.

[0330] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0331] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0332] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for generating a motion control signal of an imaging device, characterized in that: The method comprises: In the case where an imaging device is required to acquire a target image, first pose information and second pose information are received; wherein the first pose information is used to characterize the pose information of the current first tracker in the pose detection device, and the second pose information is used to characterize the pose information of the current second tracker in the pose detection device; wherein the first tracker is a tracker for calibrating the pose of the imaging device, and the second tracker is a tracker for calibrating the pose of the target; Extracting pre-stored third pose information and fourth pose information; wherein the third pose information is used to characterize the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to characterize the relative pose information between the imaging space and the first tracker; Generating fifth posture information based on the second posture information, the third posture information and the fourth posture information; wherein the fifth posture information is posture information used to characterize the target posture to which the first tracker is about to move; wherein the target posture is used to characterize that when the first tracker moves to the target posture, the imaging space at this time coincides with the target; Based on the fifth posture information and the first posture information, a motion control signal of the imaging device is generated to make the imaging device perform corresponding motion, so that the first tracker moves to the target posture.

2. The method according to claim 1, characterized in that The step of receiving the first pose information and the second pose information when the target image needs to be acquired using an imaging device comprises: In response to a first operation of the user, sending a posture information acquisition request to the posture detection device, so that the posture detection device detects the first posture information of the current first tracker and the second posture information of the current second tracker; Receive the first posture information and the second posture information sent by the posture detection device.

3. The method according to claim 1, characterized in that The step of extracting the pre-stored third posture information and fourth posture information comprises: In response to a second operation of the user, determining a best imaging effect image corresponding to the second operation; wherein the best imaging effect image is used to represent an image acquired when the imaging space coincides with the target; Based on the best imaging effect image, third posture information and fourth posture information corresponding to the best imaging data are extracted.

4. The method according to claim 1, characterized in that: The second posture information is represented as a second posture matrix, which is a posture matrix representing the current second tracker in the posture detection device; the third posture information is represented as a third posture matrix, which is a relative posture matrix between the imaging space and the second tracker when the imaging space coincides with the target; the fourth posture information is represented as a fourth posture matrix, which is a relative posture matrix between the imaging space and the first tracker; The step of generating fifth posture information based on the second posture information, the third posture information and the fourth posture information comprises: Transpose the fourth pose matrix and the second pose matrix respectively to obtain a transposed fourth pose matrix and a transposed second pose matrix; Using the transposed fourth pose matrix, the transposed second pose matrix and the third pose matrix are multiplied, and then the matrix obtained by the multiplication is transposed to obtain a fifth pose matrix; wherein the fifth pose matrix is ​​a pose matrix representing the target pose to which the first tracker is to move.

5. The method according to claim 4, characterized in that The first posture information is represented as a first posture matrix, and the first posture matrix is ​​a posture matrix representing the current first tracker in the posture detection device; The step of generating a motion control signal of an imaging device based on the fifth posture information and the first posture information comprises: Based on the fifth posture matrix and the fourth posture matrix, a sixth posture matrix is ​​calculated; wherein the sixth posture matrix is ​​a matrix representing the posture of the imaging space target; Based on the first posture information and the fourth posture matrix, a seventh posture matrix is ​​calculated; wherein the seventh posture matrix is ​​a matrix used to represent the current imaging space posture; Based on the sixth posture matrix and the seventh posture matrix, a motion control signal of the imaging device is generated.

6. The method according to claim 5, characterized in that The step of generating a motion control signal of an imaging device based on the sixth posture matrix and the seventh posture matrix comprises: Decomposing the sixth pose matrix and the seventh pose matrix respectively to obtain a position vector and a pose vector of a current imaging space and a position vector and a pose vector of a target imaging space; Calculate the target position difference and the target attitude difference using the position vector and attitude vector of the current imaging space and the position vector and attitude vector of the target imaging space; Based on the target position difference and the target posture difference, a motion control signal of the imaging device is generated.

7. The method according to claim 1, characterized in that Before the step of receiving the first pose information and the second pose information when the target image needs to be acquired using an imaging device, the method further includes: When the acquired target image is an image with the best imaging effect, in response to a third operation of the user, acquiring the current position and posture information of the first tracker and the current position and posture information of the second tracker; Determine the third pose information based on the pose information of the current first tracker, the pose information of the current second tracker, and the pre-stored fourth pose information; The third posture information is stored.

8. A method for acquiring a target image, characterized in that: The target image is acquired by an imaging device, wherein the imaging device comprises an image acquisition module and a motion module with at least one degree of freedom, and the method comprises: Based on the motion control signal, the motion module of the at least one degree of freedom is controlled to perform corresponding motion so that the first tracker moves to the target posture; wherein the motion control signal is generated by the method described in any one of claims 1 to 7; When the first tracker moves to the target posture, in response to a fourth operation of the user, the image acquisition module is controlled to perform an image acquisition action on the target to obtain a target image.

9. A method for processing a target image, characterized in that: The method comprises: Receiving a target image; wherein the target image is acquired by the target image acquisition method according to claim 8; At least one image processing method is performed on the target image, so that the target image after image processing approaches a preset optimal imaging effect image.

10. An imaging system, characterized in that: The system comprises: An imaging device, which is used to move to a target position and acquire a target image; A posture detection device, which is used to obtain first posture information and second posture information; wherein the first posture information is used to characterize the posture information of the current first tracker in the posture detection device; the second posture information is used to characterize the posture information of the current second tracker in the posture detection device; A first tracker, which represents a tracker for calibrating the position and posture of the imaging device; A second tracker, which represents a tracker for calibrating the pose of the target; A control device, which is used to first receive first pose information and second pose information when an imaging device is needed to acquire a target image, and then extract pre-stored third pose information and fourth pose information; wherein the third pose information is used to represent the relative pose information between the imaging space and the second tracker when the imaging space coincides with the target, and the fourth pose information is used to represent the relative pose information between the imaging space and the first tracker; then, based on the second pose information, the third pose information and the fourth pose information, fifth pose information is generated; wherein the fifth pose information is pose information for representing the target pose to which the first tracker is to move; wherein the target pose is used to represent that when the first tracker moves to the target pose, the imaging space coincides with the target; finally, based on the fifth pose information and the first pose information, a motion control signal of the imaging device is generated to enable the imaging device to perform a corresponding motion, thereby enabling the first tracker to move to the target pose.

Images