Auxiliary head positioning method and device, equipment and storage medium

Abstract

The invention relates to the technical field of medical imaging, and discloses an auxiliary head positioning method and device, equipment and a storage medium. Firstly, head posture estimation is carried out based on an initial face image, and virtual head space data can be obtained in time. And then, performing data conversion on the virtual head space data to obtain real head space data. And finally, based on the real head space data and the preset head space data, the medical imaging equipment is accurately controlled to move so as to position the head, so that the doctor is more accurate and efficient when selecting and tracking the optimal radiography or treatment shooting angle. According to the embodiment, the perspective frequency of a patient in the imaging process is remarkably reduced, and therefore the radiation exposure risk of the patient and a doctor is effectively reduced. The ability of accurate control and real-time feedback will improve the safety and accuracy of medical imaging.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and in particular to an auxiliary head positioning method, device, equipment and storage medium. Background Art

[0002] When performing cerebral angiography or treatment, the gantry usually needs to be adjusted to the standard head anteroposterior and lateral angles, and the vascular morphology at these two angles has medical anatomical significance. However, since the patient's head posture will change, auxiliary head positioning is necessary.

[0003] In the related technology, the doctor needs to first take a perspective view of the patient's head, then manually adjust the angle of the C-arm and the position of the bed, and take multiple exposures to find the best shooting angle to center the patient's head and achieve a standard posture. However, this process relies on the doctor's experience, and doctors who are not familiar with the operation need to adjust the C-arm angle multiple times, exposing the patient and doctor to radiation doses. Summary of the invention

[0004] The embodiments of this specification are intended to solve at least one of the technical problems in the related art to a certain extent. To this end, the embodiments of this specification propose an auxiliary head positioning method, device, equipment and storage medium.

[0005] The present specification provides a method for assisting head positioning, the method comprising:

[0006] Estimating the head posture based on the initial facial image to obtain virtual head space data;

[0007] Performing data conversion on the virtual head space data to obtain real head space data;

[0008] Based on the actual head space data and the preset head space data, the movement of the medical imaging device is controlled to perform head positioning.

[0009] In one embodiment, the virtual head space data is located in an image coordinate system, the real head space data is located in an actual coordinate system, and the data conversion of the virtual head space data to obtain the real head space data includes:

[0010] Based on the actual coordinate system, the position data of the image acquisition device in the actual coordinate system and the image coordinate system, the virtual head space data is converted to the actual coordinate system to obtain the real head space data.

[0011] In one embodiment, the preset head space data includes preset head posture data, the actual head space data includes actual head posture data, the medical imaging device includes a C-arm, and controlling the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data includes:

[0012] Determining head posture error data according to the preset head posture data and the actual head posture data;

[0013] generating an angle control signal based on the head posture error data;

[0014] The C-arm is controlled according to the angle control signal to perform head positioning.

[0015] In one embodiment, the preset head space data includes preset head position data, the actual head space data includes actual head position data, the medical imaging device includes a bearing component for bearing a person to be positioned, and the controlling the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data includes:

[0016] Determining head position error data according to the preset head position data and the actual head position data;

[0017] generating a position control signal based on the head position error data;

[0018] The bearing component is controlled according to the position control signal to perform head positioning.

[0019] In one embodiment, the preset head position data is determined by:

[0020] When the actual head space data is not on the center line of the medical imaging device, the position data of the intersection between the center line and the supporting component is used as the preset head position data, wherein the center line is the line between the detector and the tube.

[0021] In one embodiment, the preset head posture data includes a conventional body position for interventional surgery and / or a pre-set angle reached by a medical imaging device, wherein the conventional body position includes any one of a head upright position and a head lateral position.

[0022] The present specification provides an auxiliary head positioning device, the device comprising:

[0023] A head posture estimation module is used to estimate the head posture based on the initial facial image to obtain virtual head space data;

[0024] A head data conversion module, used for performing data conversion on the virtual head space data to obtain real head space data;

[0025] The head positioning module is used to control the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data.

[0026] An embodiment of the present specification provides a medical imaging device, which includes: a memory, and one or more processors communicatively connected to the memory; the memory stores instructions executable by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the steps of the method described in any of the above embodiments.

[0027] An embodiment of the present specification provides a computer device, which includes: a memory, and one or more processors communicatively connected to the memory; the memory stores instructions executable by the one or more processors, and the instructions are executed by the one or more processors to enable the one or more processors to implement the steps of the method described in any of the above embodiments.

[0028] The embodiments of this specification provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0029] An embodiment of the present specification provides a computer program product, wherein the computer program product includes instructions, and when the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method described in any one of the above embodiments.

[0030] In the above-mentioned implementation of the specification, first, the head posture is estimated based on the initial facial image, and the virtual head space data can be obtained in time. Then, the virtual head space data is converted to obtain the real head space data. Finally, based on the real head space data and the preset head space data, the movement of the medical imaging device is accurately controlled to perform head positioning, so that the doctor can be more accurate and efficient in selecting and tracking the best imaging or treatment shooting angle. The above-mentioned implementation significantly reduces the number of fluoroscopy times of the patient during the imaging process, thereby effectively reducing the radiation exposure risk of the patient and the doctor. This ability of precise control and real-time feedback will improve the safety and accuracy of medical imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of an auxiliary head positioning method provided in an embodiment of this specification;

[0032] Figure 2aA schematic diagram of a flow chart of an auxiliary head positioning method provided in an embodiment of this specification;

[0033] Figure 2b A schematic diagram of a face in a standard position provided for an embodiment of this specification;

[0034] Figure 2c A schematic diagram showing a face showing a certain angle deviation provided for an embodiment of the present specification;

[0035] Figure 2d A schematic diagram of facial offset provided for an embodiment of the present specification;

[0036] Figure 3 A schematic diagram of a flow chart for controlling a C-arm provided in an embodiment of this specification;

[0037] Figure 4a A schematic diagram of a flow chart for controlling a bearing component provided in an embodiment of this specification;

[0038] Figure 4b A schematic diagram showing that the outline of a patient's head is within the range of radiation received by the detector provided in the embodiment of this specification;

[0039] Figure 5 A schematic diagram showing that the outline of the patient's head is not completely within the range of the detector receiving radiation provided for the embodiments of this specification;

[0040] Figure 6a A schematic diagram of a standard head lateral position provided for an embodiment of this specification;

[0041] Figure 6b A schematic diagram of a non-standard head lateral position provided for an embodiment of this specification;

[0042] Figure 7 A schematic diagram of an auxiliary head positioning device provided for an embodiment of this specification;

[0043] Figure 8 An internal structural diagram of a computer device provided for an embodiment of this specification. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0045] Digital subtraction angiography (DSA) equipment plays a vital role in medical fields such as neurointervention and cardiovascular treatment. DSA equipment is based on X-ray imaging technology and is widely used in real-time image guidance for interventional surgery. However, the use of X-rays for imaging will inevitably expose patients and medical staff to ionizing radiation.

[0046] DSA devices usually rely on some standard rack angles (such as head anteroposterior and head lateral positions) when performing cerebral angiography or treatment. However, since the patient's head posture may change, doctors usually need to take head fluoroscopic images before performing interventional procedures. Based on these images, doctors manually adjust the angle of the C-arm and the position of the bed and detector, and use multiple exposures to find the best shooting angle. At this angle, the patient's head is centered and in a standard anteroposterior or lateral position.

[0047] However, doctors rely on their own experience and skills in manually adjusting the angle of the C-arm and the position of the bed and detector. For doctors who are not familiar with the operation, multiple fluoroscopy is required to determine the optimal C-arm angle, which inevitably exposes both patients and doctors to radiation.

[0048] In the related art, the operation process of interventional surgery can be optimized by installing a camera. For example, the camera can be used for 3D rotation acquisition to achieve automatic centering. Alternatively, by acquiring a facial image and a target blood vessel recognition model, the corresponding blood vessel position can be accurately determined, thereby determining the required C-arm position.

[0049] Based on this, the embodiments of this specification provide an auxiliary head positioning method. First, the head posture is estimated based on the initial facial image, and the virtual head space data can be obtained in time. Then, the virtual head space data is converted to obtain the real head space data. Finally, based on the real head space data and the preset head space data, the movement of the medical imaging device is accurately controlled to perform head positioning, so that the doctor can be more accurate and efficient in selecting and tracking the best imaging or treatment shooting angle. The above-mentioned embodiments significantly reduce the number of fluoroscopy times of the patient during the imaging process, thereby effectively reducing the radiation exposure risk of the patient and the doctor. This ability of precise control and real-time feedback will improve the safety and accuracy of medical imaging.

[0050] This specification provides an application scenario of an auxiliary head positioning method. Figure 1, by installing a camera on the detector of the DSA device. The camera is used to collect images of the patient to obtain an initial facial image. Then the initial facial image is sent to the console, so that the console estimates the head posture of the initial facial image to obtain virtual head space data in the image coordinate system. Then, the console converts the virtual head space data to the actual coordinate system based on the actual coordinate system, the position data of the camera in the actual coordinate system and the image coordinate system to obtain real head space data. The console determines the head posture error data based on the preset head posture data and the real head posture data, and generates an angle control signal based on the head posture error data. Then, the console sends the angle control signal to the motion system of the DSA device. The motion system of the DSA device controls the C-arm according to the angle control signal to perform head positioning. The console determines the head position error data according to the preset head position data and the real head position data, and generates a position control signal based on the head position error data. Then, the console sends the position control signal to the motion system of the DSA device. The motion system of the DSA device controls the bearing component according to the position control signal to perform head positioning. After the head positioning is achieved, the required image is collected by DSA and displayed on the display. The initial facial image may be stored in an image memory.

[0051] This specification provides an auxiliary head positioning method. Figure 2a , the auxiliary head positioning method may include the following steps:

[0052] S210: Estimating the head posture based on the initial facial image to obtain virtual head space data.

[0053] Specifically, the patient's head is captured by an image acquisition device to obtain an initial facial image. Afterwards, the initial facial image is processed using a head posture estimation algorithm to perform head posture estimation to obtain virtual head space data. The virtual head space data may include head position data and head angle data, and the head position data may be the position of the midpoint of the patient's head in the initial facial image. The image acquisition device may be any one of a camera, a fisheye camera, a depth camera, a stereo camera, and a multi-camera system.

[0054] For example, the console uses a facial posture estimation algorithm to estimate the head posture of the initial facial image, and obtains the head contour and the angle and position of the face relative to the camera coordinate system at the current moment, that is, the virtual head space data. Figure 2b , Figure 2b The mid-face is in the standard position, that is, the head is facing the camera, and the head posture angle is (0°, 0°, 0°). Figure 2c , Figure 2cThe mid-face exhibits a certain angular deviation, for example, the yaw angle can be 15°, which will cause the direction of the head toward the camera to change, affecting the accuracy of the estimation. Figure 2d , Figure 2d In addition to the angle offset and position offset of the mid-face, part of the head is out of the field of view. In order to restore the complete head contour, a fitting algorithm can be used, which interpolates based on known feature points and simulates the shape of the entire head through 3D modeling. Figure 2d The red line in the middle shows the estimated head outline.

[0055] It should be noted that the initial facial image can be obtained by an image acquisition device capable of acquiring depth information. The initial facial image can also be obtained by multiple image acquisition devices. The image acquisition device can be flexibly installed in different positions, and any position that can capture the patient's face on the bed board is sufficient. For example, the image acquisition device can be installed on the detector, C-arm or other structures of the rack, or even be set independently of the rack.

[0056] S220: Perform data conversion on the virtual head space data to obtain real head space data.

[0057] S230: Based on the actual head space data and the preset head space data, control the movement of the medical imaging device to perform head positioning.

[0058] In some cases, patients are generally unable to lie completely straight and may move involuntarily during surgery. This movement may cause the position and angle of the head to deviate from the predetermined imaging standard, thereby affecting the quality and clarity of the final image. Therefore, it is necessary to control the movement of medical imaging equipment based on virtual head space data to perform head positioning.

[0059] Specifically, through image registration technology, the virtual head space data is converted to achieve coordinate transformation to obtain the real head space data. The preset head space data is pre-designed for a specific type of patient group or a specific treatment plan based on a large number of historical cases and clinical experience. These data not only take into account the individual differences of patients, but also combine the best practices of clinical operations. Doctors can choose the treatment plan that best suits the patient on this basis, reduce the time required for manual adjustment, and improve operational efficiency. Therefore, it is necessary to calculate the error data between reality and expectation based on the real head space data and the preset head space data. Then, a corresponding control signal is generated based on the determined error data to guide the movement of the medical imaging equipment and achieve head positioning. Among them, the preset head space data can be set to commonly used treatment positions, such as left and right oblique positions.

[0060] It should be noted that when the doctor determines a certain working angle and starts to operate, the camera will monitor the angle and position of the patient's head in real time. When the camera detects head movement, it will automatically calculate the new head angle and position and compare it with the preset working angle. If the new field of view is consistent with the previously preset field of view, the doctor will be reminded to continue operating at the original working angle. This mechanism not only reduces the time doctors spend adjusting working angles and improves the efficiency of operations, but also reduces the risk of radiation exposure for patients and doctors and improves safety.

[0061] In some embodiments, a certain working position can be marked according to the manual operation of the doctor, and the system will record the angle and position of the patient's head at that moment and use it as the preset head space data. When the patient's head moves, the system can automatically adjust the C-arm angle and bed position to return to the preset head space data based on the image acquisition and detection of the real-time camera to remind the doctor.

[0062] In the above implementation, first, the head posture is estimated based on the initial facial image, and the virtual head space data can be obtained in time. Then, the virtual head space data is converted to obtain the real head space data. Finally, based on the real head space data and the preset head space data, the movement of the medical imaging device is accurately controlled to perform head positioning, so that the doctor can be more accurate and efficient in selecting and tracking the best imaging or treatment shooting angle. The above implementation significantly reduces the number of fluoroscopy times for patients during the imaging process, thereby effectively reducing the risk of radiation exposure for patients and doctors. This ability of precise control and real-time feedback will improve the safety and accuracy of medical imaging.

[0063] In some embodiments, the virtual head space data is located in the image coordinate system, and the real head space data is located in the actual coordinate system. Performing data conversion on the virtual head space data to obtain the real head space data may include: based on the actual coordinate system, the position data of the image acquisition device in the actual coordinate system and the image coordinate system, converting the virtual head space data to the actual coordinate system to obtain the real head space data.

[0064] The image coordinate system may be a coordinate system for the positions of pixels in an image in image processing or computer vision, and the actual coordinate system may be a coordinate system for describing the positions of objects in the physical world.

[0065] Specifically, after obtaining the virtual head space data, these data are converted into the actual coordinate system to determine the specific position and angle information of the patient in the physical world. First, the virtual head space data is determined. Next, by obtaining the internal and external parameters of the camera, the relationship between the image coordinate system and the corresponding coordinate system of the image acquisition device can be established. The internal parameters of the camera usually include focal length, principal point position and distortion coefficient, which determine how the camera projects the three-dimensional world onto a two-dimensional image. The external parameters describe the position (translation) and direction (rotation) of the camera in the actual coordinate system. The internal and external parameters of the camera directly affect how the camera captures the image of the environment. After obtaining the internal and external parameters of the camera, a transformation matrix can be constructed. By performing matrix operations on the virtual head space data and the above-mentioned transformation matrix, the head space data in the image acquisition device coordinate system can be calculated. Finally, by combining the actual coordinate system and the position information of the image acquisition device in the actual coordinate system, the real head space data can be accurately obtained. The real head space data is used to monitor the patient in real time and provide a data basis for subsequent acquisition of higher quality digital subtraction angiography.

[0066] For example, the conversion relationship between the actual coordinate system and the image coordinate system can be obtained through the previously input rack information and the actual placement position of the camera. By performing the coordinate system conversion, a three-dimensional spatial position model of the patient and the rack can be established, providing a basis for medical monitoring and treatment.

[0067] In the above implementation, based on the actual coordinate system, the position data of the image acquisition device in the actual coordinate system and the image coordinate system, the virtual head space data is converted to the actual coordinate system to obtain the real head space data, providing instant feedback to help doctors quickly adjust the medical imaging equipment and improve efficiency.

[0068] In some embodiments, see Figure 3 The preset head space data includes preset head posture data, the actual head space data includes actual head posture data, the medical imaging device includes a C-arm, and based on the actual head space data and the preset head space data, controlling the movement of the medical imaging device to perform head positioning may include the following steps:

[0069] S310: Determine head posture error data based on preset head posture data and actual head posture data.

[0070] S320: Generate an angle control signal based on the head posture error data.

[0071] S330 , controlling the C-arm according to the angle control signal to perform head positioning.

[0072] The head posture data may be data information of the direction of the head in three-dimensional space, and may include pitch angle, yaw angle and roll angle.

[0073] In some cases, the patient's head position is critical to the imaging quality and treatment effect, because incorrect head positioning may cause blurred images, loss of details, and may even affect the accuracy of diagnosis and treatment. However, in actual operation, due to the patient's discomfort, movement or other factors, the actual posture of the head may deviate from the preset angle. Therefore, when the angle of the patient's head is not at the preset angle, it is necessary to adjust the C-arm according to the patient's real-time head posture to restore it to the preset angle, thereby improving the accuracy of the image.

[0074] Specifically, by comparing the preset head posture data with the actual head posture data, the head posture error data is calculated. According to the head posture error data, a control algorithm is used to generate corresponding angle control signals, which specifically indicate the required movement direction and angle of the C-arm. After receiving the angle control signal, the medical imaging device will control the C-arm according to the angle control signal so that the C-arm moves accurately for head positioning.

[0075] Exemplarily, the angle control signal is sent to the motion system. After receiving the angle control signal, the motion system controls the movement of the C-arm according to the angle control signal. At the same time, in order to reduce the calculation error, the actual head posture data can be detected and obtained in real time during the movement, so as to adjust the motion parameters in real time and ensure that the final head posture data is consistent with the preset value, that is, the preset head posture data.

[0076] It should be noted that during the entire medical imaging process, the C-arm rotation angle must be within the range that the hardware device can achieve, which is determined by the design limitations of the device. If it is found that the C-arm cannot adjust the patient's head to the ideal angle, the system will activate the automatic adjustment mechanism to try to move the head closer to the expected angle and give the doctor a prompt message.

[0077] In the above implementation, head posture error data is determined based on preset head posture data and actual head posture data, and an angle control signal is generated based on the head posture error data. The C-arm is controlled according to the angle control signal to perform head positioning, thereby effectively improving the accuracy and reliability of medical imaging and ensuring that doctors can obtain clear and detailed imaging data.

[0078] In some embodiments, see Figure 4a The preset head space data includes preset head position data, the actual head space data includes actual head position data, the medical imaging device includes a bearing component for bearing a person to be positioned, and based on the actual head space data and the preset head space data, controlling the movement of the medical imaging device to perform head positioning may include the following steps:

[0079] S410: Determine head position error data according to preset head position data and actual head position data.

[0080] S420: Generate a position control signal based on the head position error data.

[0081] S430: Control the bearing component according to the position control signal to position the head.

[0082] In some cases, after the C-arm moves, the patient's head should be at a preset angle. At this time, it is necessary to ensure that the head is within the detection range of the detector to improve the accuracy of the image. The preset head position data is usually obtained based on the patient's standard position or a pre-set imaging scheme, and contains the coordinates of the ideal position of the head in space, usually expressed in three-dimensional coordinate form. The preset head position data is used to guide the distance that the load-bearing component needs to move. In order to improve the accuracy of the images captured by the medical imaging equipment, the position of the load-bearing component needs to be adjusted.

[0083] Specifically, by comparing the preset head position data with the actual head position data, the head position error data is calculated. According to the head position error data, a control algorithm is used to generate corresponding position control signals, which specifically indicate the required moving direction and distance of the bearing component. After receiving the position control signal, the medical imaging device will control the bearing component according to the position control signal so that the bearing component moves accurately to position the head.

[0084] For example, the position control signal is sent to the motion system. After receiving the position control signal, the motion system controls the bed board to move according to the position control signal. At the same time, in order to reduce the calculation error, the actual head position data can be detected and obtained in real time during the movement, so as to adjust the movement parameters in real time to ensure that the final head position data is consistent with the preset value, that is, the preset head position data. Figure 4b , the outline of the patient's head is within the range of the detector receiving radiation.

[0085] It should be noted that during the entire medical imaging process, the position of the load-bearing components (such as the bed board) must be within the reachable range of the hardware device, which is determined by the design limitations of the device. If it is found that the load-bearing components (such as the bed board) cannot adjust the patient's head to the ideal position, the system will activate the automatic adjustment mechanism, try to move the head to the center of the field of view or the pre-set position, and give the doctor a prompt message.

[0086] In the above-mentioned embodiment, the head position error data is determined according to the preset head position data and the actual head position data, and a position control signal is generated based on the head position error data. The bearing component is controlled according to the position control signal to perform head positioning, thereby effectively improving the accuracy and reliability of medical imaging and ensuring that doctors can obtain clear and detailed image data.

[0087] In some embodiments, the preset head position data is determined in the following manner: when the actual head space data is not on the center line of the medical imaging device, the position data of the intersection between the center line and the bearing component is used as the preset head position data.

[0088] The center line is the line between the detector and the tube. The bearing component may be a bed board.

[0089] In some cases, during medical imaging, if the center position of the patient's head deviates from the center line of the medical imaging device, it may cause image distortion or information loss. For example, a blurred image may affect the doctor's diagnostic ability and lead to incorrect treatment plans. Therefore, by locating the intersection between the center line and the load-bearing component, an accurate reference point can be provided for the patient's head to ensure more accurate image acquisition.

[0090] Specifically, first, the line between the detector and the tube is used as the center line. Before image acquisition, the position of the patient's head needs to be evaluated. If the actual head space data is not on the center line of the medical imaging device, it means that the patient's head is deviated. At this time, it is necessary to move the patient's head to the central area that the detector can scan by adjusting the position of the carrier. Therefore, it is necessary to accurately calculate the distance that the carrier needs to move to ensure that the patient's head can be accurately aligned with the center line. At this time, the intersection position data between the center line and the carrier is used as the position to which the carrier should move when the head moves to the center of the field of view. This position can guide the movement of the carrier, so this position can be used as the target position to which the carrier needs to move to form preset head position data.

[0091] For example, see Figure 5 , the outline of the patient's head is not completely within the range of the detector receiving the radiation. This deviation may cause image distortion or incomplete data, thereby affecting the doctor's diagnostic decision. The position data of the intersection 508 between the connecting line between the detector 502 and the tube 504 and the bed board 506 can be used as the preset head position data.

[0092] In the above embodiment, when the actual head space data is not on the center line of the medical imaging device, the position data of the intersection between the center line and the supporting component is used as the preset head position data, which effectively reduces the image acquisition error caused by the patient's position change.

[0093] In some embodiments, the preset head posture data includes a conventional body position for interventional surgery and / or a preset angle reached by a medical imaging device.

[0094] Among them, the conventional body position includes any one of the head upright position and the head sideways position.

[0095] Specifically, the preset head posture data can be set according to the patient's specific situation before surgery to optimize the image acquisition process and reduce unnecessary radiation and time waste. Through reasonable preset and adjustment, the required images can be obtained more effectively, thereby improving the safety and success rate of the operation. The use of preset head posture data is to ensure that the required image information can be obtained quickly and accurately during the medical imaging process. The preset head posture data includes not only the conventional body position for interventional surgery, but also the specific angles that the medical imaging equipment reaches that are set in advance.

[0096] In general, conventional postures can meet most examination needs. Usually, the front head position and the side head position are the most commonly used head postures, because the vascular morphology at these two angles has medical anatomical significance, thereby making more accurate clinical judgments. Different head postures will affect the clarity and visualization of the image. The front head position is suitable for observing the front structure of the head, while the side head position is more suitable for evaluating the side structure. Therefore, any of the front head position and the side head position can be determined as the preset head posture data, so as to control the movement of the medical imaging equipment for head positioning.

[0097] Due to individual differences and different clinical needs, conventional body positions are sometimes not enough to meet all situations. For certain specific pathological conditions or anatomical features, the specific angle that the medical imaging device reaches can be set in advance according to the patient's actual situation and used as the preset head posture data to ensure the best image quality.

[0098] In some embodiments, due to the relative anatomical relationship between bones and blood vessels, in common neurosurgery, the intracranial blood vessels will first be collected at two angles: the anteroposterior position and the lateral position. After collecting the DSA images in the anteroposterior position and the lateral position, the lesion location and surgical planning can be more accurately determined. Usually, the angles of the anteroposterior position and the lateral position are set to LAO / RAO 0°RA / CAU 0° and LAO / RAO 90°RA / CAU 0°, respectively.

[0099] For example, see Figure 6a , Figure 6a A standard lateral cephalad digital subtraction angiography (DSA) image is shown. Figure 6aThe position indicated by the middle arrow shows that the mandible overlaps well and the ears overlap with each other, with the outer contour of one ear covering the other, which indicates the standardization and accuracy of the head side posture setting. Figure 6b , Figure 6b A nonstandard lateral head position DSA image is shown. Figure 6b The anterior and posterior mandibles pointed by the middle arrows do not overlap well, and the ears are located far apart, which reflects the problem of unclear anatomical structures caused by a less-than-standard lateral position, thus affecting subsequent clinical decisions.

[0100] In the above embodiment, the preset head posture data includes the conventional posture of the interventional surgery and / or the angle reached by the medical imaging equipment preset in advance, and the conventional posture includes any one of the head forward position and the head sideways position to improve the accuracy of the diagnosis result.

[0101] This specification provides an auxiliary head positioning device 700, see Figure 7 The auxiliary head positioning device 700 includes: a head posture estimation module 710, a head data conversion module 720, and a head positioning module 730.

[0102] A head posture estimation module 710 is used to estimate the head posture based on the initial facial image to obtain virtual head space data;

[0103] The head data conversion module 720 is used to perform data conversion on the virtual head space data to obtain real head space data;

[0104] The head positioning module 730 is used to control the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data.

[0105] For a detailed description of the auxiliary head positioning device, please refer to the description of the auxiliary head positioning method above, which will not be repeated here.

[0106] An embodiment of the present specification provides a medical imaging device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method steps in the above embodiment when executing the computer program.

[0107] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an auxiliary head positioning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0108] Those skilled in the art will understand that Figure 8 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution disclosed in this specification, and does not constitute a limitation on the computer device to which the solution disclosed in this specification is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0109] In some embodiments, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method steps in the above embodiments when executing the computer program.

[0110] An embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0111] One embodiment of the present specification provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device can perform the steps of the method of any of the above embodiments.

[0112] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

Claims

1. A method for assisting head positioning, characterized in that: The method comprises: Estimating the head posture based on the initial facial image to obtain virtual head space data; Performing data conversion on the virtual head space data to obtain real head space data; Based on the actual head space data and the preset head space data, the movement of the medical imaging device is controlled to perform head positioning.

2. The method according to claim 1, characterized in that The virtual head space data is located in an image coordinate system, the real head space data is located in an actual coordinate system, and the data conversion of the virtual head space data to obtain the real head space data includes: Based on the actual coordinate system, the position data of the image acquisition device in the actual coordinate system and the image coordinate system, the virtual head space data is converted to the actual coordinate system to obtain the real head space data.

3. The method according to claim 1, characterized in that The preset head space data includes preset head posture data, the actual head space data includes actual head posture data, the medical imaging device includes a C-arm, and controlling the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data includes: Determining head posture error data according to the preset head posture data and the actual head posture data; generating an angle control signal based on the head posture error data; The C-arm is controlled according to the angle control signal to perform head positioning.

4. The method according to claim 1, characterized in that: The preset head space data includes preset head position data, the actual head space data includes actual head position data, the medical imaging device includes a bearing component for bearing a person to be positioned, and based on the actual head space data and the preset head space data, controlling the movement of the medical imaging device to perform head positioning includes: Determining head position error data according to the preset head position data and the actual head position data; generating a position control signal based on the head position error data; The bearing component is controlled according to the position control signal to perform head positioning.

5. The method according to claim 4, characterized in that The preset head position data is determined by: When the actual head space data is not on the center line of the medical imaging device, the position data of the intersection between the center line and the supporting component is used as the preset head position data, wherein the center line is the line between the detector and the tube.

6. The method according to claim 3, characterized in that: The preset head posture data includes a conventional body position for interventional surgery and / or a preset angle reached by a medical imaging device, wherein the conventional body position includes any one of a head upright position and a head lateral position.

7. An auxiliary head positioning device, characterized in that: The device comprises: A head posture estimation module is used to estimate the head posture based on the initial facial image to obtain virtual head space data; A head data conversion module, used for performing data conversion on the virtual head space data to obtain real head space data; The head positioning module is used to control the movement of the medical imaging device to perform head positioning based on the actual head space data and the preset head space data.

8. A medical imaging device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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