Image information acquisition method and device, electronic equipment and computer readable medium

Abstract

The embodiment of the invention discloses an image information acquisition method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: determining whether current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition or not; the first mechanical arm is controlled to move to first preset initial position information; controlling the second mechanical arm to move to the center position information of the excitation probe; generating moving area information corresponding to the first mechanical arm; the first mechanical arm is controlled to move to the first target area; generating movement track information corresponding to the second mechanical arm as target movement track information; the second mechanical arm is controlled to move to a target area corresponding to the target detection position; and the second mechanical arm is controlled to comprise an ultrasonic imaging probe and an optical scanning imaging probe, and the excitation probe collects the image information of the object to be detected, so that the detection steps can be simplified, and the time consumption for collecting the image of the object to be detected is shortened.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of computer technology, and in particular to an image information acquisition method, device, electronic device, and computer-readable medium. Background Art

[0002] The ultrasound image, OCT image and shear wave image of the object to be detected (for example, skin tissue) can be collected to detect the state of the object to be detected. At present, when detecting the image of the object to be detected, the method usually adopted is: first directly move an entire robotic arm to the detection position of the object to be detected to detect the ultrasound image of the object to be detected. Then switch the probe to detect the OCT image of the object to be detected. Finally, detect the shear wave image of the object to be detected.

[0003] However, it is found in practice that when the above method is used to collect images of the object to be detected, the following technical problems often occur:

[0004] An entire robotic arm is used to determine the detection position of the object to be detected. The movement range of the robotic arm is large, and the step distance of the movement of the entire robotic arm is large, which requires repeated adjustment of the movement position of the robotic arm, resulting in low accuracy in reaching the detection position of the object to be detected, and a long time is spent on moving the robotic arm; and the probe needs to be repeatedly switched to capture the image of the object to be detected. The detection steps are relatively complicated, resulting in a long time spent on capturing the image of the object to be detected.

[0005] The above information disclosed in this Background section is only for enhancement of understanding of the background of the inventive concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the invention

[0006] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0007] Some embodiments of the present disclosure propose image information acquisition methods, devices, electronic devices, and computer-readable media to solve one or more of the technical problems mentioned in the above background technology section.

[0008] In a first aspect, some embodiments of the present disclosure provide an image information acquisition method, in response to detecting startup information of an associated imaging mobile device, determining whether current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected with an excitation probe; in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, according to the first preset initial position information, controlling the first mechanical arm to move to the first preset initial position information to initialize the first mechanical arm; according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, controlling the second mechanical arm to move to the center position information of the excitation probe to initialize the second mechanical arm; in response to detecting the object to be detected The detection request information of the target detection area of ​​the body is received, and according to the above target detection area, the moving area information corresponding to the above first mechanical arm is generated; according to the above moving area information, the above first mechanical arm is controlled to move to the first target area, wherein the above first target area can be the area represented by the above moving area information; according to the above target detection area and the real-time position information of the above second mechanical arm, the moving trajectory information corresponding to the above second mechanical arm is generated as the target moving trajectory information; according to the above target moving trajectory information, the above second mechanical arm is controlled to move to the target area corresponding to the above target detection position; the above ultrasonic imaging probe, the above optical scanning imaging probe and the above excitation probe included in the above second mechanical arm are controlled to collect the image information of the above object to be detected, wherein the above image information includes ultrasonic image information, optical scanning image information and shear wave image information, and the above ultrasonic image information, the above optical scanning image information and the above shear wave image information are respective images of the same position of the above object to be detected collected simultaneously.

[0009] In a second aspect, some embodiments of the present disclosure provide an image information acquisition device, comprising: a first determination unit, configured to determine, in response to detecting startup information of an associated imaging mobile device, whether current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected with an excitation probe; a first control unit, configured to, in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, control the first mechanical arm to move to the first preset initial position information according to the first preset initial position information, so as to initialize the first mechanical arm; a second control unit, configured to control the second mechanical arm to move to the center position information of the excitation probe according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, so as to initialize the second mechanical arm; a first generation unit, configured to, in response to detecting the current position information of the first mechanical arm and the second mechanical arm to be detected, control the first mechanical arm to move to the center position information of the excitation probe according to the real-time position information of the second mechanical arm, so as to initialize the second mechanical arm; The detection request information of the target detection area of ​​the object is used to generate the moving area information corresponding to the first robotic arm according to the target detection area; the third control unit is configured to control the first robotic arm to move to the first target area according to the moving area information, wherein the first target area can be the area represented by the moving area information; the second generation unit is configured to generate the moving trajectory information corresponding to the second robotic arm as the target moving trajectory information according to the real-time position information of the target detection area and the second robotic arm; the fourth control unit is configured to control the second robotic arm to move to the target area corresponding to the target detection position according to the target moving trajectory information; the fifth control unit is configured to control the ultrasonic imaging probe, the optical scanning imaging probe and the excitation probe included in the second robotic arm to collect the image information of the object to be detected, wherein the image information includes ultrasonic image information, optical scanning image information and shear wave image information, and the ultrasonic image information, the optical scanning image information and the shear wave image information are respective images of the same position of the object to be detected collected simultaneously.

[0010] In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the above-mentioned first aspect.

[0011] In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method described in any one of the implementations of the first aspect or the second aspect is implemented.

[0012] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the image information acquisition method of some embodiments of the present disclosure, the accuracy of the mechanical arm reaching the detection position of the object to be detected can be improved and the time consumed by the mechanical arm moving to the detection position of the object to be detected can be shortened, and the detection steps are simplified, and the time consumed by collecting the image of the object to be detected is shortened. The reasons for the poor accuracy of the mechanical arm reaching the detection position of the object to be detected, the long time consumed by the mechanical arm moving to the detection position of the object to be detected, the complicated detection steps, and the long time consumed by collecting the image of the object to be detected are: using an entire mechanical arm to determine the detection position of the object to be detected, the movement range of the mechanical arm is large, and the step distance of the movement of the entire mechanical arm is large, resulting in the need to repeatedly adjust the movement position of the mechanical arm, resulting in low accuracy of reaching the detection position of the object to be detected, and a long time consumed by moving the mechanical arm; and the need to repeatedly switch the probe to collect the image of the object to be detected, the detection steps are complicated, resulting in a long time consumed by collecting the image of the object to be detected. Based on this, the image information acquisition method of some embodiments of the present disclosure, first, in response to detecting the startup information of the associated imaging mobile device, determines whether the current position information of the first mechanical arm and the second mechanical arm included in the imaging mobile device meets the preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected with an excitation probe. Thus, it can be determined whether the first mechanical arm and the second mechanical arm need to be initialized. Then, in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, according to the first preset initial position information, the first mechanical arm is controlled to move to the first preset initial position information to initialize the first mechanical arm. Thus, the first mechanical arm can be initialized. Afterwards, according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, the second mechanical arm is controlled to move to the center position information of the excitation probe to initialize the second mechanical arm. Thus, when the position information of the second mechanical arm is not at the center position of the above-mentioned excitation probe, the initialization of the second mechanical arm can be achieved. Secondly, in response to the detection request information of the target detection area of ​​the object to be detected, the moving area information corresponding to the above-mentioned first mechanical arm is generated according to the above-mentioned target detection area. Thus, the moving area corresponding to the above-mentioned first mechanical arm can be obtained, and a larger moving area including the above-mentioned object to be detected can be obtained, so that the mechanical arm can be moved to the larger moving area to detect the above-mentioned object to be detected. Afterwards, according to the above-mentioned moving area information, the above-mentioned first mechanical arm is controlled to move to the first target area, wherein the above-mentioned first target area can be the area represented by the above-mentioned moving area information. Thus, the above-mentioned first mechanical arm can be moved to a larger area.Secondly, according to the target detection area and the real-time position information of the second mechanical arm, the movement trajectory information corresponding to the second mechanical arm is generated as the target movement trajectory information. Thus, the small mechanical arm can be started to move according to the generated movement trajectory so that the small mechanical arm can move to the detection position of the object to be detected. Afterwards, the second mechanical arm can be controlled to move to the target area corresponding to the target detection position according to the target movement trajectory information. Thus, the second mechanical arm can be moved to the target area to detect the object to be detected. Finally, the ultrasonic imaging probe, the optical scanning imaging probe, and the excitation probe included in the second mechanical arm are controlled to collect the image information of the object to be detected, wherein the image information includes ultrasonic image information, optical scanning image information, and shear wave image information, and the ultrasonic image information, the optical scanning image information, and the shear wave image information are images of the same position of the object to be detected collected at the same time. Thus, the detected image information can be obtained. Also because it is not directly moved to the detection position of the object to be detected by an entire mechanical arm, but is moved to the detection position by the first mechanical arm and the second mechanical arm, first, a larger area range is determined by the first mechanical arm. Then, a smaller area is determined by the second mechanical arm, and the second mechanical arm is controlled to move to the detection position of the object to be detected, so that the detection position of the object to be detected can be detected. The moving step of the second mechanical arm is small, so that the detection flexibility and detection range of the object to be detected can be improved, and there is no need to repeatedly adjust the position of the mechanical arm, so that the time spent on moving the mechanical arm can be shortened. In addition, because the ultrasonic image, the optical scanning image and the shear wave image of the same position of the object to be detected can be detected at the same time, there is no need to repeatedly switch the probe for detection, thereby simplifying the detection steps and shortening the time spent on collecting the image of the object to be detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0014] Figure 1 is a flow chart of some embodiments of the image information acquisition method according to the present disclosure;

[0015] Figure 2 is a schematic diagram of the structure of some embodiments of the image information acquisition device according to the present disclosure;

[0016] Figure 3 is a schematic structural diagram of some embodiments of the associated imaging mobile device according to the present disclosure;

[0017] Figure 4 It is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0019] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0020] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] Figure 1 The process 100 of some embodiments of the image information acquisition method according to the present disclosure is shown. The image information acquisition method comprises the following steps:

[0025] Step 101 : in response to detecting startup information of an associated imaging mobile device, determining whether current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition.

[0026] In some embodiments, in response to detecting the startup information of the associated imaging mobile device, the execution subject may determine whether the current position information of the first mechanical arm and the second mechanical arm included in the imaging mobile device meets the preset initial position condition. Wherein, the first mechanical arm may be connected to the second mechanical arm. The second mechanical arm may be connected to an ultrasonic imaging probe and an optical scanning imaging probe. The connection base of the second mechanical arm may be connected to an excitation probe. The ultrasonic imaging probe may be an ultrasonic probe. The optical scanning imaging probe may be an OCT probe. The frequency of the ultrasonic imaging probe may be 50MHz. The diameter of the ultrasonic imaging probe is about 5mm. The frequency of the excitation probe may be 5MHz. The diameter of the excitation probe is about 5cm. The wavelength of the optical scanning imaging probe is 1310nm. The diameter of the optical scanning imaging probe is about 2mm. Wherein, the startup information may indicate that the imaging mobile device is turned on. The moving step of the first mechanical arm is greater than the moving step of the second mechanical arm. The moving step of the first mechanical arm may be 0.05mm. The moving step of the second mechanical arm may be 0.01mm. The number of joints of the first robotic arm and the second robotic arm can both be 3. The current position information can represent the current three-dimensional coordinates of the first robotic arm and the current three-dimensional coordinates of the second robotic arm. The preset initial position condition can be that the three-dimensional coordinates of the first robotic arm are the first preset three-dimensional coordinates and the three-dimensional coordinates of the second robotic arm are the second preset three-dimensional coordinates. Here, the specific numerical value of the first preset three-dimensional coordinates is not limited. The second preset three-dimensional coordinates can represent the center position of the excitation probe. In practice, the execution entity can obtain the current position information corresponding to the first robotic arm and the second robotic arm from the current position information set. Among them, the current position information set can represent the three-dimensional coordinates corresponding to the first robotic arm and the second robotic arm obtained by the position sensor. Figure 3 As shown, the first mechanical arm is 04. The first mechanical arm is 05. The ultrasonic imaging probe is 01. The optical scanning imaging probe may be 02. The excitation probe is 03.

[0027] Step 202, in response to determining that the current position information of the first robotic arm and the second robotic arm does not meet the preset initial position condition, according to the first preset initial position information, control the first robotic arm to move to the first preset initial position information to initialize the first robotic arm.

[0028] In some embodiments, in response to determining that the current position information of the first robotic arm and the second robotic arm does not meet the preset initial position condition, the execution subject may control the first robotic arm to move to the first preset initial position information according to the first preset initial position information, so as to initialize the first robotic arm. The first preset initial position information may represent the preset initial position of the first robotic arm. The first preset initial position information may be the same as the first preset three-dimensional coordinate.

[0029] In some optional implementations of some embodiments, in response to determining that the current position information of the first robotic arm and the second robotic arm does not meet the preset initial position condition, the execution subject may control the first robotic arm to move to the first preset initial position information according to the first preset initial position information through the following steps to perform initialization processing on the first robotic arm:

[0030] The first step is to generate the robot arm movement trajectory information corresponding to the first robot arm according to the first preset initial position information and the current position coordinates of the first robot arm, wherein the robot arm movement trajectory information can represent the motion trajectory of controlling the first robot arm to move to the first preset initial position information.

[0031] The second step is to control the first robotic arm to move to the first preset initial position information according to the robotic arm movement trajectory information.

[0032] In some optional implementations of some embodiments, the execution subject may generate the robot arm movement trajectory information corresponding to the first robot arm according to the first preset initial position information and the current position coordinates of the first robot arm through the following steps:

[0033] The first step is to generate the movement trajectory information of each robot arm corresponding to the first robot arm according to the current position coordinates and the first preset initial position information. The execution subject can generate the movement trajectory information of each robot arm corresponding to the first robot arm according to the current position coordinates and the first preset initial position information by a Cartesian space planning method.

[0034] The second step is to determine the robot arm movement trajectory information that meets the preset selection conditions from the above-mentioned robot arm movement trajectory information.

[0035] The third step is to determine the robot arm movement trajectory information that meets the preset selection condition among the above-mentioned robot arm movement trajectory information as the robot arm movement trajectory information corresponding to the above-mentioned first robot arm. The above-mentioned preset selection condition may be that the movement time corresponding to the robot arm movement trajectory information is the shortest.

[0036] In some optional implementations of some embodiments, the execution subject may determine the robot arm movement trajectory information that meets the preset selection condition from the above-mentioned robot arm movement trajectory information through the following steps:

[0037] The first step is to generate each predicted trajectory performance information corresponding to each of the above-mentioned robot arm movement trajectory information based on the above-mentioned robot arm movement trajectory information. Among them, the above-mentioned predicted trajectory performance information can characterize the time consumption of the predicted robot arm movement trajectory. In practice, the above-mentioned execution subject can use the path planning algorithm for each of the above-mentioned robot arm movement trajectory information to generate each predicted trajectory performance information corresponding to the above-mentioned robot arm movement trajectory information. For example, the path planning algorithm can be the Dijkstra algorithm.

[0038] In the second step, according to the above-mentioned various predicted trajectory performance information, the robot arm movement trajectory information that meets the preset selection conditions is determined among the above-mentioned various robot arm movement trajectory information.

[0039] Step 203 , according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, control the second mechanical arm to move to the center position information of the excitation probe, so as to initialize the second mechanical arm.

[0040] In some embodiments, the execution subject may control the second robotic arm to move to the center position information of the excitation probe according to the center position information of the excitation probe and the real-time position information of the second robotic arm, so as to initialize the second robotic arm. The center position information of the excitation probe may represent the three-dimensional coordinates of the center position of the excitation probe. The real-time position information may represent the three-dimensional coordinates of the second robotic arm at the current position. The current position may represent the three-dimensional coordinates of the second robotic arm when the first robotic arm moves to the first preset initial position information.

[0041] Step 204 , in response to detecting the detection request information of the target detection area of ​​the object to be detected, generating the movement area information corresponding to the first robot arm according to the target detection area.

[0042] In some embodiments, in response to detecting a detection request information of a target detection area for an object to be detected, the execution entity may generate movement area information corresponding to the first robotic arm based on the target detection area. The target detection area may represent an area where the object to be detected needs to be detected. The movement area information may represent an area to which the first robotic arm needs to move. The movement area information may include the target detection area. Here, there is no limitation on the shapes of the target detection area and the area represented by the movement area information. For example, the target detection area and the area represented by the movement area information may be circular.

[0043] In some optional implementations of some embodiments, the execution subject may generate the moving area information corresponding to the first mechanical arm according to the target detection area through the following steps:

[0044] The first step is to obtain each adjacent detection area corresponding to the target detection area. Among them, each adjacent detection area can represent each area adjacent to the target detection area. The target detection area and each adjacent detection area can represent an area in a three-dimensional space. In practice, the execution subject can determine each adjacent detection area of ​​the target detection area through a space division algorithm.

[0045] The second step is to merge the above-mentioned adjacent detection areas and the above-mentioned target detection area to obtain merged area information. The above-mentioned merged area information can represent the area after the above-mentioned adjacent detection areas and the above-mentioned target detection area are merged. In practice, the above-mentioned execution entity can merge the above-mentioned adjacent detection areas and the above-mentioned target detection area through a regional merging algorithm to obtain the merged area information. For example, the regional operation algorithm can be a Boolean operation algorithm.

[0046] The third step is to determine whether the merged area information satisfies the pre-detection area condition. The preset detection area condition may be that the merged area represented by the merged area information includes the movable area of ​​the second robotic arm, and the distance between the merged area and the movable area is less than the target distance. The movable area of ​​the second robotic arm may represent the maximum movable three-dimensional area of ​​the second robotic arm. The specific value of the target distance is not limited here.

[0047] In the fourth step, in response to determining that the merged area information satisfies the preset detection area condition, the merged area information is determined as the mobile area information corresponding to the first robotic arm. The preset detection area condition may be that the merged area represented by the merged area information includes the movable area of ​​the second robotic arm, and the distance between the merged area and the movable area is less than the target distance. The movable area of ​​the second robotic arm may represent the maximum movable three-dimensional area of ​​the second robotic arm.

[0048] In some optional implementations of some embodiments, the execution subject may determine whether the merged region information satisfies the pre-detection region condition by the following steps:

[0049] In the first step, each boundary point is selected from the boundary point set of the movable area of ​​the second robot arm as each target boundary point, wherein the boundary points in the boundary point set can represent the boundary points of the movable area.

[0050] In the second step, for each of the target boundary points, the execution entity may determine the distance between the target boundary point and the boundary point of the merged region information corresponding thereto to obtain each distance. In practice, the execution entity may determine the distance between the target boundary point and the boundary point of the merged region information corresponding thereto by using the Euclidean distance formula.

[0051] In the third step, the average value of each distance obtained can be determined as the distance between the movable area and the merged area. The boundary point of the merged area corresponding to the movable area can represent the boundary point closest to the target boundary point among the boundary points of the merged area information.

[0052] The fourth step is to determine whether the distance between the movable area and the merged area is less than the target distance.

[0053] In a fifth step, in response to determining whether the distance between the movable area and the merged area is less than the target distance, determining whether the merged area information satisfies a pre-detection area condition.

[0054] Optionally, after step 104, first, in response to determining that the merged area information does not meet the pre-detection area condition, and the merged area information meets the preset reduction area condition, the execution entity may update the merged area information. The preset reduction area condition may indicate that the distance between the merged area represented by the merged area information and the movable area is less than the target preset distance. The target preset distance is greater than the target distance. Here, the preset value of the target preset distance is not specifically limited. In practice, the execution entity may use a region update algorithm to reduce the merged area information according to the difference between the target preset distance and the target distance. For example, the region update algorithm may be a space division algorithm.

[0055] Step 205: Control the first robot arm to move to the first target area according to the moving area information.

[0056] In some embodiments, the execution subject may control the first mechanical arm to move to a first target area according to the moving area information, wherein the first target area may be an area represented by the moving area information.

[0057] Step 206 : Generate movement trajectory information corresponding to the second robotic arm as target movement trajectory information according to the target detection area and the real-time position information of the second robotic arm.

[0058] In some embodiments, the execution subject may generate movement trajectory information corresponding to the second robotic arm as target movement trajectory information based on the target detection area and the real-time position information of the second robotic arm. The target movement trajectory information may represent the trajectory of the second robotic arm moving from the position represented by the real-time position information to the target detection area. The real-time position information may represent the current position of the second robotic arm.

[0059] In the process of adopting technical solutions to solve the above-mentioned technical problem one, the following technical problem two is often accompanied: directly using the generated moving trajectory to move the above-mentioned second robotic arm without considering optimizing the generated moving trajectory, resulting in the above-mentioned second robotic arm being moved according to a moving trajectory with poor performance, which leads to a long movement time and shortens the life of the robotic arm. For the above-mentioned technical problem two, the conventional solution is generally: select a moving trajectory from the generated moving trajectories to move the second robotic arm. The inventor took into account the shortcomings of selecting a moving trajectory from the generated moving trajectories to move the second robotic arm. And the inventor's unit already has experience in optimizing moving trajectories, so we decided to adopt the following solution:

[0060] In some optional implementations of some embodiments, the execution subject may generate movement trajectory information corresponding to the second robotic arm as target movement trajectory information according to the target detection area and the real-time position information of the second robotic arm through the following steps:

[0061] The first step is to generate various movement trajectory information corresponding to the above-mentioned second robotic arm according to the preset constraint information corresponding to the above-mentioned second robotic arm. Among them, the above-mentioned preset constraint information can represent the maximum value of the joint angle of the above-mentioned second robotic arm, the motion range of the above-mentioned second robotic arm, the real-time position information (starting point) of the above-mentioned second robotic arm, and any three-dimensional coordinate point (end point) in the above-mentioned target detection area. The movement trajectory information in the above-mentioned various movement trajectory information corresponding to the above-mentioned second robotic arm can represent the trajectory of the above-mentioned second robotic arm moving from the position represented by the above-mentioned real-time position information to the above-mentioned target detection area. In practice, the above-mentioned execution subject can generate various movement trajectory information corresponding to the above-mentioned second robotic arm according to the preset constraint information corresponding to the above-mentioned second robotic arm through a trajectory planning algorithm. For example, the trajectory planning algorithm can be a third-order B-spline function interpolation trajectory design.

[0062] The second step is to generate the objective function information corresponding to the second robotic arm according to the real-time position information, the target detection area, and the detailed operation information corresponding to the second robotic arm. The objective function information can represent the objective function. The objective function can represent the optimization target. The detailed operation information can include but is not limited to one of the following: the maximum value of the joint angle of the second robotic arm, the motion range of the second robotic arm. In practice, the execution subject can generate the objective function information corresponding to the second robotic arm according to the real-time position information, the target detection area, and the detailed operation information corresponding to the second robotic arm through the objective function information generation algorithm. For example, the objective function information generation algorithm can be a golf optimization algorithm.

[0063] The third step is to perform the following update steps for each moving trajectory information according to the preset number of iterations:

[0064] The first updating step is to initialize the above-mentioned various movement trajectory information to obtain the various movement trajectory information after the initialization processing. Among them, the above-mentioned preset number of iterations can represent the number of times the updating step is executed. The initial value of the above-mentioned preset number of iterations can be 0. In practice, the above-mentioned execution subject can use a chaotic mapping algorithm to initialize the above-mentioned various movement trajectory information to obtain the various movement trajectory information after the initialization processing.

[0065] The second updating step is to determine the trajectory performance information corresponding to each of the above-mentioned moving trajectory information according to the above-mentioned objective function information. Among them, the moving trajectory information in the above-mentioned moving trajectory information corresponds to the trajectory performance information in the above-mentioned trajectory performance information. The above-mentioned trajectory performance information can characterize the time consumption of the moving trajectory information. In practice, the above-mentioned execution subject can determine the trajectory performance information corresponding to each of the above-mentioned moving trajectory information according to the above-mentioned objective function information through the golf optimization algorithm.

[0066] The third updating step is to update each mobile trajectory information according to the above-mentioned each trajectory performance information to obtain updated each mobile trajectory information. In practice, the above-mentioned execution subject can use a trajectory optimization algorithm to update each mobile trajectory information according to the above-mentioned each trajectory performance information to obtain updated each mobile trajectory information. For example, the trajectory optimization algorithm can be an adaptive factor adjustment algorithm.

[0067] The fourth updating step is to update the preset number of iterations to obtain an updated preset number of iterations. In practice, the execution subject may add 1 to the number represented by the preset number of iterations to update the preset number of iterations.

[0068] In a fifth updating step, in response to determining that the preset number of iterations after the update satisfies the preset iteration condition, the preset number of iterations after the update is used as the preset number of iterations, and each piece of movement trajectory information after the update is used as the movement trajectory information, and the updating step is performed again for each piece of movement trajectory information according to the preset number of iterations. The preset iteration condition may be that the number of times represented by the preset number of iterations is equal to the preset number. Here, the specific value of the preset number is not limited. For example, the preset number may be 5.

[0069] In a sixth updating step, in response to determining that the preset number of iterations after the update does not satisfy the preset iteration condition, the movement trajectory information satisfying the preset trajectory selection condition among the updated movement trajectory information is determined as the movement trajectory information corresponding to the second robot arm. The preset trajectory selection condition may be the movement trajectory information with the shortest time consumption.

[0070] As an inventive point of an embodiment of the present disclosure, the above technical solution solves the second technical problem: the factors of "long movement time and shortened life of the robot arm" are often as follows: the generated movement trajectory is directly used to move the second robot arm, and the generated movement trajectory is not considered to be optimized, resulting in the movement of the second robot arm according to the movement trajectory with poor performance. If the above factors are solved, the effect of shortening the movement time of the robot arm and reducing the situation of shortening the life of the robot arm can be achieved. In order to achieve this effect, when generating the movement trajectory information corresponding to the second robot arm, the present disclosure first detects the performance of each generated movement trajectory according to the objective function, and then optimizes the performance of each movement trajectory to update each movement trajectory. Afterwards, the movement trajectory information that meets the preset trajectory selection condition in each updated movement trajectory is determined as the movement trajectory information of the second robot arm. In this way, the optimization of the movement trajectory can be achieved, and the movement trajectory with the best performance is selected as the movement trajectory information of the second robot arm. Thereby, the movement time can be shortened and the life of the robot arm can be extended.

[0071] Step 107 , according to the target movement trajectory information, control the second robot arm to move to the target area corresponding to the target detection position.

[0072] In some embodiments, the execution subject may control the second robotic arm to move to a target area corresponding to the target detection position according to the target movement trajectory information. The target area may represent an area that includes the target detection position and is detectable by the ultrasound imaging probe and OCT probe included in the imaging mobile device.

[0073] Step 108 , controlling the ultrasonic imaging probe, the optical scanning imaging probe, and the excitation probe included in the second mechanical arm to collect image information of the object to be detected.

[0074] In some embodiments, the execution subject can control the ultrasonic imaging probe, the optical scanning imaging probe, and the excitation probe included in the second mechanical arm to collect image information of the object to be detected. The image information may include ultrasonic image information, optical scanning image information, and shear wave image information, and the ultrasonic image information, the optical scanning image information, and the shear wave image information are images of the same position of the object to be detected collected simultaneously.

[0075] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the image information acquisition method of some embodiments of the present disclosure, the accuracy of the mechanical arm reaching the detection position of the object to be detected can be improved and the time consumed by the mechanical arm moving to the detection position of the object to be detected can be shortened, and the detection steps are simplified, and the time consumed by collecting the image of the object to be detected is shortened. The reasons for the poor accuracy of the mechanical arm reaching the detection position of the object to be detected, the long time consumed by the mechanical arm moving to the detection position of the object to be detected, the complicated detection steps, and the long time consumed by collecting the image of the object to be detected are: using an entire mechanical arm to determine the detection position of the object to be detected, the movement range of the mechanical arm is large, and the step distance of the movement of the entire mechanical arm is large, resulting in the need to repeatedly adjust the movement position of the mechanical arm, resulting in low accuracy of reaching the detection position of the object to be detected, and a long time consumed by moving the mechanical arm; and the need to repeatedly switch the probe to collect the image of the object to be detected, the detection steps are complicated, resulting in a long time consumed by collecting the image of the object to be detected. Based on this, the image information acquisition method of some embodiments of the present disclosure, first, in response to detecting the startup information of the associated imaging mobile device, determines whether the current position information of the first mechanical arm and the second mechanical arm included in the imaging mobile device meets the preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected with an excitation probe. Thus, it can be determined whether the first mechanical arm and the second mechanical arm need to be initialized. Then, in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, according to the first preset initial position information, the first mechanical arm is controlled to move to the first preset initial position information to initialize the first mechanical arm. Thus, the first mechanical arm can be initialized. Afterwards, according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, the second mechanical arm is controlled to move to the center position information of the excitation probe to initialize the second mechanical arm. Thus, when the position information of the second mechanical arm is not at the center position of the above-mentioned excitation probe, the initialization of the second mechanical arm can be achieved. Secondly, in response to the detection request information of the target detection area of ​​the object to be detected, the moving area information corresponding to the above-mentioned first mechanical arm is generated according to the above-mentioned target detection area. Thus, the moving area corresponding to the above-mentioned first mechanical arm can be obtained, and a larger moving area including the above-mentioned object to be detected can be obtained, so that the mechanical arm can be moved to the larger moving area to detect the above-mentioned object to be detected. Afterwards, according to the above-mentioned moving area information, the above-mentioned first mechanical arm is controlled to move to the first target area, wherein the above-mentioned first target area can be the area represented by the above-mentioned moving area information. Thus, the above-mentioned first mechanical arm can be moved to a larger area.Secondly, according to the target detection area and the real-time position information of the second mechanical arm, the movement trajectory information corresponding to the second mechanical arm is generated as the target movement trajectory information. Thus, the small mechanical arm can be started to move according to the generated movement trajectory so that the small mechanical arm can move to the detection position of the object to be detected. Afterwards, the second mechanical arm can be controlled to move to the target area corresponding to the target detection position according to the target movement trajectory information. Thus, the second mechanical arm can be moved to the target area to detect the object to be detected. Finally, the second mechanical arm is controlled to include an ultrasonic imaging probe, an optical scanning imaging probe, and the excitation probe to collect image information of the object to be detected, wherein the image information includes ultrasonic image information, optical scanning image information, and shear wave image information, and the ultrasonic image, the optical scanning image, and the shear wave image are images of the same position of the object to be detected collected at the same time. Thus, the detected image information can be obtained. Also because it is not directly moved to the detection position of the object to be detected by an entire mechanical arm, but is moved to the detection position by the first mechanical arm and the second mechanical arm, first, a larger area range is determined by the first mechanical arm. Then, a smaller area is determined by the second mechanical arm, and the second mechanical arm is controlled to move to the detection position of the object to be detected, so that the detection position of the object to be detected can be detected. The moving step of the second mechanical arm is small, so that the detection flexibility and detection range of the object to be detected can be improved, and there is no need to repeatedly adjust the position of the mechanical arm, so that the time spent on moving the mechanical arm can be shortened. In addition, because the ultrasonic image, the optical scanning image and the shear wave image of the same position of the object to be detected can be detected at the same time, there is no need to repeatedly switch the probe for detection, thereby simplifying the detection steps and shortening the time spent on collecting the image of the object to be detected.

[0076] Further references Figure 2 As an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of an image information acquisition method. These device embodiments are similar to Figure 1 Corresponding to the method embodiments shown, the device can be specifically applied to various electronic devices.

[0077] like Figure 2As shown, the image information acquisition device 200 of some embodiments includes: a first determination unit 201, configured to determine whether the current position information of the first mechanical arm and the second mechanical arm included in the imaging mobile device meets the preset initial position condition in response to detecting the start-up information of the associated imaging mobile device, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected with an excitation probe; a first control unit 202, configured to control the first mechanical arm to move to the first preset initial position information according to the first preset initial position information in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, so as to initialize the first mechanical arm; a second control unit 203, configured to control the second mechanical arm to move to the center position information of the excitation probe according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, so as to initialize the second mechanical arm; a first generation unit 204, configured to generate a first signal to generate a second ... The detection request information of the target detection area is used to generate the moving area information corresponding to the first robot arm according to the target detection area; the third control unit 205 is configured to control the first robot arm to move to the first target area according to the moving area information, wherein the first target area can be the area represented by the moving area information; the second generation unit 206 is configured to generate the moving trajectory information corresponding to the second robot arm as the target moving trajectory information according to the real-time position information of the target detection area and the second robot arm; the fourth control unit 207 is configured to control the second robot arm to move to the target area corresponding to the target detection position according to the target moving trajectory information; the fifth control unit 208 is configured to control the ultrasonic imaging probe, the optical scanning imaging probe and the excitation probe included in the second robot arm to collect the image information of the object to be detected, wherein the image information includes ultrasonic image information, optical scanning image information and shear wave image information, and the ultrasonic image information, the optical scanning image information and the shear wave image information are the images of the same position of the object to be detected collected simultaneously.

[0078] It is understood that the units described in the device 200 are similar to those described in the reference Figure 1 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device 200 and the units included therein, and will not be described in detail here.

[0079] Reference below Figure 4, which shows a schematic structural diagram of an electronic device 400 (eg, a computing device) suitable for implementing some embodiments of the present disclosure. Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0080] like Figure 4 As shown, the electronic device 400 may include a processing device 401 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 404. In the RAM 404, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 404 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0081] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 4 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0082] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0083] It should be noted that the computer-readable medium recorded in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0084] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0085] The computer-readable medium may be included in the electronic device; or it may exist independently without being assembled into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: in response to detecting the startup information of the associated imaging mobile device, determines whether the current position information of the first mechanical arm and the second mechanical arm included in the imaging mobile device meets the preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected with an ultrasonic imaging probe and an optical scanning imaging probe, and the connecting base of the second mechanical arm is connected with an excitation probe; in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, according to the first preset initial position information, controls the first mechanical arm to move to the first preset initial position information to initialize the first mechanical arm; according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, controls the second mechanical arm to move to the center position information of the excitation probe to initialize the second mechanical arm; In response to detecting detection request information of a target detection area of ​​the object to be detected, generating movement area information corresponding to the first robotic arm according to the target detection area; controlling the first robotic arm to move to the first target area according to the movement area information, wherein the first target area may be an area represented by the movement area information; generating movement trajectory information corresponding to the second robotic arm as target movement trajectory information according to the target detection area and the real-time position information of the second robotic arm; controlling the second robotic arm to move to the target area corresponding to the target detection position according to the target movement trajectory information; controlling the ultrasonic imaging probe, the optical scanning imaging probe and the excitation probe included in the second robotic arm to collect image information of the object to be detected, wherein the image information includes the ultrasonic image information, the optical scanning image information and the shear wave image information, and the ultrasonic image, the optical scanning image and the shear wave image are respective images of the same position of the object to be detected collected simultaneously.

[0086] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0087] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] The units described in some embodiments of the present disclosure may be implemented by software or by hardware. The described units may also be provided in a processor, for example, they may be described as: a first determination unit, a first control unit, a second control unit, a first generation unit, a third control unit, a second generation unit, a fourth control unit, and a fifth control unit. Among them, the names of these units do not constitute limitations on the units themselves under certain circumstances. For example, the first determination unit may also be described as "a unit that determines, in response to detecting the startup information of the associated imaging mobile device, whether the current position information of the first robotic arm and the second robotic arm included in the above-mentioned imaging mobile device meets the preset initial position condition".

[0089] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0090] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A method for collecting image information, comprising: In response to detecting the startup information of the associated imaging mobile device, determining whether the current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected to an ultrasonic imaging probe and an optical scanning imaging probe, and the connection base of the second mechanical arm is connected to an excitation probe; In response to determining that the current position information of the first mechanical arm and the second mechanical arm does not meet the preset initial position condition, according to the first preset initial position information, controlling the first mechanical arm to move to the first preset initial position information to perform initialization processing on the first mechanical arm; According to the center position information of the excitation probe and the real-time position information of the second mechanical arm, the second mechanical arm is controlled to move to the center position information of the excitation probe to initialize the second mechanical arm; In response to detecting a detection request information of a target detection area of ​​an object to be detected, generating movement area information corresponding to the first mechanical arm according to the target detection area; According to the moving area information, controlling the first robot arm to move to a first target area, wherein the first target area may be an area represented by the moving area information; According to the target detection area and the real-time position information of the second mechanical arm, generating movement trajectory information corresponding to the second mechanical arm as target movement trajectory information; According to the target movement trajectory information, controlling the second robotic arm to move to a target area corresponding to the target detection position; The second robotic arm includes the ultrasonic imaging probe, the optical scanning imaging probe, and the excitation probe, which are controlled to collect image information of the object to be detected, wherein the image information includes ultrasonic image information, optical scanning image information, and shear wave image information, and the ultrasonic image information, the optical scanning image information, and the shear wave image information are respective images of the same position of the object to be detected collected simultaneously.

2. The method according to claim 1, wherein: The current position information includes the current position coordinates of the first mechanical arm; and according to the first preset initial position information, controlling the first mechanical arm to move to the first preset initial position information to initialize the first mechanical arm includes: Generate mechanical arm movement trajectory information corresponding to the first mechanical arm according to the first preset initial position information and the current position coordinates of the first mechanical arm; According to the generated robot arm movement trajectory information, the first robot arm is controlled to move to the first preset initial position information.

3. The method according to claim 2, wherein: The step of generating the robot arm movement trajectory information corresponding to the first robot arm according to the first preset initial position information and the current position coordinates of the first robot arm comprises: Generate movement trajectory information of each mechanical arm corresponding to the first mechanical arm according to the current position coordinates and the first preset initial position information; Determine the robot arm movement trajectory information that meets the preset selection condition from the respective robot arm movement trajectory information; The robotic arm movement trajectory information that meets a preset selection condition among the various robotic arm movement trajectory information is determined as the robotic arm movement trajectory information corresponding to the first robotic arm.

4. The method according to claim 3, wherein: The step of determining the robot arm movement trajectory information satisfying the preset selection condition from the respective robot arm movement trajectory information comprises: Generate each predicted trajectory performance information corresponding to each robotic arm movement trajectory information according to each robotic arm movement trajectory information; According to the respective predicted trajectory performance information, the robotic arm movement trajectory information that meets the preset selection condition is determined among the respective robotic arm movement trajectory information.

5. The method according to claim 1, wherein: In response to detecting the detection request information of the target detection area of ​​the object to be detected, generating the movement area information corresponding to the first mechanical arm according to the target detection area, including: Acquire each adjacent detection area corresponding to the target detection area; Merging the adjacent detection areas and the target detection area to obtain merged area information; Determining whether the merged region information meets a pre-detection region condition; In response to determining that the merged area information satisfies the pre-detection area condition, the merged area information is determined as movement area information corresponding to the first robot arm.

6. The method according to claim 5, wherein: The method further comprises: In response to determining that the merged region information does not satisfy the pre-detection region condition, and the merged region information satisfies a preset reduced region condition, updating processing is performed on the merged region information.

7. The method according to claim 5, wherein: The determining whether the merged region information satisfies a pre-detection region condition includes: Selecting each boundary point from a boundary point set of the movable area of ​​the second robot arm as each target boundary point, wherein the boundary points in the boundary point set can represent the boundary points of the movable area; For each of the target boundary points, determining the distance between the target boundary point and the boundary point of the merged region information corresponding to the target boundary point, to obtain each distance; Determine the average value of each distance obtained as the distance between the movable area and the merged area information; Determine whether the distance between the movable area and the merged area information is less than a target distance; In response to determining that the distance from the movable area to the merged area is less than the target distance, it is determined that the merged area information satisfies the pre-detection area condition.

8. A method for collecting image information, comprising: A first determination unit is configured to determine, in response to detecting startup information of an associated imaging mobile device, whether current position information of a first mechanical arm and a second mechanical arm included in the imaging mobile device meets a preset initial position condition, wherein the first mechanical arm is connected to the second mechanical arm, the second mechanical arm is connected to an ultrasonic imaging probe and an optical scanning imaging probe, and a connection base of the second mechanical arm is connected to an excitation probe; a first control unit, configured to, in response to determining that the current position information of the first mechanical arm and the second mechanical arm does not satisfy a preset initial position condition, control the first mechanical arm to move to the first preset initial position information according to the first preset initial position information, so as to perform initialization processing on the first mechanical arm; a second control unit, configured to control the second mechanical arm to move to the center position information of the excitation probe according to the center position information of the excitation probe and the real-time position information of the second mechanical arm, so as to perform initialization processing on the second mechanical arm; A first generating unit is configured to generate movement area information corresponding to the first mechanical arm according to the target detection area in response to detecting a detection request information of a target detection area of ​​the object to be detected; A third control unit is configured to control the first robot arm to move to a first target area according to the moving area information, wherein the first target area may be an area represented by the moving area information; A second generating unit is configured to generate movement trajectory information corresponding to the second mechanical arm as target movement trajectory information according to the target detection area and the real-time position information of the second mechanical arm; a fourth control unit, configured to control the second mechanical arm to move to a target area corresponding to the target detection position according to the target movement trajectory information; A fifth control unit is configured to control the ultrasound imaging probe, the optical scanning imaging probe, and the excitation probe included in the second robotic arm to collect image information of the object to be detected, wherein the image information includes ultrasound image information, optical scanning image information, and shear wave image information, and the ultrasound image information, the optical scanning image information, and the shear wave image information are respective images of the same position of the object to be detected collected simultaneously.

9. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer readable medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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