Image acquisition system

Abstract

The invention discloses an image acquisition system, which comprises a rotary withdrawing device, an imaging device and an image acquisition device, and is characterized in that the rotary withdrawing device drives the imaging device to rotate and withdraw in a blood vessel when receiving a starting instruction, and triggers a positioning mechanism to send an image acquisition instruction to the image acquisition device at the same time; the image acquisition device synchronously acquires images from the imaging device, determines an NURD area from the images and sends the NURD area to the rotary withdrawing device, and the rotary withdrawing device adjusts the motor control signal at the next moment by combining the motor control signal at the current moment on the basis of reducing the NURD area. According to the invention, the positioning mechanism is installed on the rotating motor, image acquisition is carried out when the positioning mechanism is triggered, mapping of the image and the position of the motor is realized, the NURD area is identified from the acquired image to adjust the motor control signal at the next moment, and the NURD phenomenon is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and more particularly to an image acquisition system. Background Art

[0002] At present, intravascular ultrasound (IVUS) has been widely used in the imaging of cardiovascular diseases based on atherosclerosis and coronary stents. IVUS uses catheter technology to send a miniature ultrasound probe into the vascular cavity, and displays the cross-sectional image of the blood vessel by rotating the image acquisition method, thereby providing in vivo vascular cavity images. The determination of the severity of the lesion depends on the clarity and integrity of the image, and the NURD (Non-Uniform Rotation Distortion) phenomenon affects the image quality during the imaging process. According to the expert consensus on the application of intravascular ultrasound in coronary artery disease (2018), the cause of the NURD phenomenon is the image deformation caused by the uneven rotation of the mechanical rotary IVUS catheter. During the IVUS catheter imaging process, if the metal spring in the IVUS catheter is unevenly stressed, the torque cannot be evenly transmitted, resulting in the angular velocity of the transducer end being inconsistent with the catheter head, thus causing the NURD phenomenon.

[0003] To solve the NURD phenomenon, some existing technologies rely on later image processing algorithms (such as image registration, correction, machine learning algorithm interpolation, etc.) to correct deformed images. However, these image processing algorithms are often based on fixed assumptions, have poor real-time performance, and have limited effects, and cannot be applied to all NURD phenomena. Summary of the invention

[0004] In view of this, the present invention discloses an image acquisition system to solve the image distortion problem from the source and reduce the dependence on later image processing.

[0005] An image acquisition system comprises: a rotating retracting device, an imaging device and an image acquisition device, wherein a positioning structure is installed on a rotating motor of the rotating retracting device;

[0006] The rotation and retraction device is used to drive the imaging device to perform rotation and retraction movement in the blood vessel upon receiving the start instruction, and at the same time trigger the positioning mechanism to send an image acquisition instruction to the image acquisition device;

[0007] The image acquisition device is used to acquire an image from the imaging device after receiving the image acquisition instruction, and use an image recognition algorithm to determine a NURD area on the image, and send the NURD area to the rotation and withdrawal device;

[0008] The rotary retraction device is also used to adjust the motor control signal at the next moment according to the motor control signal at the current moment collected by the positioning mechanism based on reducing the NURD area, so as to dynamically adjust the motor speed of the rotary motor.

[0009] Optionally, the rotary retraction device comprises: a rotary retraction device body and a retraction guide rail;

[0010] The rotating and withdrawing device body comprises: the positioning mechanism, the driver, the rotating motor and the withdrawing motor;

[0011] The driver is used to drive the rotating motor and the retracting motor to work;

[0012] The positioning mechanism is installed on the rotating motor and sends the image acquisition instruction to the image acquisition device when the rotating motor rotates;

[0013] The rotating motor is used to drive the slip ring and the catheter connecting plug to rotate;

[0014] The retracting guide rail is used to install the rotating retracting device body, so that the retracting motor drives the rotating retracting device body to move on the retracting guide rail in the opposite direction of the imaging device.

[0015] Optionally, the rotating and withdrawing device body further comprises: a slip ring and a catheter connecting plug;

[0016] The slip ring is used to transmit signals between the imaging device and the image acquisition device;

[0017] The catheter connecting plug is used to drive the imaging device to perform a rotational retraction movement.

[0018] Optionally, the image acquisition device is further used for:

[0019] After receiving each image acquisition subcommand in the image acquisition instruction, acquiring each image line from the imaging device, wherein each image line corresponds to a position of the positioning mechanism;

[0020] After all the image acquisition subcommands in the image acquisition instruction have acquired corresponding lines of the image, all acquired lines of the image are used to generate the image corresponding to the image acquisition instruction.

[0021] Optionally, the process of the image acquisition device using an image recognition algorithm to determine the NURD area includes:

[0022] Obtaining a grayscale change matrix based on the correlation of each row in the image pixel matrix corresponding to the image;

[0023] The NURD region is obtained based on the correlation of each column in the grayscale change matrix.

[0024] Optionally, obtaining a grayscale change matrix based on the correlation of each row in an image pixel matrix corresponding to the image includes:

[0025] Calculating the row variance of each row of the image pixel matrix of the image, and setting the pixel values ​​whose row variance is greater than a first variance threshold to 1, and setting the pixel values ​​whose row variance is not greater than the first variance threshold to 0, to obtain a first sequence as a valid image region;

[0026] Performing smoothing processing on the first sequence using a window function, and determining a starting position and an ending position of the longest subsequence in the first sequence after the smoothing processing;

[0027] When the length of the longest subsequence is greater than 0, searching for a corresponding row in the image pixel matrix based on the starting position and the ending position of the longest subsequence;

[0028] The grayscale change of each row of image pixels and the grayscale change matrix is ​​obtained by calculating the grayscale change of the previous and next rows of image pixels.

[0029] Optionally, obtaining the NURD region based on the correlation of each column in the grayscale change matrix includes:

[0030] Calculate the column variance of each column of the grayscale change matrix, and set the columns whose column variance is greater than the second variance threshold to 1, and set the columns whose column variance is not greater than the second variance threshold to 0, to obtain a second sequence;

[0031] The second sequence is smoothed using the window function, and a target sequence having a length greater than a preset length in the second sequence after the smoothing process is determined as the NURD region.

[0032] Optionally, when the motor control signal is a motor control pulse, the rotation and withdrawal device is also used to adjust the motor control signal at the next moment based on the motor control signal at the current moment collected by the positioning mechanism based on reducing the NURD area, and the process includes:

[0033] Get the NURD area;

[0034] Determine the Normal area of ​​the motor control pulse corresponding area based on the NURD area;

[0035] Determine the current moment adjustment factor of the motor control pulse according to preset conditions, wherein the preset conditions at least include: the change trend of the NURD area;

[0036] The motor control pulse at the next moment is adjusted based on the adjustment factor at the current moment.

[0037] Optionally, the process of the rotating retraction device determining the current adjustment factor of the motor control pulse according to preset conditions includes:

[0038] The current moment adjustment factor is determined according to the NURD region sequence length at the previous moment, the NURD region sequence length at the current moment, and the previous moment adjustment factor.

[0039] Optionally, the image acquisition system further includes: a PC;

[0040] The image acquisition device is used to acquire images from the imaging device and send the images to the PC for display.

[0041] Optionally, the image acquisition device is further used to determine the NURD area using an image recognition algorithm on the image, and send the NURD area to the rotation and withdrawal device.

[0042] Optionally, the PC is also used to determine the NURD area using an image recognition algorithm on the image, and send the NURD area to the rotary withdrawal device.

[0043] It can be seen from the above technical scheme that the present invention discloses an image acquisition system, including: a rotating withdrawal device, an imaging device and an image acquisition device, a positioning mechanism is installed on the rotating motor of the rotating withdrawal device, and when the rotating withdrawal device receives the start finger, the rotating motor drives the imaging device to perform a rotating withdrawal movement in the blood vessel, and at the same time triggers the positioning mechanism to send an image acquisition instruction to the image acquisition device, so that the image acquisition device synchronously acquires images from the imaging device, and uses an image recognition algorithm to determine the NURD area of ​​the image and sends it to the rotating withdrawal device, and the rotating withdrawal device adjusts the motor control signal at the next moment based on the reduction of the NURD area, and realizes dynamic adjustment of the motor speed. The present invention realizes the mapping of the image and the motor position by installing a positioning mechanism on the rotating motor, and performing image acquisition when the positioning mechanism is triggered, and by identifying the NURD area from the acquired image, and adjusting the motor control signal at the next moment based on the NURD area, the NURD phenomenon caused by uneven movement of the imaging device during the imaging process is effectively reduced at the next moment, and the image distortion problem is solved from the source, and the dependence on later image processing is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without paying creative work.

[0045] Figure 1 A schematic diagram of the structure of an image acquisition system disclosed in an embodiment of the present invention;

[0046] Figure 2 A physical view of an internal module of a rotary retraction device disclosed in an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the structure of another image acquisition system disclosed in an embodiment of the present invention;

[0048] Figure 4 A flowchart of a method for determining a NURD area by using an image recognition algorithm on an image by an image acquisition device disclosed in an embodiment of the present invention;

[0049] Figure 5 A flowchart of a method disclosed in an embodiment of the present invention in which, when the motor control signal is a motor control pulse, a rotating retraction device adjusts a motor control signal at a next moment based on a motor control signal at a current moment collected by a positioning mechanism based on reducing a NURD area;

[0050] Figure 6 A schematic diagram of the structure of an imaging device disclosed in an embodiment of the present invention;

[0051] Figure 7 A schematic diagram of an image collected by an imaging device disclosed in an embodiment of the present invention;

[0052] Figure 8 The figure is a schematic diagram of a NURD region identified from an image disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The embodiment of the present invention discloses an image acquisition system, including: a rotating withdrawal device, an imaging device and an image acquisition device, wherein a positioning mechanism is installed on a rotating motor of the rotating withdrawal device, and when the rotating withdrawal device receives a start instruction, the rotating withdrawal device drives the imaging device to perform a rotating withdrawal movement in a blood vessel based on the rotating motor, and at the same time triggers the positioning mechanism to send an image acquisition instruction to the image acquisition device, so that the image acquisition device synchronously acquires images from the imaging device, and uses an image recognition algorithm to determine a NURD area for the image and sends it to the rotating withdrawal device, and the rotating withdrawal device adjusts the motor control signal at the next moment based on the reduction of the NURD area and the motor control signal at the current moment, so as to realize dynamic adjustment of the motor speed. The present invention realizes mapping of the image and the motor position by installing a positioning mechanism on the rotating motor, and performing image acquisition when the positioning mechanism is triggered, and realizes effective reduction of the NURD phenomenon caused by uneven motion of the imaging device during the imaging process at the next moment by identifying the NURD area from the acquired image, and adjusting the motor control signal at the next moment based on the NURD area, so as to solve the image distortion problem from the source and reduce the dependence on the later image processing.

[0055] See also Figure 1 , a schematic diagram of the structure of an image acquisition system disclosed in an embodiment of the present invention, the system comprises: a rotating retraction device 10, an imaging device 20 and an image acquisition device 30, wherein a positioning mechanism is installed on the rotating motor of the rotating retraction device 10.

[0056] The positioning mechanism in the present application is a device that characterizes a positional relationship. In practical applications, the positioning mechanism includes but is not limited to: an encoder, a magnetic sensor, an electric sensor, and the like.

[0057] The rotation and retraction device 10 is used to drive the imaging device 20 to perform a rotation and retraction movement in the blood vessel based on the rotation motor when receiving a start instruction, and at the same time trigger the positioning mechanism to send an image acquisition instruction to the image acquisition device 30.

[0058] In practical applications, the start instruction received by the rotating and withdrawing device 10 can be sent by an external device of the image acquisition system. When a PC is also provided in the image acquisition system, the start instruction received by the rotating and withdrawing device 10 can be sent by the PC.

[0059] The rotary retraction device 10 is connected to the imaging device 20. After receiving the start command, the rotary retraction device 10 drives the imaging device 20 to perform a rotary retraction movement in the blood vessel by controlling the rotation of the rotary motor inside the rotary retraction device 10. While driving the imaging device 20 to perform a rotary retraction movement in the blood vessel, the rotary retraction device 10 triggers the internal positioning mechanism to send an image acquisition instruction to the image acquisition device 30, so that the image acquisition device 30 acquires images from the imaging device 20, thereby ensuring that the image acquisition process is synchronized with the rotation position of the rotary motor, so that each frame of the acquired image corresponds to a specific position of the imaging device 20, eliminating image deformation caused by the image acquisition moment being out of sync with the rotation moment of the rotary motor, and further improving the stability and consistency of the image.

[0060] The image acquisition device 30 is used to acquire an image from the imaging device 20 after receiving the image acquisition instruction, and determine a NURD area for the image using an image recognition algorithm, and send the NURD area to the rotation and withdrawal device 10 .

[0061] In practical applications, when the image acquisition device 30 receives multiple image acquisition instructions in succession, it can acquire images from the imaging device 20 for each image acquisition instruction, and determine the NURD area corresponding to each image, and determine the change trend of the NURD area according to the size change of each NURD area. The NURD area is also the area where the NURD phenomenon is located.

[0062] The rotary retraction device 10 is also used to adjust the motor control signal at the next moment according to the motor control signal at the current moment collected by the positioning mechanism based on reducing the NURD area, so as to dynamically adjust the motor speed of the rotary motor.

[0063] The present application utilizes a positioning mechanism to monitor the rotation speed and position of the rotating motor in real time, thereby determining the motor control signal at each moment. The rotating retraction device 10 uses the NURD area as a feedback condition, and based on reducing the NURD area, adjusts the motor control signal at the next moment according to the motor control signal at the current moment, thereby realizing the adjustment of the motor speed of the rotating motor. As a result, the rotational retraction movement of the imaging device 20 driven by the rotating motor in the blood vessel is also adjusted accordingly, thereby ensuring the precise control of the speed of each position of the imaging device 20 during the rotation process in the blood vessel, and reducing the NURD phenomenon caused by uneven rotation of the imaging device 20.

[0064] Preferably, the motor control signal may be a motor control pulse, voltage, current or other signal.

[0065] In summary, the present invention discloses an image acquisition system, comprising: a rotating retraction device 10, an imaging device 20 and an image acquisition device 30. A positioning mechanism is installed on the rotating motor of the rotating retraction device 10. When the rotating retraction device 10 receives a start instruction, the rotating motor drives the imaging device 20 to perform a rotating retraction movement in the blood vessel, and at the same time triggers the positioning mechanism 12 to send an image acquisition instruction to the image acquisition device 30, so that the image acquisition device 30 synchronously acquires images from the imaging device 20, and uses an image recognition algorithm to determine the NURD area of ​​the image and sends it to the rotating retraction device 10. The rotating retraction device 10 adjusts the motor control signal at the next moment based on reducing the NURD area and combining the motor control signal at the current moment to achieve dynamic adjustment of the motor speed. The present invention realizes mapping of image and motor position by installing a positioning mechanism on a rotating motor and performing image acquisition when the positioning mechanism is triggered. The present invention recognizes the NURD area from the acquired image and adjusts the motor control signal at the next moment based on the NURD area, thereby effectively reducing the NURD phenomenon caused by uneven movement of the imaging device 20 during the imaging process at the next moment, solving the image distortion problem from the source and reducing the dependence on later image processing.

[0066] In one embodiment, see Figure 2 , a physical view of the internal module of a rotary retraction device disclosed in an embodiment of the present invention, the rotary retraction device includes: a rotary retraction device body 11 and a retraction guide rail 12.

[0067] The rotating and retracting device body 11 includes a positioning mechanism 111 , a driver 112 , a rotating motor 113 and a retracting motor 114 .

[0068] The driver 112 is used to drive the rotating motor 113 and the retracting motor 114 to work.

[0069] The positioning mechanism 111 is installed on the rotating motor 113 , and sends the image acquisition instruction to the image acquisition device 30 when the rotating motor 113 rotates.

[0070] The rotary motor 113 is used to drive the slip ring 115 and the catheter connection plug to rotate 116. The catheter connection plug rotates 116 and is connected to the imaging device 20, so that the rotary motor 113 drives the imaging device 20 to perform a rotational retraction movement in the blood vessel.

[0071] The retracting guide rail 12 is used to install the rotating retracting device body 11 , so that the retracting motor 114 drives the rotating retracting device body 11 to move on the retracting guide rail 12 in the opposite direction of the imaging device 20 .

[0072] When capturing images, the driver 112 drives the rotating motor 113 and the retracting motor 114 to move according to the set speed value. Driven by the rotating motor 113, the slip ring 115 and the imaging device 20 rotate, and the positioning mechanism 111 sends an image capture instruction to the image capture device 30 each time it is triggered. By performing image capture when the positioning mechanism 111 is triggered, each line of the captured image has a corresponding positioning mechanism position.

[0073] In one embodiment, the rotation and withdrawal device body 11 may further include: a slip ring 115 and a catheter connecting plug 116 .

[0074] The slip ring 115 is used to transmit signals between the imaging device 20 and the image acquisition device 30 .

[0075] The catheter connection plug 116 is connected to the catheter head end of the imaging device 20 , and the catheter connection plug 116 is used to drive the imaging device 20 to perform a rotational retraction movement.

[0076] It should be noted that the image acquisition instruction sent by the rotating and retracting device 10 to the image acquisition device 30 by triggering the internal positioning mechanism 12 includes multiple image acquisition sub-commands. In practical applications, the rotating and retracting device 10 sends an image acquisition sub-command to the image acquisition device 30 each time the internal positioning mechanism 12 is triggered.

[0077] Therefore, in one embodiment, the image acquisition device 30 may also be used for:

[0078] (1) After receiving each image acquisition subcommand in the image acquisition instruction, each image line is acquired from the imaging device 20 .

[0079] Wherein, each line of the image corresponds to a position of the positioning mechanism.

[0080] It should be noted that an image is composed of multiple image lines. Each time the image acquisition device 30 receives an image acquisition subcommand, it acquires a line of the image from the imaging device 20. When the received image lines can form a complete image, the image acquisition is completed.

[0081] (2) After all the image acquisition subcommands in the image acquisition instruction have acquired corresponding lines of the image, all acquired lines of the image are used to generate the image corresponding to the image acquisition instruction.

[0082] The number of image acquisition subcommands included in the image acquisition instruction in the present application is the same as the number of lines of the image constituting the image. The specific value is determined according to actual needs and the present invention is not limited here.

[0083] When the NURD area is identified based on the captured image, since each line of the image corresponds to the position of the positioning mechanism, the NURD area can be mapped to the motor end position of the rotary retraction device 10, that is, the NURD area can be mapped to the position of the rotary motor 113 of the rotary retraction device 10. The present application can control the instantaneous speed of the target area through the intelligent speed control system until the NURD area is reduced to below the area threshold.

[0084] In one embodiment, see Figure 3 The image acquisition device 30 may include: an ultrasound acquisition card 31 and a PC 32 .

[0085] The ultrasound acquisition card 31 is used to acquire images from the imaging device 20 and send the images to the PC 32 for display.

[0086] In practical applications, the image captured by the ultrasound acquisition card 31 can be used to identify the NURD area in the ultrasound acquisition card 31, or after the image is sent to the PC 32, the PC 32 can identify the NURD area of ​​the image.

[0087] Therefore, the ultrasonic acquisition card 31 can also be used for:

[0088] The NURD area is determined by using an image recognition algorithm on the image, and the NURD area is sent to the rotary withdrawal device 10 .

[0089] Alternatively, the PC 32 may also be used to determine the NURD area using an image recognition algorithm on the image, and send the NURD area to the rotation and withdrawal device 10 .

[0090] It should be noted that no matter the ultrasound acquisition card 31 in the image acquisition device 30 recognizes the NURD region in the image or the PC 32 recognizes the NURD region in the image, the image recognition algorithm used is the same.

[0091] Among them, the image recognition algorithm used by the image acquisition device 30 of the present application to identify the NURD area in the image includes but is not limited to the correlation between lines in the image sequence. When the correlation is greater than a certain threshold, it is determined to be a NURD area, or the image sequence is identified using machine learning or deep learning methods.

[0092] It should be noted that, in practical applications, the image acquisition device 30 may also only include the ultrasound acquisition card 31 .

[0093] When the image acquisition device 30 only includes the ultrasonic acquisition card 31 , the image acquisition device 30 can be used as an independent device, or integrated into the rotating and withdrawing device 10 , or integrated into a PC.

[0094] In one embodiment, see Figure 4 , a flowchart of a method for an image acquisition device to determine a NURD area using an image recognition algorithm for an image is disclosed in an embodiment of the present invention. The method may include:

[0095] Step S101: obtaining a grayscale change matrix based on the correlation of each row in the image pixel matrix corresponding to the image.

[0096] Step S102: obtaining the NURD region based on the correlation of each column in the grayscale change matrix.

[0097] For ease of understanding, the implementation process of step S101 and step S102 is specifically as follows:

[0098] Step S101 may specifically include:

[0099] (1) Calculate the row variance of each row of the image pixel matrix of the image, and set the pixel values ​​whose row variance is greater than a first variance threshold to 1, and set the pixel values ​​whose row variance is not greater than the first variance threshold to 0, thereby obtaining a first sequence as a valid image area.

[0100] The dimension of the image pixel matrix of the image in the present application is [M×N], where M is the number of pixels and N is the number of lines of the image, that is, the number of lines of the image contained in the image.

[0101] Assume that the sequence of variances of each row of the image pixel matrix is , Represents the mean value in the calculation sequence, the first variance threshold The calculation formula is as follows:

[0102] .

[0103] (2) Smoothing the first sequence using a window function, and determining the starting position and the ending position of the longest subsequence in the first sequence after the smoothing.

[0104] The window function in the present application is a window function whose length is a preset value, for example, the window function is a window function whose length is 5.

[0105] The starting and ending positions of the longest subsequence can be expressed as [start, end].

[0106] (3) When the length of the longest subsequence is greater than 0, based on the starting position and the ending position of the longest subsequence, find a corresponding row in the image pixel matrix.

[0107] Among them, when the length of the longest subsequence is not greater than 0, it indicates that there is no NURD area in the image.

[0108] (4) Calculate the grayscale change of the previous and next rows of image pixels in each row of image pixels to obtain the grayscale change matrix.

[0109] Among them, the dimension of the grayscale change matrix B obtained by calculating the grayscale change of the previous and next rows of image pixels in each row of image pixels is [M×N]. The calculation method of the grayscale change matrix B is as follows:;

[0110] ;

[0111] Wherein, Q represents the image pixel matrix, A represents the first sequence as the effective image area, and the diff function represents the difference between adjacent elements.

[0112] The meaning shown in the above formula is: find the corresponding row in the image pixel matrix Q according to the elements in the first sequence A, and calculate the difference between adjacent elements of this row.

[0113] The implementation process of step S102 is specifically as follows:

[0114] (1) Calculate the column variance of each column of the grayscale change matrix, set the column whose column variance is greater than the second variance threshold to 1, and set the column whose column variance is not greater than the second variance threshold to 0, to obtain a second sequence.

[0115] Assume that the sequence composed of the variance of each column of the grayscale change matrix B is , the second variance threshold The calculation formula is as follows:

[0116] .

[0117] (2) Smoothing the second sequence using the window function, and determining a target sequence in the second sequence after the smoothing process whose length is greater than a preset length as the NURD region.

[0118] Among them, the window function in the present application is a window function whose length is a preset value, for example, the window function is a window function whose length is 5.

[0119] In practical applications, the motor moves by receiving pulses. Assuming that the motor rotates once when it receives M pulses, the number of pulses generated by the positioning mechanism 111 when it rotates once is N. There is a fixed conversion relationship between M and N. For the target speed , it can be understood that the motor needs to complete one circle within a fixed time. Assuming that the pulse time interval of the motor input is The time for one rotation is , and The relationship is as follows:

[0120] ;

[0121] and The relationship is as follows:

[0122] .

[0123] It should be noted that in practical applications, in addition to using Figure 4 The method for determining the NURD region shown in the illustrated embodiment may also adopt other methods, for example, allowing the image acquisition system to combine images of other modalities (such as magnetic resonance images, CT images, etc.) to assist in determining the NURD region. By fusing relevant information in images of different modalities and using information about tissue structure, lesion characteristics, etc. in other images, the insufficient information that may exist in the image in some cases can be supplemented, thereby more accurately identifying and defining the NURD region and improving the reliability and accuracy of diagnosis.

[0124] In addition, based on the image recognition algorithm of the present application, it is also possible to increase the recognition of NURD areas based on deep learning and machine learning, including but not limited to using deep learning and machine learning to detect NURD areas or using machine learning and deep learning as a substitute step for a step described in the present application.

[0125] In one embodiment, see Figure 5 , a flow chart of a method disclosed in an embodiment of the present invention for adjusting the motor control signal at the next moment according to the motor control signal at the current moment collected by the positioning mechanism based on the reduction of the NURD area by rotating the retraction device when the motor control signal is a motor control pulse, the method may include:

[0126] Step S201, obtain NURD area.

[0127] Among them, the NURD area can be expressed as follows:

[0128] ;

[0129] In the formula, Indicates the NURD region sequence, Indicates the NURD region sequence corresponding to ID number j, Represents the NURD region sequence corresponding to ID number k.

[0130] Sequences j and k are included between 1 and M. j and k represent the starting ID number and the ending ID number of the NURD region, respectively.

[0131] Step S202: determining a Normal region corresponding to a motor control pulse sequence based on the NURD region.

[0132] Divide the M pulse intervals into motor control pulse sequences, then we have , represents the motor control pulse sequence, Indicates the motor control pulse with position ID 1. Representing the motor control pulse with position ID M, the following formula can be obtained:

[0133] ;

[0134] In the formula, Indicates the pulse time interval of the pulse control sequence in which the NURD area is currently located. represents the pulse at the ith position, represents the pulse time interval at the i-th position.

[0135] i represents the number of generations used in the cumulative symbol calculation process, and the sequences j and k are contained between 1 and M. j and k represent the starting ID number and the ending ID number of the NURD area, respectively.

[0136] For sequences without NURD regions Denoted as:

[0137] ;

[0138] Similarly, the expression of the time interval is as follows:

[0139] ;

[0140] At this point, the area corresponding to the motor control pulse sequence is divided into the Normal area and the NURD area.

[0141] Step S203: determining the current moment adjustment factor of the motor control pulse according to preset conditions.

[0142] The preset conditions at least include: a change trend of the NURD area.

[0143] For the adjustment factor , and its value is adjusted according to the changing trend of the NURD area.

[0144] First, determine whether the NURD area is larger than the set detection threshold , if it is greater than the set detection threshold Then calculate the length of its NURD region sequence. Here and at the initial moment, the length of the NURD region sequence is .

[0145] The regulating factor Assign an initial value, the initial value is calculated as follows:

[0146] ;

[0147] In the formula, It is an experience value ranging from 0 to 1.

[0148] In the present application, the current moment adjustment factor is determined according to the NURD region sequence length at the previous moment, the NURD region sequence length at the current moment, and the previous moment adjustment factor.

[0149] Specifically, for the current moment adjustment factor The calculation formula is as follows:

[0150] ;

[0151] In the formula, For the previous moment Sequence length, For the current moment Sequence length, is the adjustment factor of the previous moment.

[0152] Step S204: adjusting the motor control pulse at the next moment based on the adjustment factor at the current moment.

[0153] In order to achieve speed regulation, the regulation factor is set as .

[0154] The formula After transformation, we get the following formula:

[0155] .

[0156] To facilitate calculation, each subsequence and Time interval within If the spacing is set to be equal, the above deformation formula can be used to reduce time to achieve the purpose of accelerating the NURD area. Combined with the formula The pulse interval within the sequence interval can be calculated, and similarly, The pulse interval within the interval. Combine it into the pulse sequence at the current moment according to the positioning mechanism sequence Then it is output to the motor to complete a round of motor control process.

[0157] The entire intelligent control system uses the NURD area as a feedback condition to adjust the width of the motor pulse sequence at the next moment.

[0158] In one embodiment, see Figure 6 , a schematic structural diagram of an imaging device disclosed in an embodiment of the present invention, the device may include: a catheter head end 21, a transducer 22 and a metal spring 23.

[0159] The catheter tip 21 is connected to the rotation and withdrawal device 10 , the transducer 22 is connected to the image acquisition device 30 , one end of the metal spring 23 is connected to the catheter tip 21 , and the other end of the metal spring 23 is connected to the transducer 22 .

[0160] In this application, the images collected by the imaging device can be found in Figure 7 As shown, in this application, Figure 7 The NURD region identified from the image is shown in Figure 8 shown.

[0161] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0162] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0163] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An image acquisition system, characterized in that: include: A rotating retracting device, an imaging device and an image acquisition device, wherein a positioning structure is installed on the rotating motor of the rotating retracting device; The rotation and retraction device is used to drive the imaging device to perform rotation and retraction movement in the blood vessel upon receiving the start instruction, and at the same time trigger the positioning mechanism to send an image acquisition instruction to the image acquisition device; The image acquisition device is used to acquire an image from the imaging device after receiving the image acquisition instruction, and use an image recognition algorithm to determine a NURD area on the image, and send the NURD area to the rotation and withdrawal device; The rotary retraction device is also used to adjust the motor control signal at the next moment according to the motor control signal at the current moment collected by the positioning mechanism based on reducing the NURD area, so as to dynamically adjust the motor speed of the rotary motor.

2. The image acquisition system according to claim 1, characterized in that: The rotary retraction device comprises: a rotary retraction device body and a retraction guide rail; The rotating and withdrawing device body comprises: the positioning mechanism, the driver, the rotating motor and the withdrawing motor; The driver is used to drive the rotating motor and the retracting motor to work; The positioning mechanism is installed on the rotating motor and sends the image acquisition instruction to the image acquisition device when the rotating motor rotates; The rotating motor is used to drive the slip ring and the catheter connecting plug to rotate; The retracting guide rail is used to install the rotating retracting device body, so that the retracting motor drives the rotating retracting device body to move on the retracting guide rail in the opposite direction of the imaging device.

3. The image acquisition system according to claim 2, characterized in that: The rotating and withdrawing device body also includes: a slip ring and a catheter connecting plug; The slip ring is used to transmit signals between the imaging device and the image acquisition device; The catheter connecting plug is used to drive the imaging device to perform a rotational retraction movement.

4. The image acquisition system according to any one of claims 1 to 3, characterized in that: The image acquisition device is also used for: After receiving each image acquisition subcommand in the image acquisition instruction, acquiring each image line from the imaging device, wherein each image line corresponds to a position of the positioning mechanism; After all the image acquisition subcommands in the image acquisition instruction have acquired corresponding lines of the image, all acquired lines of the image are used to generate the image corresponding to the image acquisition instruction.

5. The image acquisition system according to claim 1, characterized in that: The process of the image acquisition device using an image recognition algorithm to determine the NURD area includes: Obtaining a grayscale change matrix based on the correlation of each row in the image pixel matrix corresponding to the image; The NURD region is obtained based on the correlation of each column in the grayscale change matrix.

6. The image acquisition system according to claim 5, characterized in that: The step of obtaining a grayscale change matrix based on the correlation of each row in the image pixel matrix corresponding to the image includes: Calculating the row variance of each row of the image pixel matrix of the image, and setting the pixel values ​​whose row variance is greater than a first variance threshold to 1, and setting the pixel values ​​whose row variance is not greater than the first variance threshold to 0, to obtain a first sequence as a valid image region; Performing smoothing processing on the first sequence using a window function, and determining a starting position and an ending position of the longest subsequence in the first sequence after the smoothing processing; When the length of the longest subsequence is greater than 0, searching for a corresponding row in the image pixel matrix based on the starting position and the ending position of the longest subsequence; The grayscale change of each row of image pixels and the grayscale change matrix is ​​obtained by calculating the grayscale change of the previous and next rows of image pixels.

7. The image acquisition system according to claim 5 or 6, characterized in that: The obtaining of the NURD region based on the correlation of each column in the grayscale change matrix includes: Calculate the column variance of each column of the grayscale change matrix, and set the columns whose column variance is greater than the second variance threshold to 1, and set the columns whose column variance is not greater than the second variance threshold to 0, to obtain a second sequence; The second sequence is smoothed using the window function, and a target sequence having a length greater than a preset length in the second sequence after the smoothing process is determined as the NURD region.

8. The image acquisition system according to claim 1, characterized in that: When the motor control signal is a motor control pulse, the rotation and withdrawal device is also used to reduce the NURD area, and the process of adjusting the motor control signal at the next moment according to the motor control signal at the current moment collected by the positioning mechanism includes: Get the NURD area; Determine the Normal area of ​​the motor control pulse corresponding area based on the NURD area; Determine the current moment adjustment factor of the motor control pulse according to preset conditions, wherein the preset conditions at least include: the change trend of the NURD area; The motor control pulse at the next moment is adjusted based on the adjustment factor at the current moment.

9. The image acquisition system according to claim 8, characterized in that: The process of the rotary retraction device determining the current adjustment factor of the motor control pulse according to the preset conditions includes: The current moment adjustment factor is determined according to the NURD region sequence length at the previous moment, the NURD region sequence length at the current moment, and the previous moment adjustment factor.

10. The image acquisition system according to claim 1, characterized in that: The image acquisition system also includes: a PC; The image acquisition device is used to acquire images from the imaging device and send the images to the PC for display.

11. The image acquisition system according to claim 1, characterized in that: The image acquisition device is also used to determine the NURD area by using an image recognition algorithm on the image, and send the NURD area to the rotation and withdrawal device.

12. The image acquisition system according to claim 10, characterized in that: The PC is also used to determine the NURD area using an image recognition algorithm on the image, and send the NURD area to the rotation and withdrawal device.

Images