A positioning guidance method and system for flat-film process, and related equipment

Abstract

The embodiment of the present application provides a positioning guidance method and system, and related equipment for the flat film process, which belongs to the field of positioning image guidance and the field of robotics. The method includes: first, guiding the robot to play the target guidance information to guide the target object to enter the detection area of ​​the observation room, and then generating the posture contour prompt information according to the detection items of the target object. Then, the observation room is imaged by a camera to obtain the indoor image, and the projector is used to perform projection correction based on the indoor image. When the target object is in the detection area, the posture contour prompt information is projected to guide the target object to adjust the posture. Finally, when the body position of the target object meets the predetermined body position conditions, a flat film is taken. Therefore, the embodiment of the present application can be controlled by the host computer to guide the robot, camera and projector to guide the target object to perform the posture placement operation, assist the target object to adjust the posture, and improve the efficiency of flat film detection.

Description

Technical Field

[0001] The present application relates to the fields of positioning image guidance and robotics technology, and in particular to a positioning guidance method and system, and related equipment. Background Art

[0002] Plain film examination provides medical workers with an important means to quickly understand the patient's internal condition. However, before the plain film examination, the patient often needs to be guided to a specific positioning posture to ensure the accuracy of the imaging. Since patients usually do not have the knowledge related to positioning operations, and special groups such as young children find it difficult to complete the plain film examination process without guidance, the positioning guidance work in the plain film process is currently usually guided and assisted by medical workers. Therefore, medical workers need to guide and explain knowledge to patients before the plain film examination, and enter and exit the examination area many times to help patients adjust their positioning postures, which not only makes the medical workers' workload heavy, but also makes the positioning process time-consuming, which in turn leads to low efficiency of plain film examinations. Therefore, how to reduce the time-consuming positioning of plain film examinations to improve the efficiency of plain film examinations has become a difficult problem that needs to be solved urgently. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to propose a positioning guidance method and system, electronic equipment and storage medium for the flat film process, aiming to improve the efficiency of flat film detection.

[0004] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present application proposes a positioning guidance method for a planar radiograph process, which is applied to a host computer. The method includes:

[0005] The target object is guided into the detection area of ​​the observation room by guiding the robot to play the target guidance information;

[0006] generating body position contour prompt information according to the detection items of the target object;

[0007] Capturing an image of the observation room through a camera to obtain an indoor image;

[0008] Performing projection correction based on the indoor image through a projector, and projecting the body position contour prompt information when the target object is in the detection area to guide the target object to adjust its body position;

[0009] When the body position of the target object meets the predetermined body position condition, a plain film is taken.

[0010] In some embodiments, the target guidance information includes guidance into a preparation area information and guidance into a detection area information;

[0011] The method of guiding the robot to play the target guidance information to guide the target object into the detection area of ​​the observation room includes:

[0012] In response to the isolation door of the observation room being opened, playing the guidance information for entering the preparation area to guide the target object into the preparation area;

[0013] Play the work information required by the target object to guide the target object to perform the required work;

[0014] In response to the target object having completed the required work, the information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room.

[0015] In some embodiments, the body position contour prompt information includes a body position contour prompt image;

[0016] The generating of body position contour prompt information according to the detection items of the target object includes:

[0017] determining a body mass index based on the physiological information of the target subject;

[0018] An image search is performed on a preset contour image library according to the detection items, the physiological information and the body mass index to obtain the body position contour prompt image.

[0019] In some embodiments, before performing projection correction based on the indoor image by the projector, the method further includes:

[0020] Recognizing a back panel outline of the back panel from the indoor image by the camera;

[0021] Performing spatial posture estimation on the detection area according to the backboard contour to obtain projection correction parameters;

[0022] The projection correction parameters are sent to the projector, so that the projector performs projection correction according to the projection correction parameters.

[0023] In some embodiments, when the target object is in the detection area, projecting the body position contour prompt information to guide the target object to adjust the body position includes:

[0024] When the target object is in the detection area, collecting an individual contour image of the target object through the camera;

[0025] updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image;

[0026] The updated contour prompt image is projected by the projector to guide the target object to adjust its body position.

[0027] In some embodiments, before playing the guidance information for entering the preparation area in response to the isolation door of the observation room being opened to guide the target object into the preparation area, the method further includes:

[0028] Generate object call information and identity information confirmation interface according to the identity information of the target object;

[0029] Playing the object calling information to guide the target object to confirm the identity information on the identity information confirmation interface;

[0030] When the target object completes identity confirmation, route planning is performed based on the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route;

[0031] The target object is moved according to the target guidance route to guide the target object to move to the isolation door.

[0032] In some embodiments, the body position contour prompt information further includes body position contour prompt text;

[0033] After the body position meets the predetermined body position condition and the plain radiograph is taken, the method further includes:

[0034] Obtaining the time duration for the target object to adjust its body position, and obtaining the total adjustment time duration;

[0035] Determining an adjustment phase score by comparing the total adjustment time with a preset simulated adjustment time; wherein the simulated adjustment time is determined by a preset positioning guidance model, which is constructed based on the behavioral learning guidance operation and guidance cycle of the guidance robot, the projection time of the projector, and the generation method of the updated contour prompt image;

[0036] The positioning guidance model is adjusted according to the adjustment link score.

[0037] To achieve the above-mentioned purpose, the second aspect of the embodiment of the present application proposes a positioning guidance system for a planar film process, the system comprising a host computer, a guidance robot, a camera, and a projector:

[0038] The guiding robot is used to play target guidance information to guide the target object into the detection area of ​​the observation room;

[0039] The host computer is used to generate body position contour prompt information according to the detection items of the target object;

[0040] The camera is used to collect images of the observation room to obtain indoor images;

[0041] The projector is configured to perform projection correction based on the indoor image, and project the body position contour prompt information when the target object is in the detection area to guide the target object to adjust its body position;

[0042] The host computer is further configured to take plain radiographs when the body position of the target object meets a predetermined body position condition.

[0043] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the method described in the first aspect when executing the computer program.

[0044] To achieve the above-mentioned purpose, the fourth aspect of the embodiments of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method described in the first aspect.

[0045] This application proposes a positioning guidance method and system, electronic device, and storage medium for a flat-panel radiograph process. The method first guides a robot to play target guidance information to guide a target subject into the inspection area of ​​an observation room. It then generates body position contour prompt information based on the target subject's inspection items. A camera then captures images of the observation room to obtain an indoor image. A projector then performs projection correction based on the indoor image. When the target subject is within the inspection area, body position contour prompt information is projected to guide the target subject to adjust their position. Finally, when the target subject's position meets predetermined position conditions, a flat-panel radiograph is taken. Therefore, the positioning guidance method for a flat-panel radiograph process, as illustrated in the embodiments of the present application, can be controlled by a host computer to play target guidance information, generate body position contour prompt information based on the target subject's inspection items, and project the body position contour prompt information through a camera and projector. This method can guide the target subject in body position placement operations and assist the target subject in adjusting their body position and posture, thereby reducing the time required for positioning during flat-panel radiograph inspection and improving its efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of a positioning guidance method for a planar radiograph process provided by an embodiment of the present application;

[0047] Figure 2 yes Figure 1 Flowchart of step S101 in FIG.

[0048] Figure 3 This is another optional flow chart of a method for positioning guidance for a plain film process provided in an embodiment of the present application;

[0049] Figure 4 yes Figure 1 Flowchart of step S102 in FIG.

[0050] Figure 5 This is a logical structure diagram of a positioning guidance method for a planar radiograph process provided by an embodiment of the present application;

[0051] Figure 6 This is a schematic diagram of a specific implementation of establishing a contour image library provided by an embodiment of the present application;

[0052] Figure 7 This is another optional flow chart of a method for positioning guidance for a plain film process provided in an embodiment of the present application;

[0053] Figure 8 yes Figure 1 Flowchart of step S104 in FIG.

[0054] Figure 9 This is another optional flow chart of a method for positioning guidance for a plain film process provided in an embodiment of the present application;

[0055] Figure 10 This is another specific implementation diagram of a positioning guidance method for a planar radiograph process provided by an embodiment of the present application;

[0056] Figure 11 1 is a schematic structural diagram of a positioning guidance system for a planar radiograph process provided in an embodiment of the present application;

[0057] Figure 12 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0061] In current hospitals, the radiographic examination process typically requires medical professionals in the imaging department to personally guide patients through proper body positioning and posture before completing the radiographic examination. Because hospitals see a large number of patients from various departments daily, radiographic guidance procedures become frequent, requiring medical professionals to constantly enter and exit the radiographic room and operating area. Furthermore, medical professionals face the risk of direct infection during necessary physical contact with patients or close-range procedures. Furthermore, the radiographic room is often exposed to low-dose radiation. Consequently, medical imaging professionals face significant workload pressure and the dual mental burden of radiation and infection. Therefore, reducing the burden of repetitive prompting tasks on medical professionals, improving their work efficiency, and ensuring their health and safety are pressing issues.

[0062] Based on this, the embodiments of the present application provide a positioning guidance method and system, electronic equipment and storage medium for the flat film process, aiming to improve the efficiency of flat film detection.

[0063] The positioning guidance method and system, electronic device and storage medium for the flat-film process provided in the embodiments of the present application are specifically explained through the following embodiments. First, the positioning guidance method for the flat-film process in the embodiments of the present application is described.

[0064] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, techniques, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results.

[0065] Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interaction systems, and mechatronics. AI software technologies primarily encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0066] The positioning guidance method for the flat film process provided in the embodiment of the present application relates to the field of positioning image guidance and the field of robotics. The positioning guidance method for the flat film process provided in the embodiment of the present application can be applied to a terminal, can be applied to a server side, or can be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers, or as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the positioning guidance method for the flat film process, etc., but is not limited to the above forms.

[0067] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0068] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the user's identity or characteristics, such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of such data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0069] Figure 1 This is an optional flow chart of the positioning guidance method for the radiograph process provided in an embodiment of the present application. Figure 1The method is applied to a host computer, wherein the host computer has equipment control and communication functions and can communicate with the guidance robot, camera, projector, and flat-panel equipment to monitor and adjust the entire flat-panel inspection guidance process. In addition, the host computer stores multiple body position contour prompt information, each of which is encoded based on specific coding parameters. The coding parameters may include, but are not limited to, any of the following: the patient's test items, physiological information, or disease information, etc. Therefore, the host computer can provide the patient with appropriate body position contour prompt information based on the coding parameters to assist the target object in posture positioning. The host computer can be an independent server computer, a handheld device or portable device, a tablet device, a multi-processor system, a microprocessor-based system, a set-top box, a programmable consumer electronic device, a network PC, a minicomputer, a mainframe computer, or it can also be integrated into a flat-panel inspection system such as a radiology workstation, an X-ray machine control computer, or a mobile X-ray system. The above method may include, but is not limited to, steps S101 to S105.

[0070] Step S101, guiding the robot to play target guidance information to guide the target object into the detection area of ​​the observation room;

[0071] Step S102, generating body position contour prompt information according to the detection items of the target object;

[0072] Step S103, collecting images of the observation room through a camera to obtain an indoor image;

[0073] Step S104: Projection calibration is performed using a projector based on the indoor image. When the target object is in the detection area, body position contour prompt information is projected to guide the target object to adjust its body position.

[0074] Step S105 : When the body position of the target object meets the predetermined body position condition, a plain film is taken.

[0075] In the steps S101 to S105 shown in the embodiment of the present application, the target guidance information is first played by the guiding robot to guide the target object to enter the detection area of ​​the observation room, and then the body position contour prompt information is generated according to the detection items of the target object. Then, the observation room is imaged by the camera to obtain the indoor image, and the projection correction is performed based on the indoor image by the projector. When the target object is in the detection area, the body position contour prompt information is projected to guide the target object to adjust the body position. Finally, when the body position of the target object meets the predetermined body position conditions, the flat film is taken. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can be controlled by the host computer to play the target guidance information, generate the body position contour prompt information according to the detection items of the target object, and project the body position contour prompt information through the camera and projector. It can guide the target object to perform the body position operation, assist the target object in adjusting the body position posture, reduce the positioning time of the flat film detection, and improve the efficiency of the flat film detection.

[0076] In step S101 of some embodiments, the target object may be a patient who requires a plain film examination. Plain film examination, also known as X-ray examination, is a medical imaging examination method that uses X-rays to penetrate the body to form images. It has the advantages of clear imaging, economy, simplicity, etc. It is particularly good at observing skeletal structure and can cover a large area. The principle of plain film examination is to use the penetrating ability of X-rays to capture the internal structures of the body and form X-ray images that can be analyzed by doctors. Plain film examinations may include but are not limited to: chest X-rays, abdominal X-rays, limb X-rays, spine X-rays, pelvic X-rays, head X-rays, cervical spine X-rays, and urinary system X-rays. The observation room is the area in the radiology department of a medical institution used for plain X-ray examinations. The observation room is usually equipped with necessary protective facilities, such as isolation doors. In addition, the walls, doors, windows, and ceilings of the observation room contain lead or other heavy metal materials to shield X-rays, thereby protecting people outside the observation room from radiation exposure. The observation room usually has a preparation area and a testing area. The preparation area is usually equipped with curtains or small rooms to provide patients with a private space to facilitate preparations such as changing protective clothing or removing metal ornaments. In the process of plain film inspection, the target object needs to enter the preparation area and testing area in the observation room from the waiting area in turn. In the absence of guidance, it is difficult for the target object to quickly find and enter the preparation area and testing area. On this basis, it is necessary to use a guidance robot to guide the target object to move between areas according to the guidance information. A guidance robot refers to a robot used to provide inter-area displacement guidance and work information introduction to the target object. The guidance robot can be a wheeled robot, a bipedal robot, a quadruped robot, a bionic robot or other forms of robots. The guidance robot is provided with a display screen and a speaker for playing guidance information such as guidance videos, images, text or audio.

[0077] It should be noted that, since the target object needs to enter multiple areas such as the waiting area, preparation area, and detection area, one or more guiding robots can be set up in each area, and the guiding robots in different areas can work together to guide the target object. For example, the guiding robots may include but are not limited to: a waiting area robot, a preparation area robot, and a detection area robot. In the preparation area, the target object is guided to the isolation door of the observation room by the waiting area robot. When the isolation door is opened, the target object is guided from the isolation door to the preparation area by the preparation area robot, and then the target object is guided from the preparation area to the detection area by the detection area robot. In addition, the guiding robot can also provide work introductions or operation instructions by playing introductory or prompt-type guidance information such as operation process information, precautions information, operation guidance information, and operation prompt information. The above-mentioned work introductions or operation instructions can also be displayed by a projector set in the above-mentioned area to display picture information, text information, or video information, and can also be displayed by a speaker set in the above-mentioned area to display audio information.

[0078] See also Figure 2 In some embodiments, the target guidance information includes information for guiding the target into the preparation area and information for guiding the target into the detection area. The information for guiding the target into the preparation area is used to guide the target from the isolation door of the observation room to the preparation area. The information for guiding the target into the preparation area may include, but is not limited to, at least one of the following: image information, text information, audio information, or video information. The information for guiding the target into the detection area is used to guide the target from the preparation area to the detection area. The information for guiding the target into the detection area may include, but is not limited to, at least one of the following: image information, text information, audio information, or video information. Based on this, step S101 may include, but is not limited to, steps S201 to S203:

[0079] Step S201, in response to the isolation door of the observation room being opened, playing a message for guiding the target object into the preparation area to guide the target object into the preparation area;

[0080] Step S202: Playing the work information required by the target object to guide the target object to perform the required work;

[0081] Step S203 : In response to the target object having completed the required work, playing a message for guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room.

[0082] In step S201 of some embodiments, when the isolation door of the observation room is opened, the guiding robot will play the guidance information for entering the preparation area to guide the target object to enter the preparation area from outside the isolation door. Specifically, a camera can be set on the guiding robot so that the guiding robot can detect in real time whether the isolation door of the observation room is open; or, the upper computer can control the isolation door to open and send a guidance instruction for entering the preparation area to the guiding robot at the same time to control the guiding robot to play the guidance information for entering the preparation area. In the process of the guiding robot guiding the target object to enter the preparation area from outside the isolation door, the guiding robot can lead the target object to move to the preparation area after playing the guidance information for entering the preparation area. For the specific method of leading the target object to move to the preparation area, please refer to steps S303 to S304; the guiding robot can also only play the guidance information for entering the preparation area, and then the target object goes to the preparation area on its own.

[0083] In step S202 of some embodiments, since the radiographic equipment emits radioactive X-rays during the radiographic process, individuals entering the observation room are required to wear isolation suits. Furthermore, when patients wear clothing or accessories containing metal structures, the metal structures can easily obstruct the inspection area, thereby affecting the quality of the radiograph. Therefore, it is necessary to guide the robot to play the required work information for the target subject in the preparation area to guide the target subject to perform the required work. The required work may include, but is not limited to, preparatory and protective work such as removing accessories containing metal structures, changing clothing containing metal structures, and donning isolation suits. The required work information for the target subject is used to introduce and provide operational guidance for the preparatory and protective work required for the target subject.

[0084] In step S203 of some embodiments, in response to the target object having completed the required work, the guiding robot plays the information for guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room. Specifically, the display screen of the guiding robot can be a touch screen, which can generate a human-computer interaction interface. After playing the work information required by the user, the human-computer interaction interface can be set to the interface for confirming the completion of the required work. After the target object has completed the required work, the button for completing the required work can be selected on the interface for confirming the completion of the required work, and then the guiding robot plays the information for guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room. The specific implementation method of the guiding robot guiding the target object to enter the detection area of ​​the observation room is basically the same as the process of the guiding robot guiding the target object to enter the preparation area from outside the isolation door. The only difference is that the guidance information played is different, and it will not be repeated in this application.

[0085] In some embodiments, after step S203, when the target object enters the detection area, the positioning operation guidance information of the detection part can be retrieved and displayed by the guiding robot according to the detection items of the target object. The positioning operation guidance information may include but is not limited to at least one of the following: a positioning posture schematic image, a positioning operation introduction video or a positioning operation introduction audio, wherein the positioning posture schematic image and the positioning operation introduction video can be displayed on the display screen, and the positioning operation introduction audio is played by the speaker of the guiding robot to provide the target object with positioning operation guidance of the detection part.

[0086] In steps S201 to S203 as shown in the embodiment of the present application, first, in response to the opening of the isolation door of the observation room, information for guiding the target object into the preparation area is played to guide the target object into the preparation area, and information on the work required for the object is played to guide the target object to perform the required work. Then, in response to the target object having completed the required work, information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can guide the target object into the preparation area of ​​the observation room by guiding the robot, and play information on the work required for the object to guide the target object to prepare the work and protective measures, and then guide the target object into the detection area. It can ensure that the target object receives effective area guidance and required work guidance in the process of entering the detection area, thereby improving the efficiency and accuracy of the target object in completing the flat film detection.

[0087] See also Figure 3 In some embodiments, before step S201, the positioning guidance method for the radiograph process illustrated in the embodiments of the present application may further include, but is not limited to, steps S301 to S304:

[0088] Step S301, generating object call information and identity information confirmation interface according to the identity information of the target object;

[0089] Step S302: Play the target person's calling information to guide the target person to confirm his / her identity information on the identity information confirmation interface;

[0090] Step S303: When the target object completes identity confirmation, route planning is performed based on the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route;

[0091] Step S304: performing displacement according to the target guidance route to guide the target object to move to the isolation door.

[0092] In step S301 of some embodiments, the target subject's identity information may include, but is not limited to, at least one of the following: user name, user gender, rank number, or user medical card number. Based on this, the guide robot can generate a subject call message based on the target subject's identity information. The subject call message is used to call the target subject and remind them that they are about to undergo a plain film examination. The subject call message can be a voice message or a combination of visual prompts such as video or text prompts and a voice message. For example, the subject call message could read, "The next person to undergo a plain film examination is Mr. Zhang San. Please go to guide robot A to confirm your identity information." When generating the subject call message, the human-computer interaction interface can also be configured as an identity information confirmation interface based on the target subject's identity information. The identity information confirmation interface can display the target subject's identity information and include an identity information confirmation button, allowing the target subject to verify and confirm the identity information.

[0093] In step S302 of some embodiments, the guiding robot may guide the target subject to move in front of the guiding robot by playing the subject's call information, and then guide the target subject to confirm their identity information on the identity information confirmation interface. It should be noted that the guiding robot may also retrieve the target subject's test items based on the target subject's identity information, and display the test items and identity information together on the identity information confirmation interface to facilitate the target subject to verify the identity information and test items.

[0094] In step S303 of some embodiments, when the target object completes identity information confirmation, the guide robot generates current position information based on the current position of the guide robot, and then performs route planning based on the preset isolation door positioning information and the current position information to obtain a target guidance route, wherein the target guidance route is used to guide the target object to move to the isolation door of the observation room.

[0095] In step S304 of some embodiments, the target object can be guided to the isolation gate by moving according to the target guidance route. It should be noted that due to the potential presence of obstacles and pedestrians in the waiting area, the guidance robot can be equipped with a camera for capturing real-time images during the movement process, allowing for timely adjustments to the target guidance route based on the real-time images.

[0096] In some embodiments, after the target object completes the identity confirmation, the guidance robot will play the introduction information of the flat film detection project, such as the precautions for the detection items of the flat film detection, the flat film detection operation process and the operating specifications. The playback of the flat film detection project introduction information can be performed while the guidance robot generates the target guidance route, or it can be performed when the guidance robot moves according to the target guidance route or after guiding the target object to move to the isolation door of the observation room. If the guidance robot plays the introduction information of the flat film detection project, medical staff do not need to provide guidance and training on the overall process of flat film detection for each patient, which can reduce the intensity and duration of repetitive labor of medical staff.

[0097] In the steps S301 to S304 shown in the embodiment of the present application, first, a target call message and an identity information confirmation interface are generated based on the identity information of the target object, and the target call message is played to guide the target object to confirm the identity information on the identity information confirmation interface. When the target object completes the identity information confirmation, a route is planned based on the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route. Finally, displacement is performed according to the target guidance route to guide the target object to move to the isolation door. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can call the target object based on the identity information of the target object and guide the target object to confirm the identity, so that the target object can check the identity information and the test items, and can generate a target guidance route based on the current position of the guide robot, so as to perform displacement according to the target guidance route and guide the target object to the isolation door, ensuring that the target object can reach the isolation door safely and accurately, so that the entire process from calling the target object to guiding the target object to the isolation door can be realized by the guide robot, reducing the workload of medical staff when calling and guiding the target object.

[0098] In step S102 of some embodiments, during the plain film detection process, the patient's examination part needs to be adjusted to a specific posture so that the plain film can be taken according to the specific posture, which facilitates the doctor to analyze the examination part based on the taken plain film. In the process of adjusting the patient's examination part to a specific posture, body position contour prompt information is generated according to the specific posture, and the patient can understand how to adjust the examination part through the body position contour prompt information. The body position contour prompt information may include but is not limited to at least one of the following: a body position contour prompt image and a body position contour prompt text. The body position contour prompt image is usually a contour image generated according to a specific posture, which can intuitively inform the patient that the position and posture of the body should be adjusted to a suitable posture to be placed within the body position contour. The body position contour prompt text is used to assist the body position contour prompt image in positioning guidance, and can describe how to adjust the posture, and can also describe information such as the direction of the body position contour prompt image.

[0099] See also Figure 4 and Figure 5 In some embodiments, step S102 may include but is not limited to steps S401 to S402:

[0100] Step S401, determining the body mass index based on the physiological information of the target object;

[0101] Step S402 : searching a preset contour image library according to the test items, physiological information, and body mass index to obtain a body position contour prompt image.

[0102] In step S401 of some embodiments, a body mass index (BMI) may be determined based on the physiological information of the target subject. Specifically, the physiological information includes height information and weight information. The BMI may be calculated based on the height information and weight information using the following formula:

[0103] ;

[0104] Among them, BMI represents body mass index, W represents weight information, and h represents height information.

[0105] In step S402 of some embodiments, due to the different physiological information of patients, their body contours vary greatly. If only one standard contour image is used as the body contour prompt image for all patients, if the patient's body contour differs greatly from the body contour in the standard contour image, it will be difficult for the patient to adjust his or her body to the required positioning posture for the plain film examination. Therefore, it is necessary to find a body contour prompt image that is close to the patient's body contour morphology based on the patient's examination items, physiological information, and body mass index. The examination item is used to describe the examination part of the target object. For example, the examination item can be "foot", "chest", "head", or "leg".

[0106] Specifically, a high-dimensional coordinate system is pre-stored in the contour image library. Each coordinate in the high-dimensional coordinate system corresponds to a body contour prompt image, and each coordinate axis of the high-dimensional coordinate system represents one of the test items, physiological information, and body mass index. Based on this, a matching rule can be established to search for body contour prompt images in the contour image library based on the patient's test items, physiological information, and body mass index. The matching rule can be: determine the target coordinates in the high-dimensional coordinate system based on the patient's test items, physiological information, and body mass index, and obtain the body contour prompt image corresponding to the target coordinates.

[0107] For example, if height is represented by the X-axis in a three-dimensional coordinate system, body mass index by the Y-axis in a high-dimensional coordinate system, and test items by the Z-axis in a high-dimensional coordinate system, and each unit length on the X-axis is set to 1 cm, each unit length on the Y-axis is set to 1, and each unit length on the Z-axis is set to a test item, then based on the patient's height of "150 cm", body mass index of "20", and the test item "hand", the target coordinates (x, y, z) = (150, 20, "hand") can be found, and the corresponding body position contour image can be obtained. It is important to note that if height and body mass index are not integers, they must first be rounded to integers, and then the target coordinates can be found based on the integers of height, body mass index, and test item. The specific rounding method can be rounding to one decimal place or other methods.

[0108] In some embodiments, a method for generating and storing multiple body position contour prompt images in a contour image library is as follows: first, a standard contour map of the detection part is determined according to the detection item, and the body mass index is calculated according to the height information and weight information; then, the standard contour map is modified according to the specific values ​​of the height information and body mass index to obtain the body position contour prompt images corresponding to the specific values ​​of the detection item, height information and body mass index; finally, a high-dimensional coordinate system is established with the detection item, height information and body mass index as axes, and the coordinates of each body position contour prompt image are determined according to the specific values ​​of the detection item, height information and body mass index, so as to facilitate the search for the body position contour prompt image according to the detection item, height information and body mass index of the target object during the actual plain film detection process. Therefore, based on the standard contour map, a multi-position body position contour prompt image sequence can be generated according to the patient's detection item and physiological information, and each body position contour prompt image in the body position contour prompt image sequence can be stored in the contour image library according to the detection item and physiological information.

[0109] In other embodiments, a contour image library can be established for each test item, and a two-dimensional coordinate system can be established with height information and body mass index as axes, so that the coordinates of each body position contour prompt image can be determined according to the specific values ​​of height information and body mass index in the contour image library of each test item. Figure 6 As shown, first, the detection part is determined to be the abdomen according to the detection items, and then a two-dimensional coordinate system is established with the height information as the X-axis and the body mass index as the Y-axis. The coordinates of each body posture contour prompt image on the two-dimensional coordinate system are determined according to the specific values ​​of the height information and the body mass index.

[0110] Steps S401 to S402 shown in the embodiment of the present application determine the body mass index based on the physiological information of the target object, and perform image search on the preset contour image library based on the test items, physiological information and body mass index to obtain a body position contour prompt image. The body position contour prompt image that best matches the body position contour of the target object can be retrieved from the preset contour image library, and the body position contour prompt image that is adapted to the patient's contour morphology can be flexibly selected, thereby improving the accuracy and efficiency of the body position contour prompt image in guiding the target user's positioning.

[0111] In step S103 of some embodiments, the host computer may collect images of the observation room through a camera installed in the detection area of ​​the observation room to obtain an indoor image, wherein the indoor image includes the back panel of the flat-panel device.

[0112] See also Figure 7 In some embodiments, before step S104, the above-mentioned positioning guidance method for the radiograph process may further include but is not limited to steps S701 to S703:

[0113] Step S701, identifying the back panel outline of the back panel from the indoor image using a camera;

[0114] Step S702, performing spatial posture estimation on the detection area according to the backboard contour to obtain projection correction parameters;

[0115] Step S703: Send the projection correction parameters to the projector, so that the projector performs projection correction according to the projection correction parameters.

[0116] In step S701 of some embodiments, a backplane recognition algorithm is stored in the camera, which can identify the backplane outline of the backplane from the indoor image. The specific backplane outline recognition algorithm can be a machine learning algorithm, such as an image recognition algorithm or an edge detection algorithm, which can accurately identify the edge and shape of the backplane in a complex indoor environment.

[0117] In step S702 of some embodiments, the camera in the detection area also stores a spatial pose estimation algorithm that can estimate the spatial pose of the detection area based on the preset backplane size and backplane contour to obtain projection correction parameters for the detection area. The spatial pose estimation algorithm can be PnP, MoveNet, PoseNet, DCPose, or AlphaPose, among others.

[0118] In step S703 of some embodiments, the camera can transmit the projection correction parameters to the projector, and the projector completes the projection image correction according to the projection correction parameters, so that when the projector projects the body contour prompt information, it can adjust the projected body contour prompt information according to the actual position and direction of the backboard, reduce the deformation effect of the projector position on the body contour prompt information, and accurately project the body contour prompt information onto the backboard.

[0119] In steps S701 to S703 shown in the embodiment of the present application, the camera first identifies the backboard contour of the backboard from the indoor image, and then estimates the spatial posture of the detection area based on the backboard contour to obtain the projection correction parameters. Finally, the projection correction parameters are sent to the projector so that the projector performs projection correction according to the projection correction parameters. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can assist the projector in projection correction through the indoor image captured by the camera, reduce the projection distortion caused by the projector position and projector angle, and accurately project the body contour prompt information on the backboard, thereby improving the accuracy of the patient's positioning.

[0120] In step S104 of some embodiments, a projector is installed in the detection area of ​​the observation room to form an integrated system with the camera, which is used to perform projection correction according to projection correction parameters. When the target object is in the detection area, the projector is also used to project body contour prompt information to guide the target object to adjust its body position.

[0121] It should be noted that before the camera captures indoor images, the positioning guidance method for the flat film process shown in the embodiment of the present application will also jointly calibrate the camera and projector, establish a mapping relationship between the camera coordinate system and the projector coordinate system, so as to realize the projection correction of the projector.

[0122] See also Figure 8 In some embodiments, step S104 may include but is not limited to steps S801 to S803:

[0123] Step S801: When the target object is in the detection area, an individual contour image of the target object is captured by a camera;

[0124] Step S802, updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image;

[0125] Step S803: Projecting an updated contour prompt image via a projector to guide the target subject to adjust his / her body position.

[0126] In step S801 of some embodiments, since the contour image library only stores the body position contour prompt images generated based on the discrete data of height information and body mass index and the test items, when the target subject's height information and body mass index are not integers, the body position contour prompt image may still not match the target subject's body position contour sufficiently. Moreover, even for target subjects with similar height information and body mass index, their specific body position contours may differ. In addition, due to the long-term lack of information update, the acquired physiological information such as height information and weight information may also be inconsistent with the target subject's actual physiological information. Therefore, it is necessary to collect an individual contour image of each target subject so as to update the body position contour prompt image based on each individual contour image of each target subject. Specifically, first, an indoor image containing the target subject is collected, and then the individual contour image of the target subject is separated from the indoor image. The specific separation method can be an image segmentation algorithm based on PnP, CNN, Mask R-CNN, or Tsallis entropy.

[0127] In step S802 of some embodiments, the host computer can update the body position contour prompt image based on the individual contour image to obtain an updated contour prompt image. Specifically, the host computer first receives the individual contour image sent by the camera, then performs a difference assessment based on the individual contour image and the body position contour prompt image to obtain difference assessment data, and updates the body position contour prompt image based on the difference assessment data, thereby obtaining an updated contour prompt image that has a high degree of consistency with the body position contour of the detected body position of the target object. A specific difference assessment method can be: first, extract pixels from the individual contour image and the body position contour prompt image respectively, then calculate the pixel ratio difference between the individual contour image and the body position contour prompt image, and finally adjust the body position contour prompt image based on the pixel ratio difference to obtain an updated contour prompt image. The difference assessment method can also be to use parameters of the detected part in the individual contour image, such as abdominal width, thigh length, or knee curvature, and then adjust the parameters of the corresponding part in the body position contour prompt image based on the parameters of the detected part.

[0128] In step S803 of some embodiments, an updated contour prompt image can be projected by a projector to guide the target subject to adjust their body position. Specifically, the projector first receives the updated contour prompt image sent by the host computer, deforms the updated contour prompt image based on the mapping relationship between the camera coordinate system and the projector coordinate system and the projection correction parameters to obtain a deformed contour prompt image, and then projects the deformed contour prompt image onto the backboard to guide the target subject to adjust their body position so that the detection part is placed within the area corresponding to the deformed contour prompt image.

[0129] In step S803 of some other embodiments, the host computer may also perform posture estimation on the target object based on the individual contour image to obtain object posture estimation data, and then generate a positioning guidance video based on the deformation contour prompt image and the object posture estimation data. Finally, the positioning guidance video is sent to the projector, and the positioning guidance video is played by the projector to dynamically guide the target object to adjust its body position to a posture that conforms to the deformation contour prompt image.

[0130] In step S803 of some other embodiments, if the camera fails to capture the individual contour image, the host computer will directly send the body contour prompt image to the projector so that the projector projects the body contour prompt image.

[0131] It should be noted that during the positioning of the target object, steps S801 to S803 may be repeated multiple times, so that the target object can adjust its body position according to the latest deformation contour prompt image until the target object adjusts its body position to the most appropriate posture.

[0132] In steps S801 to S803 illustrated in the embodiment of the present application, when the target object is within the detection area, the camera first captures the target object's individual contour image, then the host computer updates the body position contour prompt image based on the individual contour image to obtain an updated contour prompt image, and finally, the updated contour prompt image is projected by a projector to guide the target object in adjusting its position. Therefore, the positioning guidance method for the radiograph process illustrated in the embodiment of the present application can update and project the body position contour prompt image based on the target object's individual contour image, thereby improving the efficiency and accuracy of positioning the target object.

[0133] In step S105 of some embodiments, when the target subject's body position meets the predetermined body position condition, the host computer sends a radiographic capture instruction to the radiographic device, so that the radiographic device captures a radiographic image of the target subject's detected part. The predetermined body position condition may be that the target subject's detected part is completely within the outline of the updated contour prompt image, and that the degree of fit between the contour of the detected part and the contour of the updated contour prompt image reaches a preset fit threshold. The specific fit threshold may be 85%, 90%, or 95%, or other specific values ​​may be selected based on the actual needs of those skilled in the art.

[0134] See also Figure 9 In some embodiments, after step S105, the above-mentioned positioning guidance method for the radiograph process may further include but is not limited to steps S901 to S903:

[0135] Step S901, obtaining the time duration of the target object adjusting the body position, and obtaining the total adjustment time duration;

[0136] Step S902: Determine the adjustment phase score by comparing the total adjustment time with a preset simulated adjustment time. The simulated adjustment time is determined by a preset positioning guidance model, which is constructed based on the robot's behavioral learning guidance operation and guidance cycle, the projector's projection time, and the method for generating the updated contour prompt image.

[0137] Step S903: Adjust the positioning guidance model according to the adjustment link score.

[0138] In some embodiments, step S901 monitors and records the total time it takes for the subject to adjust their position within the detection area in real time. This total adjustment time reflects the patient's response speed to the position adjustment instructions and their understanding of the position contour prompt information. It can be used to assess the effectiveness of the position contour prompt information projected by the projector in guiding the subject's position.

[0139] In step S902 of some embodiments, the preset positioning guidance model refers to a positioning guidance method operation flow simulated on a computer, based on the guidance robot's behavioral learning guidance operations and guidance cycle, the projector's projection duration, and the method for generating updated contour prompt images, before actual positioning guidance is performed. Based on this, the simulated adjustment duration of the positioning guidance model can be determined. The simulated adjustment duration refers to the total time required for the target object to adjust its position, as deduced based on the positioning guidance model. The guidance robot's behavioral learning guidance operations refer to the guidance robot's operations during the behavioral learning guidance phase. The learning guidance phase refers to the phase from the guidance robot generating the object call information and identity information confirmation interface based on the target object's identity information to the termination of the display of the positioning operation guidance information. Behavior learning guidance operations may include, but are not limited to, at least one of the following: generating a subject call message and an identity information confirmation interface based on the patient's identity information; playing the subject call message; planning a route based on the preset isolation door location information and the guidance robot's current position to obtain a target guidance route; and moving the robot according to the target guidance route to guide the guardian and patient to the isolation door; playing a guidance entry into the preparation area message to guide the guardian and patient into the preparation area; playing the subject's required work information; and playing a guidance entry into the testing area message to guide the guardian and patient into the testing area of ​​the observation room. The guidance period refers to the duration for the guidance robot to complete the behavioral learning guidance phase. The guidance period can be configured based on at least one of the following parameters: the presentation format and playback duration of the subject call message, guidance entry into the preparation area message, and guidance entry into the testing area message. For example, the subject call message can consist of video and audio and be repeated five times; the guidance entry into the preparation area message can be simply a route map with a display duration of one minute. The projection duration of the projector can be configured based on at least one of the following parameters: the duration of a single projection update of the contour prompt image and the number of projection updates of the contour prompt image. Methods for generating an updated contour prompt image include, but are not limited to, any of the following: searching a preset contour image library based solely on the test item, physiological information, and body mass index to obtain a body position contour prompt image; updating the body position contour prompt image based on the patient's individual contour image captured by the camera to obtain an updated contour prompt image; or directly generating an updated contour prompt image based on the individual contour image. The adjustment phase refers to the period from the time the target subject enters the test area to the moment the radiograph device begins capturing the radiograph.

[0140] Since the total adjustment time can be used to evaluate the efficiency of the body contour prompt information projected by the projector in guiding the target subject, the adjustment phase score can be determined based on the total adjustment time. For example, the adjustment phase score can be adjusted based on the ratio of the total adjustment time to the preset standard adjustment time: if the total adjustment time is equal to the standard adjustment time, the adjustment phase score is set to 60; if the total adjustment time exceeds the standard adjustment time by 20%, the adjustment phase score is set to 50; if the total adjustment time is 50% of the standard adjustment time, the adjustment phase score is set to 85.

[0141] In step S903 of some embodiments, the positioning guidance model can be adjusted based on the adjustment link score. Taking the generation method of the updated contour prompt image of the adjustment positioning guidance model as an example, the body contour prompt image and the body contour prompt text can be modified, added, or deleted based on the adjustment link score. For example, a link score of 50 may mean that the current body contour prompt image or body contour prompt text is not clear or difficult to understand, and the body contour prompt information needs to be modified, such as adding a body contour prompt voice or replacing the body contour prompt image with a body contour prompt video; for example, a link score of 95 indicates that the target object can quickly respond to the guidance of the body contour information, and there is no need to adjust the body contour prompt image and the body contour prompt text.

[0142] In other embodiments, the adjustment phase can also be scored and adjusted based on the projection duration of the projector. Furthermore, the behavior learning guidance phase can also be scored and adjusted based on the guidance cycle of the robot. The specific implementation of the scoring and adjustment phases is similar to that of steps S901 to S903 above and will not be repeated here.

[0143] In steps S901 to S903 shown in the embodiment of the present application, the total adjustment time is obtained by obtaining the time for the target object to adjust the position, and then the adjustment link score is determined based on the total adjustment time and the preset simulation adjustment time. The simulation adjustment time is determined by a preset positioning guidance model, and the positioning guidance model is constructed based on the guidance operation and guidance cycle of the guiding robot's behavioral learning, the projection time of the projector, and the generation method of the updated contour prompt image. Finally, the position contour prompt image and the position contour prompt text are adjusted according to the adjustment link score. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can obtain the position contour prompt image and the position contour prompt text that are most convenient for the target object to understand the positioning operation, thereby improving the efficiency of flat film detection.

[0144] In other embodiments of the present application, before the guiding robot generates object call information and identity information confirmation interface according to the patient's identity information, the method may further include: first, by selecting different guiding robots' behavioral learning guidance operations and guidance cycles, projector projection time and updated contour prompt image generation methods in a preset virtual deduction system, to construct multiple positioning guidance models facing the flat film detection process, and deducing the simulated positioning guidance time of each positioning guidance model through the virtual deduction system, wherein the simulated positioning guidance time refers to the time required to complete a complete positioning guidance in the positioning guidance model; then, selecting the positioning guidance model with the shortest simulated positioning guidance time from all the positioning guidance models as the target guidance model, and setting the actual guiding robot's behavioral learning guidance operations and guidance cycles, projector projection time and updated contour prompt image generation methods according to the target guidance model, and recording the actual positioning guidance Duration, wherein the actual positioning guidance duration refers to the actual duration required to complete a complete positioning guidance according to the target guidance model; then, according to the actual positioning guidance duration and the score of the behavior learning guidance link, the behavior learning guidance operation and the guidance cycle of the guiding robot in the behavior learning guidance link are adjusted, and according to the actual positioning guidance duration and the score of the adjustment link, the projection duration of the projector and the generation method of the updated contour prompt image in the adjustment link are adjusted, until the matching degree of the simulated positioning guidance time and the actual positioning guidance time of the target guidance model reaches the matching threshold. The matching degree refers to the similarity between the simulated positioning guidance time and the actual positioning guidance time. The matching threshold is used to describe whether the matching degree reaches or does not reach the preset similarity standard. The matching threshold can be set according to the actual needs of technical personnel in this field. For example, the matching threshold can be 99.99%, or 90% or 92.8%, etc., and this application does not impose any restrictions.

[0145] The above-described method, as illustrated in the embodiments of the present application, constructs different positioning guidance models within a virtual simulation system and selects a target guidance model based on the duration of simulated positioning guidance. This method avoids occupying the actual positioning guidance scene and can quickly determine an implementable positioning guidance plan, thereby reducing the time and hardware costs of determining the positioning guidance plan and improving the efficiency of positioning guidance plan determination. The target guidance model is then applied during the actual positioning guidance process and adjusted based on the actual positioning guidance duration, the score of the learning guidance phase, and the score of the adjustment phase. The adjusted target guidance model is then applied to the actual positioning guidance process, achieving dynamic adjustment of the positioning guidance plan. Ultimately, a positioning guidance plan is obtained that is easy for the target subject to understand the positioning guidance operation and minimizes the actual positioning guidance time.

[0146] See also Figure 10In some embodiments, if the patient requiring plain radiograph examination is a special population such as a child or the elderly who may have difficulty quickly understanding the positioning procedures, a guardian may be required to accompany the patient for the plain radiograph examination to assist with positioning. Based on this, the specific implementation process of this application is as follows: First, before the examination, the guidance robot generates a subject call message and an identity information confirmation interface based on the patient's identity information, and plays the subject call message to guide the guardian or patient to confirm their identity information on the identity information confirmation interface. When the guardian or patient completes the identity information confirmation, the guidance robot plans a route based on the preset isolation door positioning information and the guidance robot's current position to obtain a target guidance route. The guidance robot then plays introductory information such as the operation process and precautions to the guardian and patient. The robot then moves along the target guidance route to guide the guardian and patient to the isolation door. Then, in response to the isolation door of the observation room opening, the guidance robot plays a message to guide the guardian and patient into the preparation area, and plays information such as precautions and behavioral guidance to guide the guardian and patient to perform the required tasks. In response to the target subject completing the required work, the guidance robot plays a message directing the patient to enter the inspection area, guiding the guardian and patient into the inspection area of ​​the observation room. Next, the host computer determines the patient's body mass index based on their physiological information and searches a preset contour image library based on the test items, physiological information, and body mass index to obtain a body position contour image. A camera captures indoor images and identifies the backboard contour from the images. This is used to estimate the spatial posture of the inspection area, obtaining projection correction parameters. These parameters are then transmitted to the projector, which performs projection correction according to the projection correction parameters. Subsequently, when the patient is in the inspection area, the camera captures the patient's individual contour image and updates the body position contour image based on the individual contour image, generating an updated contour image. This updated contour image is then projected onto the projector to guide the guardian in adjusting the patient's position. Finally, when the patient's position meets the predetermined body position conditions, a plain radiograph is taken. After the examination, the guidance robot guides the patient and guardian out of the observation room.

[0147] See also Figure 11 The present application also provides a positioning guidance system for a planar film process, which can implement the above-mentioned positioning guidance method for a planar film process. The system includes:

[0148] Host computer 1101, guiding robot 1102, camera 1103 and projector 1104:

[0149] The guiding robot 1102 is used to play target guidance information to guide the target object into the detection area of ​​the observation room;

[0150] The host computer 1101 is used to generate body position contour prompt information according to the detection items of the target object;

[0151] Camera 1103 is used to collect images of the observation room to obtain indoor images;

[0152] The projector 1104 is used to perform projection correction based on the indoor image. When the target object is in the detection area, the projector projects body contour prompt information to guide the target object to adjust its body position;

[0153] The host computer 1101 is also used to take plain radiographs when the body position of the target object meets the predetermined body position conditions.

[0154] The specific implementation of the positioning guidance system for the planar film process is basically the same as the specific embodiment of the positioning guidance method for the planar film process described above, and will not be repeated here.

[0155] The present application also provides an electronic device comprising a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described radiographic positioning guidance method. The electronic device can be any smart terminal, such as a tablet computer or an in-vehicle computer.

[0156] See also Figure 12 , Figure 12 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0157] The processor 1201 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0158] The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1202 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1202 and is called by the processor 1201 to execute the positioning guidance method for the flat-film process of the embodiments of this application.

[0159] Input / output interface 1203, used to implement information input and output;

[0160] Communication interface 1204, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0161] Bus 1205 , which transmits information between various components of the device (e.g., processor 1201 , memory 1202 , input / output interface 1203 , and communication interface 1204 );

[0162] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0163] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned positioning guidance method for the flat-film process.

[0164] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0165] The embodiments of the present application provide a positioning guidance method for a flat film process, a positioning guidance system for a flat film process, and related equipment. First, the robot plays target guidance information to guide the target object to enter the detection area of ​​the observation room, and then generates body position contour prompt information based on the detection items of the target object. Then, the camera captures the image of the observation room to obtain the indoor image, and the projector performs projection correction based on the indoor image. When the target object is in the detection area, the body position contour prompt information is projected to guide the target object to adjust its position. Finally, when the body position of the target object meets the predetermined body position conditions, a flat film is taken. Therefore, the positioning guidance method, system, and related equipment for a flat film process shown in the embodiments of the present application can be controlled by the host computer to play the target guidance information, generate body position contour prompt information based on the detection items of the target object, and project the body position contour prompt information through the camera and projector. It can guide the target object in the body position operation and assist the target object in adjusting its body position posture, thereby reducing the positioning time of the flat film detection and improving the efficiency of the flat film detection.

[0166] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0167] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0168] The system embodiment described above is merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0169] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0170] The terms "including" and "having" and any variations thereof in the specification of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products or apparatuses.

[0171] It should be understood that, in this application, "at least one (item)" means one or more, and "plurality" means two or more. "At least one of the following (items)" or similar expressions refers to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or plural.

[0172] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the above units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0173] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0175] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0176] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A positioning guidance method for a planar radiograph, characterized in that: Applied to a host computer, the method includes: The target object is guided into the detection area of ​​the observation room by guiding the robot to play the target guidance information; generating body position contour prompt information according to the detection items of the target object; Capturing an image of the observation room through a camera to obtain an indoor image, wherein the indoor image includes a back panel of a flat-panel device; Performing projection correction based on the indoor image through a projector, and projecting the body position contour prompt information when the target object is in the detection area to guide the target object to adjust its body position; When the body position of the target object meets the predetermined body position condition, performing plain film shooting; The body position contour prompt information includes a body position contour prompt image; Generating body position contour prompt information according to the detection items of the target object includes: determining a body mass index based on the physiological information of the target subject; Performing an image search in a preset contour image library according to the detection items, the physiological information, and the body mass index to obtain the body position contour prompt image; Before performing projection correction according to the indoor image by the projector, the method further includes: Recognizing a back panel outline of the back panel from the indoor image by the camera; Performing spatial posture estimation on the detection area according to the backboard contour to obtain projection correction parameters; The projection correction parameters are sent to the projector, so that the projector performs projection correction according to the projection correction parameters.

2. The method according to claim 1, characterized in that The target guidance information includes guidance into the preparation area information and guidance into the detection area information; The method of guiding the robot to play the target guidance information to guide the target object into the detection area of ​​the observation room includes: In response to the isolation door of the observation room being opened, playing the guidance information for entering the preparation area to guide the target object into the preparation area; Play the work information required by the target object to guide the target object to perform the required work; In response to the target object having completed the required work, the information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room.

3. The method according to claim 1, characterized in that When the target object is in the detection area, projecting the body position contour prompt information to guide the target object to adjust the body position includes: When the target object is in the detection area, collecting an individual contour image of the target object through the camera; updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image; The updated contour prompt image is projected by the projector to guide the target object to adjust its body position.

4. The method according to claim 2, characterized in that Before playing the information for guiding the target object into the preparation area in response to the isolation door of the observation room being opened to guide the target object into the preparation area, the method further includes: Generate object call information and identity information confirmation interface according to the identity information of the target object; Playing the object calling information to guide the target object to confirm the identity information on the identity information confirmation interface; When the target object completes identity confirmation, route planning is performed based on the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route; The target object is moved according to the target guidance route to guide the target object to move to the isolation door.

5. The method according to claim 3, characterized in that The body position contour prompt information also includes body position contour prompt text; After the target object's body position meets the predetermined body position condition and the radiograph is taken, the method further includes: Obtaining the time duration for the target object to adjust its body position, and obtaining the total adjustment time duration; Determining an adjustment phase score by comparing the total adjustment time with a preset simulated adjustment time; wherein the simulated adjustment time is determined by a preset positioning guidance model, which is constructed based on the behavioral learning guidance operation and guidance cycle of the guidance robot, the projection time of the projector, and the generation method of the updated contour prompt image; The positioning guidance model is adjusted according to the adjustment link score.

6. A positioning guidance system for the flat-film process, characterized in that: The system includes a host computer, a guiding robot, a camera and a projector: The guiding robot is used to play target guidance information to guide the target object into the detection area of ​​the observation room; The host computer is used to generate body position contour prompt information according to the detection items of the target object; The camera is used to capture images of the observation room to obtain an indoor image, wherein the indoor image includes the back panel of the flat-panel device; The projector is configured to perform projection correction based on the indoor image, and project the body position contour prompt information when the target object is in the detection area to guide the target object to adjust its body position; The host computer is further configured to take a plain film when the body position of the target object meets a predetermined body position condition; The body position contour prompt information includes a body position contour prompt image; Generating body position contour prompt information according to the detection items of the target object includes: determining a body mass index based on the physiological information of the target subject; Performing an image search in a preset contour image library according to the detection items, the physiological information, and the body mass index to obtain the body position contour prompt image; Before the projector performs projection correction according to the indoor image, the method further includes: Recognizing a back panel outline of the back panel from the indoor image by the camera; Performing spatial posture estimation on the detection area according to the backboard contour to obtain projection correction parameters; The projection correction parameters are sent to the projector, so that the projector performs projection correction according to the projection correction parameters.

7. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the positioning guidance method for the flat film process according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the positioning guidance method for a planar radiograph process according to any one of claims 1 to 5 is implemented.

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