Medical imaging equipment and X-ray exposure control method thereof

Abstract

The invention provides medical imaging equipment and an X-ray exposure control method thereof. The method comprises the following steps: acquiring a respiratory signal representing respiratory movement of a target object; predicting optimal triggering time according to the respiration signal, wherein the optimal triggering time is a time point or a time period; controlling to output prompt information for prompting a user to input a trigger exposure operation at the optimal trigger time; and in response to the exposure triggering operation input by the user, executing exposure imaging on the target object. Through the medical equipment and the method, the user can be helped to better capture the target object.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and particularly relates to a medical imaging device and an X-ray exposure control method thereof. Background Art

[0002] A medical imaging device is a medical device that can image lesions in a target object's body through X-rays. For example, a digital radiography (DR) device, a computed tomography (CT) device, etc. Taking a DR device as an example, the quality of the image is related to the timing of exposure imaging to a certain extent.

[0003] In order to improve the image quality, doctors often need to perform exposure imaging at a specific moment. For example, when taking a chest radiograph, many doctors' experience is to perform exposure at the end of inspiration of the target object. For a target object who is willing to cooperate and hold their breath, the end of inspiration suitable for exposure can be maintained for a relatively long time, so it is relatively easy for doctors to operate. However, for infants and unconscious target objects, the end of inspiration is easily fleeting, and various factors may cause the exposure to miss the end of inspiration of the target object. For doctors, it is relatively difficult to obtain high-quality images. Therefore, how to help medical staff better judge when to perform exposure imaging is one of the problems to be solved or improved currently. Summary of the Invention

[0004] According to a first aspect, in one embodiment, an X-ray exposure control method for a medical imaging device is provided, including:

[0005] Obtaining a respiratory signal representing the respiratory movement of a target object;

[0006] Predicting an optimal trigger time according to the respiratory signal, where the optimal trigger time is a time point or a time period;

[0007] Controlling the output of a prompt message for prompting a user to input a trigger exposure operation at the optimal trigger time;

[0008] In response to the trigger exposure operation input by the user, performing exposure imaging on the target object.

[0009] According to a second aspect, in one embodiment, a control method for a medical imaging device is provided, including:

[0010] Obtaining a respiratory signal representing the respiratory movement of a target object;

[0011] Generating a first waveform according to the respiratory signal, where the first waveform is used to represent the past respiratory movement of the target object;

[0012] Determine whether the breathing motion of the target object is stable according to the first waveform. If the breathing motion of the target object is stable, control to output a prompt message indicating that the target object is in stable breathing motion in the shielding room, where the radiation source for emitting X-rays of the medical imaging device is arranged in the shielding room;

[0013] Display the first waveform on a first display outside the shielding room.

[0014] According to a third aspect, an embodiment provides a medical imaging device, including:

[0015] A radiation source for emitting X-rays to expose a target object;

[0016] A detector for receiving the X-rays emitted by the radiation source, converting the received X-rays into electrical signals and acquiring medical images;

[0017] A sensor for acquiring a breathing signal characterizing the breathing motion of the target object;

[0018] A processor for executing the above method.

[0019] According to a fourth aspect, an embodiment provides a medical imaging device, including:

[0020] A prompt device located in the shielding room;

[0021] A radiation source located in the shielding room for emitting X-rays to expose a target object;

[0022] A detector located in the shielding room for receiving the X-rays emitted by the radiation source, converting the received X-rays into electrical signals and acquiring medical images;

[0023] A sensor for acquiring a breathing signal characterizing the breathing motion of the target object;

[0024] A processor for determining whether the breathing motion of the target object is stable according to the breathing signal. If the breathing motion of the target object is stable, controlling the prompt device to output a prompt message indicating that the breathing motion of the target object is stable; and for generating a first waveform according to the breathing signal, the first waveform being used to characterize the past breathing motion of the target object;

[0025] A first display located outside the shielding room for displaying the first waveform at least after the breathing motion of the target object is stable.

[0026] According to a fifth aspect, in one embodiment, a computer-readable storage medium is provided, on which a program is stored, and the program can be executed by a processor to implement the method described above.

[0027] Based on the medical imaging device and its X-ray exposure control method in some of the above embodiments, obtain the breathing signal of the target object, determine the best timing for the user to input the trigger exposure operation according to the breathing signal, that is, determine the best trigger time, and give corresponding prompts to the user. The user can input the trigger exposure operation according to the prompt, without the need to observe the physical condition of the target object and then judge the best timing for inputting the trigger exposure operation based on personal experience, reducing the error caused by human factors.

[0028] Generally speaking, before the exposure imaging of the target object, the user needs to guide the target object to position in the ward. During this process, the breathing of the target object may be disordered. In the past, the user generally chose the timing to leave the shielding room according to experience, observed the target object through the small window on the shielding room, and then input the trigger exposure operation outside the shielding room according to experience. The above operation process may cause the user to input the trigger exposure operation before the breathing movement of the target object is stable. No matter how accurate the user's judgment experience of moments such as the end of inspiration is, a high-quality image cannot be obtained.

[0029] Based on the medical imaging device and its control method in some other embodiments above, obtain the breathing signal of the target object, determine whether the breathing movement of the target object is stable according to the breathing signal. If it is determined that the breathing movement of the target object is stable, output a prompt message indicating that the breathing movement of the target object is stable inside the shielding room. After receiving the prompt message, the user can leave the shielding room for the next operation, so as to ensure that the exposure imaging is performed during the stable breathing movement of the target object. When the user is outside the shielding room, the exposure timing can be judged by observing the first waveform, without or reducing the need to observe the target object through the small window on the shielding room, and further improving the accuracy of the user's judgment of moments such as the end of inspiration, which helps the user obtain high-quality medical images. Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of a medical imaging device according to an embodiment;

[0031] Figure 2 It is a schematic diagram of a pixel unit according to an embodiment;

[0032] Figure 3 It is a flowchart of an X-ray exposure control method for a medical imaging device according to an embodiment;

[0033] Figure 4Schematic diagram of highlighting the position corresponding to the starting moment of the stable breathing movement of the target object on the first waveform in one embodiment;

[0034] Figure 5 Schematic diagram of highlighting the starting moment of the stable breathing movement of the target object on the time axis of the first waveform in one embodiment;

[0035] Figure 6 Schematic diagram of marking the starting moment of the stable breathing movement of the target object in one embodiment;

[0036] Figure 7 Flowchart of the X-ray exposure control method of a medical imaging device in another embodiment;

[0037] Figure 8 Flowchart of predicting the optimal exposure time for the target object according to the breathing signal in one embodiment;

[0038] Figure 9 Flowchart of predicting the optimal exposure time according to the breathing signal in one embodiment;

[0039] Figure 10 Flowchart of controlling the output of a prompt message for prompting the user to input a trigger exposure operation at the optimal trigger time in one embodiment;

[0040] Figure 11 Schematic diagram of highlighting the position corresponding to the optimal exposure time on the second waveform in one embodiment;

[0041] Figure 12 Schematic diagram of highlighting the optimal exposure time on the time axis of the second waveform in one embodiment;

[0042] Figure 13 Schematic diagram of the starting moment of the optimal exposure time in one embodiment;

[0043] Figure 14 Schematic diagram of the co-display of the first waveform and the second waveform when the detector is in the first refresh mode in one embodiment;

[0044] Figure 15 Schematic diagram of the co-display of the first waveform and the second waveform when the detector is in the first refresh mode in another embodiment;

[0045] Figure 16 Schematic diagram of the co-display of the first waveform and the second waveform when the detector is in the second refresh mode in one embodiment;

[0046] Figure 17 Schematic diagram of the co-display of the first waveform and the second waveform when the detector is in the second refresh mode in another embodiment;

[0047] 10. First waveform;

[0048] 20. Second waveform;

[0049] 100. Radiation source;

[0050] 200. Detector;

[0051] 300. Exposure trigger;

[0052] 400. Sensor;

[0053] 500. Processor;

[0054] 600. First display;

[0055] 700. Prompt device;

[0056] 710. Second display;

[0057] 720. Column lamp;

[0058] 730. Voice broadcast device;

[0059] 740. Projection device. Detailed implementation manners

[0060] The present invention will be further described in detail below in conjunction with the accompanying drawings through specific implementation manners. Similar elements in different implementation manners are labeled with related similar element numbers. In the following implementation manners, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of these features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and general technical knowledge in the art.

[0061] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various implementation manners. At the same time, the steps or actions in the method description can also be reordered or adjusted in an obvious manner by those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment and do not mean a necessary sequence, unless it is stated that a certain sequence must be followed.

[0062] The serial numbers assigned to components in this document, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. For the terms "connection" and "coupling" used in this application, unless otherwise specified, both include direct and indirect connection (coupling).

[0063] One of the most important concepts of this application is: predicting the optimal trigger time based on the breathing signal of the target object, prompting the user to input the trigger exposure operation at the optimal trigger time, and when the detector is in the second refresh mode, also prompting the user to input the trigger exposure operation in advance.

[0064] Another important concept of this application is: determining when the breathing movement of the target object is stable based on the breathing signal of the target object and presenting this information to the user in various ways.

[0065] The medical imaging device referred to in this application includes various devices capable of imaging through X-rays. For example, in the following text, a DR device is used for illustration, that is, unless otherwise specified, the medical imaging device in the following text refers to a DR device.

[0066] As Figure 1 The medical imaging device shown in the figure includes a radiation source 100, a detector 200, an exposure trigger 300, a sensor 400, a processor 500, a first display 600, and a prompting device 700. In some embodiments, the medical imaging device may not include the sensor 400, but includes a mounting position for installing the sensor 400. The processor 500 is used to control the division of labor and cooperation among the components and execute the programs preset in the medical imaging device. It should be noted that, depending on the shooting position of the machine, the medical imaging device can be an upright imaging system, a lying imaging system, a mobile imaging system, or a comprehensive imaging system with multiple positions. The embodiments of this application do not limit this; depending on the operation method of the machine positioning, the medical imaging device can be manually adjustable. The manually adjustable medical imaging device can adjust the height / angle of the radiation source 100, the height / angle of the detector 200, the imaging distance, etc. manually. The medical imaging device can also be automatically adjustable. The automatically adjustable medical imaging device can adjust the height / angle of the radiation source 100, the height / angle of the detector 200, the imaging distance, etc. by motor drive.

[0067] In addition, generally speaking, all devices of a medical imaging device are not placed in one room. To avoid radiation damage, a hospital will build a shielding room and place the radioactive devices in the shielding room. The inside and outside of the shielding room are isolated by an openable radiation-proof door, and a window is opened on the radiation-proof door for medical staff outside to view the inside situation. Usually, there is only one doctor for taking X-rays. Before the medical imaging device takes an image, the doctor leads the target object into the shielding room, then guides the target object to take a position. After the doctor is properly arranged, the doctor exits the shielding room and closes the radiation-proof door, and then operates outside the shielding room to expose the target object. During this period, the doctor can only observe the target object through the small window on the radiation-proof door.

[0068] In this embodiment, the radiation source 100, the detector 200, and the sensor 400 are all arranged in the shielding room, while the first display 600 is arranged outside the shielding room.

[0069] The radiation source 100 is used to emit X-rays to expose the target object. For example, the radiation source 100 may include a cathode ray tube filament and an anode target metal (such as tungsten, molybdenum). By supplying power to and heating the cathode ray tube filament, free electrons are generated near the cathode. When a high voltage (tens or hundreds of kV) is applied between the two electrodes, the potential difference between the cathode and the anode increases steeply, and the electrons travel from the cathode to the anode at high speed, bombarding the anode target metal and causing energy conversion. Among them, less than 1% of the energy is converted into X-rays, and more than 99% is converted into heat energy, thus realizing the generation of X-rays. In some embodiments, the position (such as height, horizontal position, etc.) and angle of the radiation source 100 are adjustable.

[0070] The detector 200, also known as a flat panel detector 200 (FPD) in some medical imaging devices, is one of the core components of a medical imaging device. It is responsible for converting X-rays into electrical signals and recording the images, which can be displayed in real time through the first display 600 or stored for subsequent reading. The detector 200 referred to in this application mainly includes a scintillation layer, a matrix board, a glass substrate, a readout circuit, etc. Among them, the scintillation layer is used to convert X-rays into visible light, which can generally be made of a scintillation material, typically cesium iodide (CsI) or gadolinium oxysulfide (GOS), etc. The matrix board, also known as a photoelectric conversion layer or a TFT matrix layer, is used to sense the visible light converted by the scintillation layer and convert the visible light into an electrical signal for obtaining medical images. The matrix board is composed of a pixel array formed by amorphous silicon and thin film transistors (TFTs). Each unit of the matrix board includes a storage capacitor and a field effect transistor of amorphous silicon. One unit corresponds to one pixel of the image, and its specific structure is as Figure 2As shown in the figure. During actual imaging, the detector 200 needs to replenish the charges leaked in the pixel units to keep the charges on all pixel units uniform, so as to ensure the image quality. This process is also called refreshing.

[0071] The detector 200 in this application has a first refresh mode and a second refresh mode.

[0072] The first refresh mode is also called the Automatic Exposure Detection (AED) mode. In the AED mode, when no X-ray is emitted, the FPD is always in a self-clearing state, that is, continuous refreshing is performed; when the radiation source 100 emits X-rays, the components inside the detector 200 that can sense X-rays will immediately detect the X-ray illumination and send a signal to the FPD to make the FPD stop self-clearing to receive the exposure.

[0073] After the detector 200 enters the second refresh mode, the detector 200 will perform a refresh for a preset first duration (such as 300 ms). After the refresh is completed, the detector 200 will send a reply indicating the completion of the refresh to the processor 500, and the processor 500 will control the radiation source 100 to emit X-rays only after receiving this reply. It can be understood that before the refresh for the first duration is completed, the detector 200 is actually not suitable for receiving the exposure, otherwise the image quality will be affected by the charges and not be satisfactory.

[0074] In the prior art, the exposure trigger 300 is used to receive the trigger exposure operation input by the user to start the exposure. For example, the exposure trigger 300 is a hand switch, and the hand switch has a first stage and a second stage. When the user presses the second-stage hand switch, it means that the user hopes to perform an immediate exposure. It can be understood that the user should input the trigger exposure operation (such as pressing the second-stage hand switch) after the breathing movement of the target object is stable.

[0075] The sensor 400 is used to obtain the physiological characteristic change data caused by the breathing movement of the target object, and obtain the breathing signal according to the physiological characteristic change data, or use the physiological characteristic change data to represent the breathing signal. The sensor 400 can be a contact sensor or a non-contact sensor.

[0076] In some embodiments, the contact sensor or the non-contact sensor includes at least one of a distance sensor, a pressure sensor, a gas volume sensor, a gas composition sensor, and a temperature sensor. The physiological characteristic change data includes at least one of the body surface undulation data of the target object obtained by the distance sensor, the body surface pressure change data of the target object obtained by the pressure sensor, the gas volume change data of the surrounding environment of the target object obtained by the gas volume sensor, the gas composition change data of the surrounding environment of the target object obtained by the gas composition sensor, and the temperature change data of the target object obtained by the temperature sensor.

[0077] Exemplarily, the body surface undulation data of the target object is the undulation change data of the chest and abdomen, and the ranging sensor is a laser ranging sensor or a millimeter wave radar. The laser ranging sensor can be installed on the collimator. The emitted light of the laser ranging sensor has the same direction as the X-ray emission direction. With such an installation method, the emitted light of the laser ranging sensor rotates as the collimator rotates, and can cover the shooting scenes of chest radiographs (medical images corresponding to DR devices) in the lying position and the standing position. When taking a chest radiograph, in the medically standard positioning, it is required that the center of the light field is aligned within the range of the 5th - 7th thoracic vertebrae of the target object. Due to differences in human age, gender, body type, etc., when the center of the light field is aligned with the 5th - 7th thoracic vertebrae of the target object, the emitted light spot of the laser ranging sensor may not irradiate to the ideal detection position. To cover different populations, in some embodiments, the emission angle of the laser ranging sensor is adjustable, that is, the emitted light of the laser ranging sensor can be adjusted and moved on the chest and abdomen of the human body, so that the laser spot falls on a position with the largest respiratory undulation, improving the accuracy of detection.

[0078] The prompting device 700 can output a prompting message indicating that the respiratory movement of the target object is stable inside the shielding room.

[0079] In some embodiments, the prompting device 700 includes a second display 710 arranged inside the shielding room. The second display 710 can display a prompting message indicating that the respiratory movement of the target object is stable. In addition to this prompting message, the second display 710 can also display other information required by the user inside the shielding room. For example, it can also display guiding information on how to position the target object, etc.

[0080] In some embodiments, the shielding room includes columns for installing the radiation source 100 and / or the detector 200, and the prompting device 700 includes column lights 720 arranged on the columns. For example, the medical imaging device is an erect position photography system, the radiation source 100 is installed on one column, and the detector 200 is installed on another column. The column lights 720 can output a prompting message indicating that the respiratory movement of the target object is stable by changing at least one of the light intensity, flashing frequency, and color. For example, the column lights 720 flash at a high frequency before the respiratory movement of the target object is stable and flash at a low frequency after the respiratory movement of the target object is stable.

[0081] In some embodiments, the prompting device 700 includes a voice broadcast device 730, and the voice broadcast device 730 can broadcast a voice message indicating that the respiratory movement of the target object is stable.

[0082] In some embodiments, the prompting device 700 includes a projection device 740, and the projection device 740 can project a prompting message indicating that the respiratory movement of the target object is stable in some areas.

[0083] Based on the above medical imaging device, Figure 3The illustrated embodiment provides a control method for a medical device, including:

[0084] Step A100: Obtain a respiratory signal characterizing the respiratory movement of a target object.

[0085] The method for obtaining the respiratory signal has been described above and will not be elaborated here.

[0086] Step A200: Generate a first waveform 10 based on the respiratory signal, where the first waveform 10 is used to characterize the past respiratory movement of the target object.

[0087] Exemplarily, the physiological characteristic change data is the undulation change data of the chest and abdomen. The undulation change data is obtained by a laser range finder, and the first waveform 10 generated with the position of the laser range finder as the reference point is as Figure 4 shown. The trough position of the first waveform 10 represents the end-inspiration moment. If the position of the detector 200 is used as the reference point, the peak position of the first waveform 10 represents the end-inspiration moment.

[0088] Step A300: Determine whether the respiratory movement of the target object is stable according to the first waveform 10. If it is determined that the respiratory movement of the target object is stable, then execute Step A400 and Step A500.

[0089] In some embodiments, the morphological features of the first waveform 10 can be recognized. If the morphological features of the first waveform 10 meet the preset conditions, the respiratory movement of the target object is stable. For example, the peaks (or troughs) in the first waveform 10 can be recognized, and the time intervals between adjacent peaks are obtained. If a plurality of consecutive time intervals are uniform, it indicates that the first waveform 10 meets the preset conditions, and the respiratory movement of the target object is stable.

[0090] Step A400: Control to output a prompt message indicating that the target object's respiratory movement is stable in the shielding room.

[0091] In some embodiments, the light change in the shielding room can be used to prompt that the target object's respiratory movement is stable. For example, the column lamp 720 can be controlled to change at least one of the light intensity, blinking frequency, and color to prompt that the target object's respiratory movement is stable. The column lamp 720 is the original light in the shielding room, so no new device needs to be added to output the corresponding prompt message in the shielding room.

[0092] In some embodiments, the sound change in the shielding room is used to prompt that the target object's respiratory movement is stable. For example, the voice broadcast device 730 is controlled to broadcast a voice message indicating that the target object's respiratory movement is stable.

[0093] In some embodiments, prompt information is projected in the shielded room to prompt that the breathing movement of the target object is stable. For example, a specific pattern is projected by the projection device 740 to indicate that the breathing movement of the target object is stable, or text information indicating that the target object is in a stable breathing movement is projected by the projection device 740. It is also possible to directly project the first waveform 10 and then mark the starting moment of the stable breathing movement of the target object based on the first waveform 10.

[0094] In some embodiments, prompt information is displayed on the second display 710 in the shielded room to prompt that the breathing movement of the target object is stable. For example, a specific pattern or text information can be displayed on the second display 710 to indicate that the breathing movement of the target object is stable. It is also possible to directly display the first waveform 10 and then mark the starting moment of the stable breathing movement of the target object based on the first waveform 10.

[0095] In some embodiments, the position corresponding to the starting moment of the stable breathing movement of the target object can be highlighted on the first waveform 10. For example, a pattern of at least one shape among a line, a circle, a square, a triangle, and an arrow is displayed at or near the position corresponding to the starting moment of the stable breathing movement of the target object on the first waveform 10. Figure 4 As shown, it is marked with a downward arrow on the first waveform 10.

[0096] In other embodiments, such as Figure 5 when the first waveform 10 is displayed as shown, the time axis of the first waveform 10 can also be displayed, and the starting moment of the stable breathing movement of the target object is highlighted on the time axis of the first waveform 10. The highlighting method can be similar to the method of highlighting the starting moment of the stable breathing movement of the target object on the first waveform 10.

[0097] In addition, the above two methods can be combined, that is, the position corresponding to the starting moment of the stable breathing movement of the target object is highlighted on the first waveform 10, and the starting moment of the stable breathing movement of the target object is also highlighted on the time axis of the first waveform 10. An example of the combination of the two methods is as Figure 6 shown. The position corresponding to the starting moment of the stable breathing movement of the target object on the first waveform 10 and the starting moment of the stable breathing movement of the target object on the time axis of the first waveform 10 are connected to form a third line segment. By displaying the third line segment to represent the starting moment of the stable breathing movement of the target object. In addition, the third line segment can be extended upward or downward.

[0098] Any one of the above ways of outputting corresponding prompt information in the shielded room can be selected, or they can be combined.

[0099] Step A500: Display the first waveform 10 on the first display 600 outside the shielded room.

[0100] In the above embodiments, if it is determined that the breathing motion of the target object is stable, a prompt message indicating the stable breathing motion of the target object is output in the shielding room. After receiving this prompt message, the user can leave the shielding room to perform the next operation, so as to ensure that the input trigger exposure operation is performed during the stable breathing motion of the target object, and the natural exposure imaging is also performed during the stable breathing motion of the target object. When the user is outside the shielding room, the exposure timing can be judged by observing the first waveform 10, without the need to observe the target object through the small window on the shielding room or reducing such observation, which further improves the accuracy of the user's judgment of moments such as the end of inspiration, and helps the user obtain high-quality medical images. It can be seen that the above embodiments fully consider the actual operation of the user and improve the accuracy of the user's selection of the exposure timing from the entire operation process.

[0101] However, on the one hand, the first waveform 10 is generated based on past breathing signals. From the user's perspective, only a rough estimate of the most suitable time for triggering the exposure operation can be made with the naked eye. In this application, the most suitable time for inputting the trigger exposure operation is defined as the optimal trigger time. It is still possible to miss the optimal trigger time by only observing the first waveform 10 with the naked eye. It can be understood that the optimal trigger time can be a time point or a time period. When it is a time period, it means that it is suitable to input the trigger exposure operation during this time period.

[0102] On the other hand, as can be seen from the above introduction of the detector 200, the moment when the user inputs the trigger exposure operation may not be consistent with the actual exposure moment. When the detector 200 is in the first refresh mode, since the detector 200 is always in a self-clearing state, which is equivalent to being "always ready", at this time, the moment when the exposure operation is input is relatively close to the actual exposure moment. However, if the detector 200 does not enter the AED mode in advance, usually when the user presses the secondary hand switch, the detector 200 will be controlled to enter the second refresh mode. The detector 200 must go through a first duration to perform the exposure. During the first duration, processes including detector 200 refresh, control command transmission, generator parameter setting, etc. are completed. Among them, the refresh time of the detector 200 accounts for the vast majority. This kind of delay is relatively short, sometimes only a few hundred milliseconds, which is easily ignored by those skilled in the art, but it is easy to affect the captured moment. Even for a target object such as a child with a relatively fast breathing rate, it may result in the desired exposure moment being the end of inspiration, but the actual exposure moment instead falls at the end of expiration of the target object. In this case, the user also judges the optimal trigger time wrongly and inputs the trigger exposure operation at the wrong time.

[0103] To solve the above problems, as Figure 7 shown, some embodiments also provide a control method for a medical imaging device, including the steps of:

[0104] Step B100: Obtain a respiration signal representing the respiratory movement of the target object.

[0105] The method for obtaining the respiration signal has been described above and will not be elaborated here.

[0106] Step B200: Predict the optimal trigger time based on the respiration signal.

[0107] In some embodiments, first, predict the optimal exposure time based on the respiration signal, that is, the time most suitable for exposing the target object. The optimal exposure time can be a time point or a time period. For example, it can be the end-inspiration moment or a period of time near the end-inspiration moment. It can be understood that the user can also define other moments as the optimal exposure time. For example, define the moment of exhalation turning to inspiration as the optimal exposure time. After predicting the optimal exposure time, different methods can be adopted to determine the optimal trigger time according to the refresh mode of the detector 200. Specifically, as Figure 8 shown, it may include the steps:

[0108] Step B210: Predict the optimal exposure time for the target object based on the respiration signal.

[0109] In some embodiments, predicting the optimal exposure time based on the respiration signal, as Figure 9 shown, specifically includes:

[0110] Step B211: Determine the reference time corresponding to at least one past respiratory cycle of the target object based on the respiration signal. Wherein, one respiratory cycle corresponds to one reference time.

[0111] In some embodiments, compare the respiration signals in each respiratory cycle with the first threshold range, and use the time point or time period when the respiration signal is within the first threshold range as the reference time corresponding to this respiratory cycle. When the end-inspiration moment is the optimal exposure time, the first threshold range is near the maximum or minimum value of the monitored respiration signal. In addition, it should be noted that the first threshold range may only include one value here.

[0112] In some embodiments, the first threshold range is set by the user according to experience. For example, the respiration signal is characterized by physiological characteristic change data, and the physiological characteristic change data is the undulation change data of the chest and abdomen, or the distance between the chest and abdomen of the target object and the laser ranging sensor. The first threshold range of the distance between the chest and abdomen of the target object and the laser ranging sensor is from S1 to S2. It can be understood that S1 and S2 can be set according to the age, gender, height, etc. of the target object. When the distance between the chest and abdomen of the target object and the laser ranging sensor is between S1 and S2, the target object is at the end-inspiration moment or near the end-inspiration moment.

[0113] In some embodiments, the first threshold range is determined according to the breathing signal of the target object itself during the breathing cycle. It can be understood that due to individual differences, the breathing signals of different target objects may vary during their own breathing cycles. Therefore, determining the first threshold range according to the breathing signal of the target object itself during the breathing cycle can be more accurate. Below, the example where the physiological characteristic change data is the chest and abdomen undulation change data will be continued for illustration.

[0114] In some embodiments, the extreme values of the undulation change data in the inhalation phase of each breathing cycle are obtained, and then the moment when the extreme value appears is used as the reference time. In this case, the reference time is a time point, that is, the end-inhalation moment. The extreme value may be the maximum value or the minimum value, which depends on the reference point of the undulation change data. If the position of the laser distance sensor is used as the reference point, the target object is at the end-inhalation moment when the undulation change data in the inhalation phase of the target object is the smallest. If the position of the detector 200 is used as the reference point, the target object is at the end-inhalation moment when the undulation change data in the inhalation phase of the target object is the largest.

[0115] In some embodiments, the extreme values of the undulation change data in the inhalation phase of each breathing cycle are obtained, and then the values within a preset difference range from the extreme value are used as the first threshold range. For example, the preset difference range is 10, and the maximum value of the undulation change data in the inhalation phase of a breathing cycle is 100. Then, the time period during which the undulation change data in this breathing cycle is between 90 and 100 is used as the reference time corresponding to this breathing cycle. The maximum value of the undulation change data in the inhalation phase of another breathing cycle is 105. Then, the time period during which the undulation change data in this breathing cycle is between 95 and 105 is used as the reference time corresponding to this breathing cycle.

[0116] In some embodiments, the extreme values of the undulation change data in the inhalation phase of each breathing cycle are obtained, and then the values within a preset ratio range from the extreme value are used as the first threshold range. For example, the preset ratio range is 0.9, and the maximum value of the undulation change data in the inhalation phase of a breathing cycle is 100. Then, the time period during which the undulation change data in this breathing cycle is between 90 and 100 is used as the reference time corresponding to this breathing cycle.

[0117] In some embodiments, the extreme values of the undulation change data in the inhalation phase of each breathing cycle are obtained, and the reference time can also be directly determined according to the time when the extreme value appears. For example, as described above, the time when the extreme value appears is directly used as the reference time, or a time window with a preset duration (such as 100 ms) centered on the extreme value is used as the reference time.

[0118] As can be seen from the above description, the method for determining the reference time can be diverse. The essence of these embodiments lies in determining the "optimal exposure time in the past" by obtaining the respiration signal within the past respiratory cycle, which is the end-inspiration moment or near the end-inspiration moment in this embodiment, and can also be other moments in other embodiments.

[0119] Step B212: Predict the reference time that will occur in the current respiratory cycle or the next respiratory cycle according to the reference time corresponding to at least one past respiratory cycle.

[0120] This step predicts the optimal exposure time that will occur in the future based on the "optimal exposure time in the past".

[0121] In some embodiments, it is possible to first determine the position of the reference time corresponding to each respiratory cycle within that respiratory cycle. The above position can be measured in at least two ways: absolute position and relative position. The absolute position refers to any two of the starting position, length, and end point at which the reference time can be calculated. For example, in a respiratory cycle, the starting position of the reference time is 4 seconds away from the starting point of the respiratory cycle, and the length of the reference time is 2s. The relative position refers to the position of the reference time relative to the entire respiratory cycle. For example, considering the respiratory cycle as a whole 1, the starting point of the respiratory cycle is 0%, the end point of the respiratory cycle is 100%, and the reference time is located at the position from 30% to 35%. In addition, since the definition of the reference time itself indicates that it is within the inspiration phase, it is also possible to only determine the position of the reference time within the inspiration phase, and the method is similar to the position of the reference time corresponding to each respiratory cycle within that respiratory cycle, which will not be elaborated here.

[0122] In addition, it should also be noted that the reference time that appears in different respiratory cycles of the same target object may be different. For example, the end-inspiration moment of the same target object in different respiratory cycles may also be different.

[0123] After determining the positions of the reference times corresponding to each respiratory cycle, the reference time that will occur in the current respiratory cycle or the next respiratory cycle can be predicted according to the positions of the reference times corresponding to each respiratory cycle. This step is to predict the optimal exposure time that will appear in the future. Exemplarily, if the reference times corresponding to the past three respiratory cycles are obtained, one reference time is at the position from 30% to 35% of the respiratory cycle, one reference time is at the position from 31% to 36% of the respiratory cycle, and another reference time is at the position from 32% to 37% of the respiratory cycle, then it can be predicted that the reference time corresponding to the current or future respiratory cycle occurs at the position from 31% to 36% of the respiratory cycle.

[0124] As can also be seen from the above description, the prediction of the reference time corresponding to the current or future respiratory cycle is dynamically adjusted. For example, first, the position of the reference time corresponding to the third respiratory cycle and subsequent respiratory cycles is determined based on the reference times corresponding to the past two respiratory cycles. When it comes to the fourth respiratory cycle, the position of the reference time corresponding to the fourth respiratory cycle and subsequent respiratory cycles is predicted based on the reference times corresponding to the first three respiratory cycles.

[0125] Step B213: Use the reference time that will appear in the current respiratory cycle or the next respiratory cycle as the optimal exposure time.

[0126] In some embodiments, it can be determined whether it is currently in the inhalation phase of the target object. If it is in the inhalation phase of the target object, the reference time that will appear in the current respiratory cycle is used as the optimal exposure time. If it is not in the inhalation phase, the reference time that will appear in the next respiratory cycle is used as the optimal exposure time. Obviously, if it is currently in the exhalation phase of the target object, then the reference time in the inhalation phase has naturally been missed, and it is meaningless to use the reference time corresponding to the current respiratory cycle as the optimal exposure time. Therefore, a subsequent reference time that will appear can be used as the optimal exposure time.

[0127] Step B220: Determine the current refresh mode of the detector 200 of the medical imaging device. When the detector 200 is in the first refresh mode, execute step B230. When the detector 200 is in the second refresh mode, execute step B240.

[0128] Step B230: Use the optimal exposure time as the optimal trigger time.

[0129] When the detector 200 is in the first refresh mode, the detector 200 is in a "ready at all times" state, and the user inputs a trigger exposure operation, which is the exposure moment. Therefore, the user is prompted to input a trigger exposure operation at the optimal trigger time.

[0130] Step B240: Determine the optimal trigger time based on the optimal exposure time and the first duration. Among them, the optimal trigger time reaches the optimal exposure time after the first duration.

[0131] The position within the optimal exposure time based on the first duration can be arbitrary. Exemplarily, when the optimal exposure time is a time period, the optimal trigger time can be determined according to the start time of the optimal exposure time and the first duration, that is, the optimal exposure time just starts after the optimal trigger time has passed the first duration; the optimal trigger time can also be determined according to the middle time of the optimal exposure time and the first duration, that is, the optimal trigger time just reaches the middle of the optimal exposure time after passing the first duration; the optimal trigger time can also be determined according to the stop time of the optimal exposure time and the first duration, that is, the optimal trigger time just reaches the end time of the optimal exposure time after passing the first duration, and this end time is also suitable for exposure.

[0132] At the optimal exposure time after the first duration from the optimal trigger time, the detector 200 also just finishes refreshing and is ready for exposure. That is to say, actually this step is to prompt the user to input the trigger exposure operation before the optimal exposure time to avoid the delay caused by the refresh of the detector 200, and this delay is often ignored by those skilled in the art.

[0133] Step B300, control the output of a prompt message for prompting the user to input the trigger exposure operation at the optimal trigger time.

[0134] In this embodiment, the prompt message can be displayed for the user to view. In other embodiments, the prompt message for prompting the user to input the trigger exposure operation at the optimal trigger time can also be output in other ways. The key is to be able to predict when it is most suitable to input the trigger exposure operation through the breathing signal and inform the user in advance, so that the user can input the trigger exposure operation within the predicted optimal trigger time, which is more accurate than the user observing the target object or relying on their own experience.

[0135] In some embodiments, the specific time of the optimal trigger time can be displayed. For example, the predicted optimal trigger time at a certain hour, minute, and second can be directly displayed on the second display screen. The optimal trigger time can also be displayed in the form of a countdown.

[0136] In other embodiments, as Figure 10 shown, step B300 further includes:

[0137] Step B310, generate a second waveform 20 according to the breathing signal, and the second waveform 20 is used to characterize the future breathing movement of the target object.

[0138] Exemplarily, the physiological characteristic change data is the chest and abdomen undulation change data, and the undulation change data is obtained by a laser ranging sensor, with the position where the laser ranging sensor is located as the reference point. It can be understood that as the undulation change data changes periodically with the respiratory movement, and the undulation change data of the target object is the smallest at the end of inspiration and the largest at the end of expiration. The undulation change data changes from the smallest to the largest, which is half a respiratory cycle. Record the undulation change data within one or more complete respiratory cycles, and then predict the undulation change data within one or more future respiratory cycles based on the undulation change data within one or more complete respiratory cycles. The second waveform 20 can be obtained based on the undulation change data within one or more future respiratory cycles.

[0139] Step B320: Display the second waveform 20.

[0140] The second waveform 20 in one embodiment is as Figure 11 shown. It can be understood that the second waveform 20 can be dynamically changed.

[0141] Step B330: Mark the optimal trigger time based on the second waveform 20 to prompt the user to input a trigger exposure operation at the optimal trigger time. The user can see the optimal trigger time in advance on the second waveform 20 to make preparations in advance.

[0142] In some embodiments, the position corresponding to the optimal trigger time can be prominently displayed on the second waveform 20. For example, at or near the position corresponding to the optimal trigger time on the second waveform 20, a pattern of at least one shape among a line, a circle, a square, a triangle, and an arrow is displayed. Figure 11 As shown, it is marked with an upward arrow on the second waveform 20.

[0143] In some other embodiments, as Figure 12 shown, when the second waveform 20 is displayed, the time axis of the second waveform 20 can also be displayed, and the optimal trigger time is prominently displayed on the time axis of the second waveform 20. The prominent display method can be similar to the method of prominently displaying the optimal trigger time on the second waveform 20. In addition, the above two methods can be combined, that is, both the position corresponding to the optimal trigger time is prominently displayed on the second waveform 20, and the optimal trigger time is prominently displayed on the time axis of the second waveform 20, as shown in Figure 13 .

[0144] The advantage of marking the optimal trigger time based on the second waveform 20 is also that the user can observe the situation of the target object in advance in combination with the second waveform 20, and then determine when to input the trigger exposure operation in combination with their own experience. It can also be known from this that the prompt information only plays a prompting role, and the user can decide when to input the trigger exposure operation according to their own needs.

[0145] In some embodiments, a first waveform 10 may also be generated according to a respiration signal, and the first waveform 10 is used to characterize the past respiration movement of a target object. As described above, a second waveform 20 is generated according to the respiration signal. It can be understood that the first waveform 10 can of course also be generated in a similar manner. After obtaining the first waveform 10, the first waveform 10 and the second waveform 20 can be displayed together, where the first waveform 10 and the second waveform 20 are updated in real time.

[0146] There are various ways to display the first waveform 10 and the second waveform 20 together. The first waveform 10 and the second waveform 20 can be displayed together on the same time axis, or the first waveform 10 and the second waveform 20 can be displayed together on different time axes. Among them, when the first waveform 10 is updated in real time, the part of the second waveform 20 in the same time period as the first waveform 10 is deleted.

[0147] Figure 14 Shown is a way to display the first waveform 10 and the second waveform 20 together on the same time axis. Since the part of the second waveform 20 in the same time period as the first waveform 10 is deleted when the first waveform 10 is updated in real time, visually, the first waveform 10 "covers" the second waveform 20 over time.

[0148] In some embodiments, in order to better distinguish the first waveform 10 and the second waveform 20, when the first waveform 10 and the second waveform 20 are displayed together, the first waveform 10 and the second waveform 20 can also be displayed in different ways. For example, in Figure 14 , the first waveform 10 is displayed as a solid line and the second waveform 20 is displayed as a dashed line. In addition to solid and dashed, the first waveform 10 and the second waveform 20 can also be distinguished and displayed in different colors, thicknesses, etc.

[0149] In some embodiments, the exposure time when the medical imaging device exposes the target object to X-rays can also be recorded, and the exposure time is marked based on the first waveform 10.

[0150] The position corresponding to the exposure time can be prominently displayed on the first waveform 10. For example, a pattern of at least one of the shapes of a line, a circle, a square, a triangle, and an arrow is displayed at or near the position corresponding to the exposure time on the first waveform 10. Figure 15 Shown is a circular mark on the first waveform 10.

[0151] When the first waveform 10 is displayed, the time axis of the first waveform 10 can also be displayed, and the exposure time is prominently displayed on the time axis of the first waveform 10. The prominent display method can be similar to the method of prominently displaying the exposure time on the first waveform 10.

[0152] In addition, the above two methods can be combined, that is, not only highlighting the position corresponding to the exposure moment on the first waveform 10, but also highlighting the exposure moment on the time axis of the first waveform 10. An example of the combination of the two methods is the same as Figure 6 Similar. Connect the position corresponding to the exposure moment on the first waveform 10 and the exposure moment on the time axis of the first waveform 10 to form a first line segment. By displaying the first line segment to represent the exposure moment, in addition, the first line segment can also be extended upward or downward.

[0153] In some embodiments, the moment when the medical imaging device receives the trigger exposure operation is also recorded, and the moment when the trigger exposure operation is received is marked based on the first waveform 10.

[0154] The position corresponding to the moment when the trigger exposure operation is received can be highlighted on the first waveform 10. For example, a pattern of at least one of the shapes of a line, a circle, a square, a triangle, and an arrow is displayed at or near the position corresponding to the moment when the trigger exposure operation is received on the first waveform 10. Figure 15 As shown, it is marked with a square on the first waveform 10.

[0155] When displaying the first waveform 10, the time axis of the first waveform 10 can also be displayed, and the moment when the trigger exposure operation is received is highlighted on the time axis of the first waveform 10. The highlighting method can be similar to the method of highlighting the moment when the trigger exposure operation is received on the first waveform 10.

[0156] In addition, the above two methods can be combined, that is, not only highlighting the position corresponding to the moment when the trigger exposure operation is received on the first waveform 10, but also highlighting the moment when the trigger exposure operation is received on the time axis of the first waveform 10. An example of the combination of the two methods is the same as Figure 6 Similar. Connect the position corresponding to the moment when the trigger exposure operation is received on the first waveform 10 and the moment when the trigger exposure operation is received on the time axis of the first waveform 10 to form a second line segment. By displaying the second line segment to represent the moment when the trigger exposure operation is received, in addition, the second line segment can also be extended upward or downward.

[0157] In some embodiments, the reference time corresponding to each respiratory cycle may also be marked based on the first waveform 10. For example, a pattern of at least one shape among a line, a circle, a square, a triangle, and an arrow is displayed at or near the position corresponding to the reference time on the first waveform 10. When the first waveform 10 is displayed, the time axis of the first waveform 10 may also be displayed, and the reference time is highlighted on the time axis of the first waveform 10, and the highlighting method may be similar to the method of highlighting the reference time on the first waveform 10. In addition, the above two methods may be combined, that is, the position corresponding to the reference time is highlighted on the first waveform 10, and the reference time is also highlighted on the time axis of the first waveform 10.

[0158] Step B400: In response to the trigger exposure operation input by the user, perform exposure imaging on the target object.

[0159] The above Figure 3 and Figure 7 embodiments can be combined in various ways.

[0160] Exemplarily, in the Figure 3 embodiment, a second waveform 20 may also be generated, and the first waveform 10 and the second waveform 20 are displayed together; at least one of the reference time, the moment when the trigger exposure operation is received, and the exposure moment, etc. is marked based on the first waveform 10, and at least one of the optimal trigger time and the optimal exposure time is marked based on the second waveform 20.

[0161] Exemplarily, in the Figure 7 embodiment, it is possible to determine whether the respiratory movement of the target object is stable according to the first waveform 10 when the second waveform 20 is displayed or before the second waveform 20 is displayed. If the morphological characteristics of the first waveform 10 meet the preset conditions, the respiratory movement of the target object is stable, and a prompt message indicating that the target object is in a stable respiratory movement is controlled to be output. The method of outputting the prompt message indicating that the target object is in a stable respiratory movement may refer to the description in the foregoing text, and may include, but is not limited to, changing the lights of the medical imaging device and / or the environment; voice prompts through the medical imaging device; displaying prompt information through the display screen of the medical imaging device (such as at least one of the first display 600 and the second display 710) and / or projection display, etc.

[0162] Next, taking the detector 200 being in the first refresh mode and the second refresh mode as examples respectively, some display interfaces after combining Figure 3 and Figure 7 will be described respectively.

[0163] In some embodiments, the detector 200 is in the first refresh mode. The content displayed before the user inputs the trigger exposure operation is as Figure 14As shown, where the downward arrow indicates the starting moment when the breathing motion of the target object is stable, the triangle indicates the reference time, and the upward arrow indicates the optimal triggering time. If the user inputs a trigger exposure operation within the first optimal triggering time according to this illustration, the displayed content changes to Figure 15 As shown, where the square indicates that a trigger exposure operation is received, and the circle indicates the exposure moment.

[0164] In some embodiments, the detector 200 is in the second refresh mode. The content displayed before the user inputs a trigger exposure operation is as Figure 16 As shown, where the downward arrow indicates the starting moment when the breathing motion of the target object is stable, the triangle indicates the reference time, and the upward arrow indicates the optimal triggering time. If the user inputs a trigger exposure operation within the first optimal triggering time according to this illustration, the displayed content changes to Figure 17 As shown, where the square indicates that a trigger exposure operation is received, the circle indicates the exposure moment, and the raised part of the rectangular wave below the upward arrow indicates the first duration.

[0165] This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope of this document. For example, various operation steps and the components for performing the operation steps can be implemented in different ways according to a specific application or considering any number of cost functions associated with the operation of the system (e.g., one or more steps can be deleted, modified, or combined into other steps).

[0166] In addition, as will be understood by those skilled in the art, the principles herein may be embodied in a computer program product on a computer-readable storage medium, which is preloaded with computer-readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, etc.), flash memory, and / or the like. These computer program instructions may be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing devices to form a machine, such that the instructions executed on the computer or other programmable data processing devices may generate a device for implementing the specified functions. These computer program instructions may also be stored in a computer-readable memory, which may direct the computer or other programmable data processing devices to operate in a specific manner, such that the instructions stored in the computer-readable memory may form a manufactured article, including an implementation device for implementing the specified functions. The computer program instructions may also be loaded onto a computer or other programmable data processing devices, thereby performing a series of operation steps on the computer or other programmable devices to generate a computer-implemented process, such that the instructions executed on the computer or other programmable devices may provide steps for implementing the specified functions.

[0167] Although the principles herein have been shown in various embodiments, many modifications of the structures, arrangements, proportions, elements, materials, and components, which are particularly adapted to specific environments and operational requirements, may be used without departing from the principles and scope of this disclosure. The above modifications and other changes or revisions will be included within the scope of this disclosure.

[0168] The foregoing detailed description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes may be made without departing from the scope of this disclosure. Accordingly, the consideration of this disclosure will be in an illustrative rather than a restrictive sense, and all such modifications will be included within its scope. Similarly, the advantages, other advantages, and solutions to problems of the various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that can produce these, or solutions that make them more explicit, should not be construed as critical, essential, or necessary. The term "comprising" and any other variants used herein are non-exclusive inclusions, such that a process, method, article, or device comprising a list of elements not only includes these elements, but also includes other elements not expressly listed or belonging to the process, method, system, article, or device. In addition, the term "coupled" and any other variants used herein refer to physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection, and / or any other connection.

[0169] Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the basic principles of the present invention. Accordingly, the scope of the present invention should be determined in accordance with the following claims.

Claims

1. A method for controlling X-ray exposure of a medical imaging device, characterized in that, Including: Obtaining a respiratory signal characterizing the respiratory movement of a target object; Predicting an optimal trigger time according to the respiratory signal, where the optimal trigger time is a time point or a time period; Controlling the output of a prompt message for prompting a user to input a trigger exposure operation at the optimal trigger time; In response to the trigger exposure operation input by the user, performing exposure imaging on the target object.

2. The method according to claim 1, wherein The predicting the optimal trigger time according to the respiratory signal includes: Predicting an optimal exposure time for the target object according to the respiratory signal, where the optimal exposure time is a time point or a time period, and during the optimal exposure time, it is suitable to perform exposure imaging on the target object; Predicting the optimal trigger time based on the optimal exposure time.

3. The method according to claim 2, wherein The predicting the optimal trigger time based on the optimal exposure time includes: The detector of the medical imaging device is set to perform a refresh for a first duration after receiving the trigger exposure operation; The optimal trigger time reaches the optimal exposure time after the first duration.

4. The method according to claim 2, wherein The predicting the optimal exposure time for the target object according to the respiratory signal includes: Determining a reference time corresponding to at least one past respiratory cycle of the target object according to the respiratory signal, where one respiratory cycle corresponds to one reference time; Predicting a reference time that will appear in the current respiratory cycle or the next respiratory cycle according to the reference times corresponding to at least one past respiratory cycle; Taking the reference time that will appear in the current respiratory cycle or the next respiratory cycle as the optimal exposure time.

5. The method according to claim 4, wherein The predicting a reference time that will appear in the current respiratory cycle or the next respiratory cycle according to the reference times corresponding to at least one past respiratory cycle includes: Determining the position of the reference time corresponding to each respiratory cycle within that respiratory cycle; Predicting a reference time that will appear in the current respiratory cycle or the next respiratory cycle according to the positions of the reference times corresponding to each respiratory cycle.

6. The method according to claim 5, wherein The taking the reference time that will appear in the current respiratory cycle or the next respiratory cycle as the optimal exposure time includes: Judging whether it is currently in the inhalation phase of the target object. If it is in the inhalation phase of the target object, taking the reference time that will appear in the current respiratory cycle as the optimal exposure time; otherwise, taking the reference time that will appear in the next respiratory cycle as the optimal exposure time.

7. The method according to claim 4, characterized in that, It also includes: Generating a first waveform according to the respiratory signal, where the first waveform is used to characterize the past respiratory movement of the target object; Marking the reference time corresponding to at least one past respiratory cycle of the target object based on the first waveform.

8. The method according to claim 1, wherein The controlling the output of a prompt message for prompting a user to input a trigger exposure operation at the optimal trigger time includes: Generating a second waveform according to the respiratory signal, where the second waveform is used to characterize the future respiratory movement of the target object; Displaying the second waveform; Marking the optimal trigger time based on the second waveform to prompt the user to input a trigger exposure operation at the optimal trigger time.

9. The method according to claim 8, wherein The marking the optimal trigger time based on the second waveform includes: highlighting a position corresponding to the optimal trigger time on the second waveform; and / or The optimal trigger time is highlighted on the time axis of the second waveform.

10. The method according to claim 9, wherein The highlighting of the position corresponding to the optimal trigger time on the second waveform comprises: A pattern in at least one of a line, a circle, a square, a triangle and an arrow is displayed at or near a position on the second waveform corresponding to the optimal trigger time.

11. The method according to claim 8, characterized in that, Also includes: generating a first waveform according to the respiratory signal, wherein the first waveform is used to characterize past respiratory movements of the target object; The first waveform and the second waveform are displayed together, wherein the first waveform and the second waveform are updated in real time.

12. The method according to claim 11, wherein The displaying the first waveform and the second waveform together includes: The first waveform and the second waveform are displayed together on the same time axis, or the first waveform and the second waveform are displayed together on different time axes, wherein when the first waveform is updated in real time, a portion of the second waveform in the same time period as the first waveform is deleted.

13. The method according to claim 11 or 12, characterized in that The first waveform and the second waveform are displayed in at least one of the following ways: The first waveform and the second waveform are displayed in different colors; The first waveform and the second waveform are displayed by lines of different thicknesses; The first waveform and the second waveform are displayed by lines of different virtuality and reality.

14. The method according to any one of claims 11-13, characterized in that, Also includes: recording an exposure time at which the medical imaging device performs X-ray exposure on the target object, and marking the exposure time based on the first waveform; and / or The time when the triggering exposure operation is received by the medical imaging device is recorded, and the time when the triggering exposure operation is received is marked based on the first waveform.

15. The method according to claim 14, wherein The step of marking the exposure time based on the first waveform includes at least one of the following methods: highlighting a position corresponding to the exposure moment on the first waveform; highlighting the exposure moment on the time axis of the first waveform; The position on the first waveform corresponding to the exposure moment and the exposure moment on the time axis of the first waveform are connected to form a first line segment, and the first line segment and / or an extension line of the first line segment are displayed to represent the exposure moment according to the first line segment and / or the extension line of the first line segment.

16. The method according to claim 15, wherein The highlighting of the position corresponding to the exposure moment on the first waveform comprises: A pattern of at least one of a line, a circle, a square, a triangle and an arrow is displayed at or near a position corresponding to the exposure time on the first waveform.

17. The method according to claim 14, wherein The receiving of the moment of triggering the exposure operation based on the first waveform mark comprises at least one of the following methods: highlighting a position corresponding to the moment when the triggering exposure operation is received on the first waveform; highlighting the moment when the triggering exposure operation is received on the time axis of the first waveform; Connect the position on the first waveform corresponding to the moment when the trigger exposure operation is received and the moment when the trigger exposure operation is received on the time axis of the first waveform to form a second line segment, and display the second line segment and / or the extension line of the second line segment, so as to characterize the moment when the trigger exposure operation is received according to the second line segment and / or the extension line of the second line segment.

18. The method according to claim 17, wherein The highlighting the position on the first waveform corresponding to the moment when the trigger exposure operation is received includes: Displaying a pattern of at least one of a line shape, a circle shape, a square shape, a triangle shape, and an arrow shape at or near the position on the first waveform corresponding to the moment when the trigger exposure operation is received.

19. The method according to claim 11, wherein Before outputting a prompt message for prompting the user to input a trigger exposure operation at the optimal trigger time, it further includes: Judging whether the breathing movement of the target object is stable according to the first waveform, wherein, identifying the morphological characteristics of the first waveform, if the morphological characteristics of the first waveform meet the preset conditions, the breathing movement of the target object is stable; Controlling to output a prompt message indicating that the target object is in a stable breathing movement.

20. The method according to claim 19, wherein The controlling to output a prompt message indicating that the target object is in a stable breathing movement includes at least one of the following ways: The change of the light of the medical imaging device and / or the environment; The voice prompt of the medical imaging device; Displaying a prompt message through the display screen and / or projection of the medical imaging device.

21. A control method for a medical imaging device, characterized in that, It includes: Obtaining a breathing signal characterizing the breathing movement of the target object; Generating a first waveform according to the breathing signal, and the first waveform is used to characterize the past breathing movement of the target object; Judging whether the breathing movement of the target object is stable according to the first waveform, if the breathing movement of the target object is stable, controlling to output a prompt message indicating that the target object is in a stable breathing movement in the shielding room, wherein, the radiation source of the medical imaging device for emitting X-rays is arranged in the shielding room; Displaying the first waveform on a first display outside the shielding room.

22. The method according to claim 21, wherein The judging whether the breathing movement of the target object is stable according to the first waveform includes: Identifying the morphological characteristics of the first waveform, if the morphological characteristics of the first waveform meet the preset conditions, the breathing movement of the target object is stable.

23. The method according to claim 21, wherein The controlling to output a prompt message indicating that the target object is in a stable breathing movement in the shielding room includes at least one of the following ways: Changing the light in the shielding room to prompt the target object that the breathing movement is stable; Changing the sound in the shielding room to prompt the target object that the breathing movement is stable; Displaying the prompt message on a second display in the shielding room to prompt the target object that the breathing movement is stable; Projecting the prompt message in the shielding room to prompt the target object that the breathing movement is stable.

24. The method according to claim 23, wherein The changing the light in the shielding room to prompt the target object that the breathing movement is stable includes: Changing at least one of the intensity, the flashing frequency, and the color of the original light in the shielding room or on the medical imaging device.

25. The method according to claim 23, wherein Displaying the prompt information on a second display in the shielding room to prompt the target object that the respiratory movement is stable, includes: Displaying text information indicating that the respiratory movement of the target object is stable on the second display; and / or Displaying the first waveform on the second display, and marking the starting moment of the stable respiratory movement of the target object based on the first waveform.

26. The method according to claim 23, wherein Projecting the prompt information in the shielding room to prompt the target object that the respiratory movement is stable, includes: Projecting text information indicating that the respiratory movement of the target object is stable in the shielding room; and / or Projecting the first waveform in the shielding room, and marking the starting moment of the stable respiratory movement of the target object based on the first waveform.

27. The method according to claim 25 or 26, characterized in that, The marking the starting moment of the stable respiratory movement of the target object based on the first waveform includes at least one of the following methods: Highlighting the position corresponding to the starting moment of the stable respiratory movement of the target object on the first waveform; Highlighting the starting moment of the stable respiratory movement of the target object on the time axis of the first waveform; Connecting the position corresponding to the starting moment of the stable respiratory movement of the target object on the first waveform and the starting moment of the stable respiratory movement of the target object on the time axis of the first waveform to form a third line segment, and displaying the third line segment and / or the extension line of the third line segment, so as to characterize the starting moment of the stable respiratory movement of the target object according to the third line segment and / or the extension line of the third line segment.

28. The method according to claim 27, wherein The highlighting the position corresponding to the starting moment of the stable respiratory movement of the target object on the first waveform includes: Displaying a pattern of at least one shape among a line, a circle, a square, a triangle, and an arrow at or near the position corresponding to the starting moment of the stable respiratory movement of the target object on the first waveform.

29. The method according to any one of claims 21-26, characterized in that, Further includes: Predicting an optimal trigger time according to the respiratory signal, where the optimal trigger time is a time point or a time period; Generating a second waveform according to the acquired respiratory signal, where the second waveform is used to characterize the future respiratory movement of the target object; Co-displaying the second waveform and the first waveform on the first display; Marking the optimal trigger time based on the second waveform to prompt the user to input a trigger exposure operation at the optimal trigger time, and the medical imaging device is configured to perform exposure imaging on the target object after receiving the trigger exposure operation.

30. The method according to claim 29, characterized in that, The co-displaying the first waveform and the second waveform includes: Co-displaying the first waveform and the second waveform on the same time axis, or co-displaying the first waveform and the second waveform on different time axes, where when the first waveform is updated in real time, the part of the second waveform in the same time period as the first waveform is deleted.

31. The method according to claim 29 or 30, characterized in that, The first waveform and the second waveform are displayed by at least one of the following methods: The first waveform and the second waveform are displayed in different colors; The first waveform and the second waveform are displayed by line types with different thicknesses; The first waveform and the second waveform are displayed by line types with different degrees of virtuality and reality.

32. The method according to claim 29, wherein The marking of the optimal trigger time based on the second waveform includes: highlighting the position corresponding to the optimal trigger time on the second waveform; and / or highlighting the optimal trigger time on the time axis of the second waveform.

33. The method according to claim 32, wherein The highlighting of the position corresponding to the optimal trigger time on the second waveform includes: displaying a pattern of at least one shape among a line, a circle, a square, a triangle, and an arrow at or near the position corresponding to the optimal trigger time on the second waveform.

34. The method according to claim 1 or 21, characterized in that, The obtaining of the respiration signal characterizing the respiratory movement of the target object includes: obtaining data on changes in physiological characteristics caused by the respiratory movement of the target object, and obtaining the respiration signal based on the data on changes in physiological characteristics.

35. A medical imaging device, characterized in that, including: a radiation source for emitting X-rays to expose a target object; a detector for receiving the X-rays emitted by the radiation source, converting the received X-rays into electrical signals, and obtaining a medical image; a sensor for obtaining a respiration signal characterizing the respiratory movement of the target object; a processor for executing the method according to any one of claims 1 to 34 above.

36. A medical imaging device, characterized in that, including: a prompting device located inside the shielding room; a radiation source located inside the shielding room for emitting X-rays to expose a target object; a detector located inside the shielding room for receiving the X-rays emitted by the radiation source, converting the received X-rays into electrical signals, and obtaining a medical image; a sensor for obtaining a respiration signal characterizing the respiratory movement of the target object; a processor for determining whether the respiratory movement of the target object is stable according to the respiration signal, and if the respiratory movement of the target object is stable, controlling the prompting device to output a prompt message indicating that the respiratory movement of the target object is stable; and for generating a first waveform according to the respiration signal, the first waveform being used to characterize the past respiratory movement of the target object; a first display located outside the shielding room for displaying the first waveform at least after the respiratory movement of the target object is stable.

37. The medical imaging device according to claim 36, characterized in that, It further includes a column for installing the radiation source and / or the detector, and the prompting device includes a column lamp arranged on the column. The controlling the prompting device to output a prompt message indicating that the respiratory movement of the target object is stable includes: controlling the column lamp to change at least one of the light intensity, the flashing frequency, and the color.

38. The medical imaging device according to claim 36 or 37, characterized in that, The prompting device includes a voice broadcast device. The controlling the prompting device to output a prompt message indicating that the respiratory movement of the target object is stable includes: controlling the voice broadcast device to broadcast a voice message indicating that the respiratory movement of the target object is stable.

39. A computer-readable storage medium, characterized in that, A program is stored on the medium, and the program can be executed by the processor to implement the method according to any one of claims 1 - 34.

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