A control method and device of a medical imaging apparatus, an apparatus, and a medium

Abstract

Embodiments of the present disclosure provide a medical imaging device control method, device, equipment and medium. The medical imaging device includes a C-arm, and the method includes: acquiring a medical image of a human body part in real time through the C-arm; acquiring an initial three-dimensional model of the human body part from a preset model library; performing fusion processing on the initial three-dimensional model to obtain a target three-dimensional model, so that a projection image of the target three-dimensional model coincides with the medical image; updating a target position of the displayed target three-dimensional model based on a user operation instruction on the target three-dimensional model; and moving the C-arm to a target pose based on a conversion relationship between a coordinate system of the target three-dimensional model and a coordinate system of the medical imaging device, so that a medical image of the human body part acquired by the C-arm in the target pose coincides with a projection image of the target three-dimensional model in the target position. The present embodiment reduces the radiation dose received by the patient, reduces the degree of dependence on user experience, and improves operation efficiency.

Description

Technical Field

[0001] This application relates to the field of medical imaging equipment control, and in particular to a control method, device, equipment and medium for medical imaging equipment. Background Technology

[0002] The C-arm is an important component of medical imaging equipment, capable of orbiting around the patient during imaging to acquire two-dimensional medical images of the human body from different angles.

[0003] In medical image acquisition, accurate C-arm pose adjustment is crucial for obtaining diagnostic images of the target area. For example, in cardiac angiography, a specific angle, such as the spider position, is required to clearly display vascular branches. Traditional pose adjustment methods rely on the technician's experience and manual operation. Due to individual differences in human anatomy and the needs of different body positions, consistently adjusting the C-arm pose is quite difficult, and multiple trial exposures are needed to optimize the shooting angle. This process is not only inefficient but also results in a higher radiation dose to the patient. Summary of the Invention

[0004] To overcome the aforementioned problems in the prior art, this disclosure provides a control method, apparatus, device, and medium for medical imaging equipment. Specifically, this application is achieved through the following technical solution:

[0005] According to a first aspect of the embodiments of this specification, a method for controlling a medical imaging device is provided, the medical imaging device including a C-arm; the method includes:

[0006] The C-arm is used to acquire medical images of human body parts in real time.

[0007] Obtain the initial 3D model of the human body part from the preset model library;

[0008] The initial 3D model is fused to obtain a target 3D model, so that the projected image of the target 3D model coincides with the medical image;

[0009] Based on the user's operation commands on the target 3D model, update the target position of the displayed target 3D model;

[0010] Based on the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device, the C-arm is moved to the target pose so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position.

[0011] According to a second aspect of the embodiments of this specification, a control device for a medical imaging device is provided, the medical imaging device including a C-arm; the control device includes an image acquisition module, a model acquisition module, a spatial registration module, an interaction module, and a control module;

[0012] The image acquisition module is used to acquire medical images of human body parts in real time through the C-arm;

[0013] The model acquisition module is used to acquire the initial three-dimensional model of the human body part from a preset model library;

[0014] The spatial registration module is used to perform fusion processing on the initial three-dimensional model to obtain a target three-dimensional model, so that the projected image of the target three-dimensional model coincides with the medical image;

[0015] The interaction module is used to update the target position of the displayed target 3D model based on the user's operation instructions on the target 3D model;

[0016] The control module is used to move the C-arm to a target pose based on the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device, so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position.

[0017] According to a third aspect of the embodiments of this specification, an electronic device is provided, including a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor being prompted by the machine-executable instructions to perform the method as described in the first aspect.

[0018] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, wherein the storage medium stores a computer program that, when executed by a processor, implements the method described in the first aspect.

[0019] This specification's embodiments utilize a pre-set 3D model and single real-time image registration to replace preoperative scanning and repeated trial exposures, reducing the radiation dose received by the patient. Furthermore, the intuitive interaction between the user and the virtual 3D model reduces reliance on user experience and improves operational efficiency. In addition, the real-time registration mechanism, which ensures that the medical images of the surgical site coincide with the projected image of the target 3D model, can adapt to the needs of different patients and body positions, enhancing clinical applicability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a C-arm as exemplarily shown in the embodiments of this specification;

[0021] Figure 2 This is a schematic flowchart illustrating a control method for a medical imaging device, as exemplarily shown in an embodiment of this specification.

[0022] Figure 3 This is a schematic diagram illustrating the process of obtaining an initial three-dimensional model of the human body part from a preset model library, as exemplarily shown in the embodiments of this specification.

[0023] Figure 4 This is a schematic diagram of a control device for a medical imaging device shown in an embodiment of this specification;

[0024] Figure 5 This is a schematic diagram of the structure of an electronic device provided by way of example in this specification. Detailed Implementation

[0025] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0026] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0027] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0028] The C-arm is an important component of medical imaging equipment, capable of orbiting around the patient during imaging to acquire two-dimensional medical images of the human body from different angles.

[0029] In medical image acquisition, accurate C-arm pose adjustment is crucial for obtaining diagnostic images of the target area. For example, in cardiac angiography, a specific angle, such as the spider position, is required to clearly display vascular branches. Traditional pose adjustment methods rely on the technician's experience and manual operation. Due to individual differences in human anatomy and the needs of different body positions, consistently adjusting the C-arm pose is quite difficult, and multiple trial exposures are needed to optimize the shooting angle. This process is not only inefficient but also results in a higher radiation dose to the patient.

[0030] One current approach to addressing these issues involves using a C-arm to scan the body part before surgery, acquiring multiple 2D images of that part from different angles. Simultaneously, the pose parameters of the C-arm at the time of capture for each 2D image are recorded. A 3D model of the body part is then reconstructed based on these 2D images. During surgery, the surgeon drags and rotates this 3D model, selecting the 2D image projected onto the screen. The pose parameters of the C-arm at the time of capture for that 2D image are then obtained and used as the target pose for the C-arm. The C-arm is then moved to the target pose, allowing it to acquire medical images of the body part at the same angle as the captured 2D image.

[0031] However, the above method has some drawbacks. On the one hand, it relies on preoperative two-dimensional images (usually CBCT images), which exposes the patient to a relatively high radiation dose. On the other hand, this method is sensitive to changes in the position of the C-arm and the patient. Once the patient's bed position is adjusted or the C-arm is displaced, the original projection relationship becomes invalid. That is, the pose parameters of the C-arm corresponding to the two-dimensional image taken at the time of the operation have a large error compared to the pose parameters of the C-arm required during the operation. This leads to inaccurate pose control of the C-arm, making it impossible to obtain ideal medical images during the operation, thus limiting its applicability and efficiency in clinical practice.

[0032] To address the aforementioned problems, embodiments of this specification provide a control method for a medical imaging device, which includes a C-arm.

[0033] like Figure 1 As shown, Figure 1 This is a schematic diagram of a C-arm 100 as illustrated in the embodiments of this specification. One end of the C-arm 100 is fitted with an X-ray tube 101 for producing X-rays; the other end is fitted with a detector 102 for capturing and displaying images. Specifically, the X-ray tube 101 controls the energy intensity and dose of the generated X-rays by adjusting the tube voltage and tube current to adapt to the imaging needs of different body parts and tissue densities. The detector 102 can capture the attenuated X-ray signal after penetrating the body part, convert it into an electrical signal, and then form high-resolution digital image data through an analog-to-digital converter.

[0034] Medical imaging equipment can be either a DSA (Digital Subtraction Angiography) device or a mobile C-arm. A DSA device is a fixed installation, typically supported by a ceiling suspension or a dedicated floor stand. It uses a C-arm to acquire images from a mask and angiography, then performs digital subtraction to generate clean vascular images. A mobile C-arm, on the other hand, is a stand-alone mobile device equipped with wheels, allowing for flexible transport between different operating rooms, and also possesses imaging capabilities.

[0035] Figure 2 This specification illustrates a control method for a medical imaging device, comprising the following steps:

[0036] S200: Acquire medical images of human body parts in real time through the C-arm.

[0037] At the beginning of the surgery, the user can initially adjust the position of the C-arm so that its focus is roughly aligned with the body part to be observed, so as to capture real-time images of the designated body part. The body part can be the heart or a segment of blood vessel; the focus of the C-arm refers to the position of the intersection of the forward and backward tilt axis and the left and right tilt axis of the C-arm, which can also be called the rotation center point of the C-arm.

[0038] S202: Obtain the initial three-dimensional model of the human body part from the preset model library.

[0039] The model library in the embodiments of this specification is pre-built and stores several three-dimensional models of different human body parts. For example, it can store three-dimensional models and texture information of different human body parts such as the heart, lungs, and skull.

[0040] S204: Perform fusion processing on the initial three-dimensional model to obtain a target three-dimensional model, so that the projected image of the target three-dimensional model coincides with the medical image.

[0041] This step involves performing a series of spatial transformations on the initial 3D model, including translation, rotation, and scaling operations, to adjust the position, orientation, and size of the 3D model within the coordinate system of the medical imaging equipment. This ensures that the projected image of the target 3D model is spatially aligned with the medical image acquired in real-time via a C-arm, achieving precise registration. It should be noted that the aforementioned spatial transformations are performed in the real-world coordinate system of the medical imaging equipment.

[0042] In one embodiment, the aforementioned overlap can be specifically reflected in three aspects: center point, size, and posture. First, center point overlap means that the center point of the projected image of the target 3D model matches the center point of the human structure in the medical image, ensuring that the virtual model and the real image maintain consistency in the reference position of the field of view. Second, size consistency means that after scaling, the size of the key anatomical structures projected onto the display interface of the target 3D model visually matches the size of the corresponding structures in the medical image. This ensures that the virtual model can realistically reflect the magnification ratio of the actual human structure under specific projection conditions, avoiding visual deviations and operational misleading caused by models that are too large or too small. Finally, posture consistency requires that the rotation angle of the target 3D model in space match the rotation angle of the actual human structure. After adjustment, the orientation and contour of the anatomical structures presented by the projection of the 3D model are basically consistent with the human structure actually captured in the medical image.

[0043] S206: Update the target position of the displayed target 3D model based on the user's operation command on the target 3D model.

[0044] During this process, the user directly manipulates the target 3D model on the display interface through input devices. These operation commands can include interactive actions such as dragging and rotating the model to change the spatial state of the target 3D model in virtual 3D space. By receiving and parsing these operation commands in real time, they can be converted into corresponding change information, including translation and rotation amounts. Then, based on these parameters, the target 3D model is updated with real-time graphics rendering, thus dynamically displaying the effect of the model moving or rotating to a new state on the display interface. This updated model spatial state, ultimately determined by the user's operation, is defined as the target position of the target 3D model.

[0045] S208: Based on the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device, the C-arm is moved to the target pose so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position.

[0046] Step S208 maps the virtual spatial changes of the target 3D model determined by user interaction to drive the physical movement of the C-arm in the medical imaging device.

[0047] Based on the transformation relationship established during the fusion processing stage between the coordinate system of the target 3D model and the coordinate system of the medical imaging device, pose calculation is performed. This transformation relationship allows the spatial state of the target 3D model at the target position to be accurately mapped to a set of specific, executable physical parameters in the coordinate system of the medical imaging device. Then, control commands are generated based on these parameters to drive the mechanical actuator of the C-arm, moving it from the current pose to the calculated target pose.

[0048] When the C-arm accurately reaches the target pose, it creates the physical imaging conditions for projection from the target 3D model to the target position. Therefore, the medical images of the human body parts acquired in real time by the C-arm at this target pose can coincide with the projected image of the target 3D model at its target position in terms of viewpoint and structure, thus achieving image acquisition at the user's preset observation angle.

[0049] This specification's embodiments utilize a pre-set 3D model and single real-time image registration to replace preoperative scanning and repeated trial exposures, reducing the radiation dose received by the patient. Furthermore, the intuitive interaction between the user and the virtual 3D model lowers the operational difficulty, reduces reliance on user experience, and improves operational efficiency. In addition, the real-time registration mechanism, which ensures that the medical images of the surgical site coincide with the projected image of the target 3D model, can adapt to the needs of different patients and body positions, enhancing clinical applicability.

[0050] As one or more embodiments of this specification, the human body part in step S202 is obtained from the medical image acquired by the C-arm in step S200 as the recognition source. Figure 3 This is a schematic diagram illustrating the process of obtaining an initial three-dimensional model of the human body part from a preset model library, as exemplified by embodiments of this specification, including:

[0051] S300: Input the medical image into a preset image recognition model to identify the category of the human body part;

[0052] S302: Match the initial 3D model in the model library based on the category of the human body part.

[0053] This embodiment uses a pre-trained image recognition model to automatically analyze real-time acquired two-dimensional X-ray images. The model can identify the dominant anatomical structures in the images, thereby determining the corresponding categories for body parts, such as "heart" or "lumbar spine." These body part categories serve as search keywords for querying a pre-defined model library. Based on the received categories, the model library can locate and retrieve the corresponding initial three-dimensional model.

[0054] The output of the image recognition model can be a single category, multiple categories, or the confidence score for each category.

[0055] As one or more embodiments of this specification, the output of the image recognition model includes at least one category of the human body part and a confidence level for the category.

[0056] The category matching of the human body parts with the initial 3D model in the model library includes:

[0057] One of the categories is selected based on the confidence level of each category, and an initial 3D model in the model library is matched based on the selected category.

[0058] This embodiment of the specification automatically selects the category with the highest confidence level by comparing the confidence levels of each category, and then matches the selected category with the initial 3D model in the model library. This implementation, by introducing a confidence comparison mechanism, ensures that when multiple candidate categories exist in the model output, the most confident category is used by default to match the initial 3D model in the model library.

[0059] Furthermore, the system can match all categories output by the model with corresponding 3D models in the model library and visualize the results. This allows users to access other models with higher confidence levels and manually switch between the initial matched 3D models.

[0060] As one or more embodiments of this specification, additional sensing devices can be introduced to assist in the identification of the human body parts in step S202. For example, a depth camera such as Realsense can be used to acquire three-dimensional point cloud data of the patient's body surface under non-radiation conditions, prior to or simultaneously with the acquisition of X-ray images. By analyzing the contour features of the body surface, the system can infer the main body parts located at the imaging center. The inferred part information can also be used to call the corresponding initial three-dimensional model from the model library. The characteristic of this implementation is that the depth camera identification process is independent of the radiation imaging of the main device. In this embodiment, the images of human body parts acquired by the depth camera can also be input into a preset image recognition model, and the initial three-dimensional model in the model library can be matched based on the category of the human body part output by the model and the confidence level of the category.

[0061] As one or more embodiments of this specification, the fusion processing of the initial three-dimensional model includes:

[0062] Based on the two-dimensional center coordinates of the human body part in the medical image, the three-dimensional center coordinates of the human body part are determined.

[0063] The three-dimensional center coordinates of the human body part are used as the center coordinates of the initial three-dimensional model.

[0064] In the process of fusing the initial 3D model to generate the target 3D model, the spatial position of the model first needs to be calibrated. This process is achieved as follows: based on the two-dimensional center coordinates of the human body part in real-time acquired medical images, and combined with the distance data between the human body part and the ground, the actual center coordinates of the human body part in 3D space are calculated through spatial coordinate transformation. The distance data between the human body part and the ground can be calculated using pre-acquired bed height and human body thickness.

[0065] Then, the calculated three-dimensional spatial center coordinates are assigned to the initial three-dimensional model, aligning its center point with the spatial position of the actual human body part. This step ensures that the center reference point of the target three-dimensional model can completely coincide with the center point of the anatomical structure in the medical image when projected, laying the foundation for subsequent accurate registration.

[0066] As one or more embodiments of this specification, the fusion processing of the initial three-dimensional model includes:

[0067] The initial 3D model is scaled based on the pre-obtained distance between the human body parts and the ground.

[0068] The fusion process further includes standardizing the initial 3D model size. Based on the previously acquired distance between the human body part and the ground, and combined with the geometric parameters of the C-arm imaging system, the scaling parameters required to scale the standard model to match the actual human body structure are calculated. This distance information serves as a key scale reference reflecting the actual spatial relationship, enabling the determination of an appropriate scaling ratio. This allows the initial 3D model in the model library to be adjusted from its standard size to the target 3D model that conforms to the actual human body structure of a specific patient. Through this scaling process based on real spatial distance, the projected size of the target 3D model is kept consistent with the actual display size of the human body part in the medical image, further achieving spatial scale consistency between the projected image and the real-time medical image.

[0069] As one or more embodiments of this specification, the fusion processing of the initial three-dimensional model includes:

[0070] The initial 3D model is rotated so that the feature points of the target 3D model coincide with the corresponding feature points in the medical image.

[0071] The fusion process further includes pose correction of the initial 3D model. Pose correction is achieved by applying a rotational transformation around a center point to the initial 3D model. By analyzing the positions of key feature points of the human structure in real-time medical images and combining this with the current pose of the C-arm, the rotation parameters required to rotate the initial 3D model from its standard pose in the model library to the pose of the human structure can be calculated. This ensures that feature points on its 2D projection image coincide, thereby achieving visual alignment of its overall contour with the real medical image.

[0072] Based on the above embodiments, by performing translation, scaling and rotation transformations, the initial 3D model is transformed from the model coordinate system and registered to the unified world coordinate system where the medical imaging equipment is located. The projected image of the generated target 3D model can be superimposed on the medical images acquired in real time by the C-arm in terms of center point, size and orientation.

[0073] As one or more embodiments of this specification, before moving the C-arm to the target pose, the method further includes:

[0074] The transpose matrix of the target 3D model is determined. Regarding the specific method for obtaining the transpose matrix, in this embodiment, a set of feature points representing the spatial position of the 3D model are selected based on the target 3D model's position and orientation before the update, and the 3D coordinates of these feature points in the medical imaging device coordinate system are recorded. When the target 3D model is updated to the target position according to user operation instructions, the system again captures the new 3D coordinates of the same set of feature points at that target position. By comparing the two sets of coordinate data before and after the update, an optimal 3D spatial transformation is solved using a preset method. For example, the preset method can be to solve the problem using the SVD (Singular Value Decomposition) algorithm to calculate the transpose matrix of the coordinate data of the feature points before the update to the coordinate data of the feature points after the update. Alternatively, the preset method can be accomplished using a relevant visualization toolkit, such as using the GetMatrix method in the VTK (visualization toolkit) library to obtain this transpose matrix. In the 3D medical imaging device coordinate system, this transpose matrix is ​​a 4x4 transpose matrix.

[0075] The target pose of the C-arm is determined based on the transpose matrix and the transformation relationship. The transpose matrix describing the relative motion of the model is mapped and analyzed through the aforementioned coordinate system transformation relationship to calculate the target pose that the C-arm needs to achieve in the physical world.

[0076] Furthermore, the transpose matrix includes rotation and translation components; the target pose includes a target tilt angle and a target device position, wherein the target tilt angle is determined by the rotation component and the target device position is determined by the translation component.

[0077] Taking the aforementioned 4x4 transpose matrix as an example, the 3x3 submatrix in the upper left corner of the transpose matrix represents the rotation matrix of the model; the first three elements of the last column or the last row of the transpose matrix (excluding the element in the lower right corner) represent the translation components of the model. If the target position is displaced along the direction of the human body during the operation, the embodiments of this specification can provide two update mechanisms for the C-arm pose: the first is to update the target 3D model by repeatedly executing the process of acquiring and registering the model according to the new shooting position based on the new medical image acquired after the displacement, thereby controlling the C-arm; the second is to calculate and control the displacement of the C-arm in the corresponding direction by analyzing the translation components in the transpose matrix and combining the changes in the actual position values ​​fed back by the medical imaging equipment, without relying on the new medical image.

[0078] Based on the foregoing, to control the C-arm, it is necessary to decompose the rotation matrix and translation components from the transpose matrix. In one application example, rotation is controlled by the left / right tilt angle (LAO / RAO angle) and the front / back tilt angle (CAU / CRA angle). The left / right tilt angle is the angle by which the model rotates around the device's front / back axis, used to achieve the projection view from the patient's left or right side. The front / back tilt angle is the angle by which the model rotates around the device's left / right axis, used to achieve the projection view towards the patient's head or feet. These angles can be decomposed from the rotation matrix using inverse kinematics or related tool libraries. For example, the GetOrientation method in the VTK library can be used, which takes a 3x3 rotation matrix as input and directly returns its corresponding orientation angle.

[0079] The embodiments in this specification also provide Figure 4 The exemplary embodiment provided is a control device for a medical imaging device, the medical imaging device including a C-arm; the control device includes an image acquisition module, a model acquisition module, a spatial registration module, an interaction module, and a control module;

[0080] The image acquisition module 401 is used to acquire medical images of human body parts in real time through the C-arm;

[0081] The model acquisition module 402 is used to acquire the initial three-dimensional model of the human body part from a preset model library;

[0082] The spatial registration module 403 is used to perform fusion processing on the initial three-dimensional model to obtain a target three-dimensional model, so that the projected image of the target three-dimensional model coincides with the medical image;

[0083] The interaction module 404 is used to update the target position of the displayed target 3D model based on the user's operation instructions on the target 3D model;

[0084] The control module 405 is used to move the C-arm to a target pose based on the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device, so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position.

[0085] The embodiments in this specification also provide Figure 5 The diagram illustrates the structure of an exemplary electronic device. The electronic device includes a processor 501 and a machine-readable storage medium 502; the machine-readable storage medium 502 stores machine-executable instructions that can be executed by the processor 501, which in turn causes the processor 501 to perform the method shown in any of the above embodiments.

[0086] Embodiments of the electronic device described in this application can be applied to servers. For example... Figure 5 As shown, at the hardware level, the electronic device includes a processor 501, a system bus 503, a network interface, memory, and a machine-readable storage medium 502, and may also include other hardware required for business operations. The processor 501 reads the corresponding computer program from non-volatile memory into memory and then runs it to implement the method shown in any of the above embodiments. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0087] This specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method shown in any of the above embodiments.

[0088] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0089] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0090] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described 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 the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0091] The embodiments of the subject matter and functional operation described in this specification can be implemented in the following ways: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0092] The processing and logic described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output.

[0093] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0094] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0095] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0096] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0097] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0098] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a medical imaging device, characterized in that, The medical imaging device includes a C-arm; the method includes: The C-arm is used to acquire medical images of human body parts in real time. Obtain the initial 3D model of the human body part from a pre-set model library; the model library includes several pre-built 3D models for different body parts; The initial 3D model is fused to obtain a target 3D model, such that the projected image of the target 3D model coincides with the medical image. The fusion processing of the initial 3D model includes: determining the 3D center coordinates of the human body part based on its 2D center coordinates in the medical image; using the 3D center coordinates of the human body part as the center coordinates of the initial 3D model; and rotating the initial 3D model to make the feature points of the target 3D model coincide with the corresponding feature points in the medical image. Based on the user's operation commands on the target 3D model, update the target position of the displayed target 3D model; The transpose matrix of the target 3D model is determined. Based on the transformation relationship between the transpose matrix and the coordinate system, the target pose of the C-arm is determined. The C-arm is moved to the target pose so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position. The transformation relationship of the coordinate system is the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device. The transpose matrix includes rotation and translation components. The target pose includes a target tilt angle and a target device position. The target tilt angle is determined by the rotation component, and the target device position is determined by the translation component.

2. The method according to claim 1, characterized in that, The step of obtaining the initial 3D model of the human body part from a preset model library includes: The medical images are input into a preset image recognition model to identify the category of the human body parts; The initial 3D model in the model library is matched based on the category of the human body part.

3. The method according to claim 2, characterized in that, The output of the image recognition model includes at least one category of the human body part and the confidence level of the category; The category matching of the human body parts with the initial 3D model in the model library includes: One of the categories is selected based on the confidence level of each category, and an initial 3D model in the model library is matched based on the selected category.

4. The method according to claim 1, characterized in that, The fusion process of the initial 3D model includes: The initial 3D model is scaled based on the pre-obtained distance between the human body parts and the ground.

5. A control device for a medical imaging equipment, characterized in that, The medical imaging equipment includes a C-arm; the control device includes an image acquisition module, a model acquisition module, a spatial registration module, an interaction module, and a control module. The image acquisition module is used to acquire medical images of human body parts in real time through the C-arm; The model acquisition module is used to acquire the initial three-dimensional model of the human body part from a preset model library; the model library includes several three-dimensional models pre-built for different parts. The spatial registration module is used to perform fusion processing on the initial 3D model to obtain a target 3D model, so that the projected image of the target 3D model coincides with the medical image; wherein, the fusion processing of the initial 3D model includes: determining the 3D center coordinates of the human body part based on the 2D center coordinates of the human body part in the medical image; using the 3D center coordinates of the human body part as the center coordinates of the initial 3D model; and rotating the initial 3D model so that the feature points of the target 3D model coincide with the corresponding feature points in the medical image; The interaction module is used to update the target position of the displayed target 3D model based on the user's operation instructions on the target 3D model; The control module is used to determine the transpose matrix of the target 3D model, determine the target pose of the C-arm based on the transformation relationship between the transpose matrix and the coordinate system, and move the C-arm to the target pose so that the medical image of the human body part acquired by the C-arm in the target pose coincides with the projection image of the target 3D model at the target position; the transformation relationship of the coordinate system is the transformation relationship between the coordinate system of the target 3D model and the coordinate system of the medical imaging device; the transpose matrix includes rotation components and translation components; the target pose includes a target tilt angle and a target device position, the target tilt angle is determined by the rotation component, and the target device position is determined by the translation component.

6. An electronic device, characterized in that, The method includes a processor and a machine-readable storage medium storing machine-executable instructions that can be executed by the processor, the processor being prompted by the machine-executable instructions to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 4.

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