A medical image apparatus and a control method thereof, a storage medium, and an electronic device

Abstract

The application discloses a medical imaging device, a control method thereof, a storage medium and an electronic device. The medical imaging device is provided with a force control handle, a control module, a plurality of movable components and a plurality of driving motors. The force control handle is arranged on the body of the medical imaging device, and is configured to send a control signal to the control module in response to a target operation performed by a user, and feed back a reaction force of the target operation. The control module is configured to determine global motion parameters for the force control handle according to the control signal, analyze the global motion parameters based on current motion state information of each movable component, determine a target motor from the plurality of driving motors, and determine control parameters for the target motor, and then send the control parameters to the target motor. The target motor is configured to drive the corresponding movable component to perform target motion according to the control parameters.

Description

Technical Field

[0001] This specification relates to the field of medical imaging technology, and in particular to a medical imaging device and its control method, storage medium, and electronic device. Background Technology

[0002] In modern medical diagnosis and treatment systems, medical imaging equipment serves as a core tool for accurately acquiring information about the physiological structures and lesions within patients, providing indispensable visual support for clinical diagnostic and treatment decisions. Among them, C-arm imaging equipment, as a key medical device combining real-time image acquisition and flexible position adjustment capabilities, relies on its flexibly adjustable C-shaped gantry structure to generate dynamic images in real time during surgery. It is widely used in various surgical scenarios such as orthopedics and cardiovascular intervention, becoming an important piece of equipment to ensure the smooth implementation of surgery and treatment outcomes.

[0003] In current clinical applications, joystick controllers are commonly used to control the motion of some components of C-arm imaging equipment. However, there is a strong abstraction between the operation logic of the joystick and the actual motion trajectory of the C-arm imaging equipment, making it difficult for operators to quickly adapt to the correspondence between their operation actions and the equipment's motion. Furthermore, operators find it difficult to accurately perceive the details of the equipment's motion, which fails to meet the clinical needs of modern medicine for high-precision and high-efficiency control of imaging equipment. Summary of the Invention

[0004] This specification provides a medical imaging device, which includes: a force-controlled handle, a control module, multiple movable components, and multiple drive motors, wherein the force-controlled handle is disposed on the body of the medical imaging device; The force control handle is used to: send a control signal to the control module in response to a target operation performed by the user, and provide feedback on the reaction force of the target operation; The control module is used to: determine global motion parameters for the force-controlled handle based on the control signal; parse the global motion parameters based on the current motion state information of each movable component to identify the target motor among the plurality of drive motors, and determine the control parameters for the target motor; and send the control parameters to the target motor; wherein the global motion parameters include: the motion type and motion speed of the force-controlled handle; The target motor is used to drive the corresponding movable component to perform the target motion according to the control parameters.

[0005] Optionally, the force control handle is provided with an enabling component; The force control handle is used to: enter an enabled state after detecting that the enabling component has been triggered, and send a control signal to the control module in response to the target operation performed by the user in the enabled state.

[0006] Optionally, the force control handle is provided with a motion constraint component, which is used to constrain the motion type of the force control handle, wherein: When the motion constraint component is in a translational constraint state, the force control handle controls the movable component to perform translational movement in response to the target operation performed by the user. When the motion constraint component is in a rotational constraint state, the force control handle controls the movable component to perform rotational movement in response to the target operation performed by the user.

[0007] Optionally, the control signal carries the force amplitude, force direction, and motion type of the force control handle; The control module is specifically used for: The movement speed of the force control handle is determined based on the force direction and the target mapping relationship corresponding to the movement type; wherein, the target mapping relationship is used to represent the mapping relationship between the force amplitude and the movement speed amplitude under the movement type.

[0008] Optionally, for each movable component, the current motion state information of the movable component includes: the current position and the current speed of the component's axes; The control module is specifically used for: Based on the current motion state information of each movable component, the current calibration state of the global kinematics model for the medical imaging device is determined, and in the calibration state, the global motion parameters are decomposed into the partial axis motion parameters of at least some movable components through the global kinematics model. For each of the at least some movable components, the control parameters of the corresponding target motor are determined based on the axis motion parameters of that movable component.

[0009] Optionally, the control module is specifically used for: For each movable component, obtain the error source parameters of that movable component; wherein, the error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component; The error source parameters are quantified to determine the estimated error amount generated when the motion component performs the target motion under the influence of the error source parameters. The spindle motion parameters of the movable component are corrected based on the estimated error, so as to generate control parameters for the corresponding target motor based on the corrected spindle motion parameters.

[0010] Optionally, the movable component includes: a mounting base, a connecting arm, a C-shaped arm, and a detector; the connecting arm is connected to the mounting base via a first axis and to the C-shaped arm via a second axis, and the detector is disposed at the end of the C-shaped arm; The force control handle includes a first force control handle and a second force control handle; The first force control handle is positioned on the connecting arm coaxial with the second axis, and is used to control the connecting arm to translate on the mounting base, control the connecting arm to rotate along the first axis, or control the C-shaped arm to rotate along the second axis; The second force control handle is mounted on the detector and is used to control the C-shaped arm to slide along the C-shaped slide rail on the C-shaped arm, control the detector to rotate along its own axis, or control the detector to extend or retract.

[0011] This manual provides a control method for medical imaging equipment, applicable to medical imaging equipment, including: The system receives control signals sent by a force control handle, wherein the force control handle is mounted on the body of the medical imaging device, and the control signal is sent by the force control handle to the control module in response to the target operation performed by the user. Based on the control signal, determine the global motion parameters for the force-controlled handle; Based on the current motion state information of each movable component, the global motion parameters are analyzed to identify the target motor among the multiple drive motors of the medical imaging device, and to determine the control parameters for the target motor. The control parameters are sent to the target motor so that the target motor drives the corresponding movable component to perform the target motion according to the control parameters; wherein, the global motion parameters include: the motion type and motion speed of the force control handle.

[0012] Optionally, the control signal carries the force amplitude, force direction, and motion type of the force control handle; Based on the control signal, the global motion parameters for the force-controlled handle are determined, specifically including: The movement speed of the force control handle is determined based on the direction of the force and the target mapping relationship corresponding to the movement type; wherein, the target mapping relationship is used to represent the mapping relationship between the force amplitude and the movement speed amplitude under the movement type.

[0013] Optionally, for each movable component, the current motion state information of the movable component includes: the current position and the current speed of the component's axes; Determining the control parameters for the target motor specifically includes: Based on the current motion state information of each movable component, the current calibration state of the global kinematics model for the medical imaging device is determined, and in the calibration state, the global motion parameters are decomposed into the partial axis motion parameters of at least some movable components through the global kinematics model. For each of the at least some movable components, control parameters for the corresponding target motor are determined based on the split-axis motion parameters of that movable component.

[0014] Optionally, determining the control parameters for the target motor specifically includes: For each movable component, obtain the error source parameters corresponding to that movable component; wherein, the error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component; The error source parameters are quantified to determine the estimated error amount generated when the motion component performs the target motion under the influence of the error source parameters. The spindle motion parameters of the movable component are corrected based on the estimated error, so as to generate control parameters for the corresponding target motor based on the corrected spindle motion parameters.

[0015] Optionally, the movable component includes: a mounting base, a connecting arm, a C-shaped arm, and a detector; the connecting arm is connected to the mounting base via a first axis and to the C-shaped arm via a second axis, and the detector is disposed at the end of the C-shaped arm; The force control handle includes a first force control handle and a second force control handle; The first force control handle is positioned on the connecting arm coaxial with the second axis, and is used to control the connecting arm to translate on the mounting base, control the connecting arm to rotate along the first axis, or control the C-shaped arm to rotate along the second axis; The second force control handle is mounted on the detector and is used to control the C-shaped arm to slide along the C-shaped slide rail on the C-shaped arm or to control the detector to extend or retract.

[0016] This manual provides a control method for medical imaging equipment, applicable to medical imaging equipment, including: The system receives control signals sent by a force-controlled handle, wherein the force-controlled handle is installed on the medical imaging device, and the control signals are sent by the force-controlled handle to the control module in response to a target operation performed by the user. Based on the control signal, determine the global motion parameters for the force-controlled handle; Based on the current motion state information of each movable component, the global motion parameters are analyzed to identify the target motor among the multiple drive motors of the medical imaging device, and to determine the control parameters for the target motor. The control parameters are sent to the target motor so that the target motor drives the corresponding movable component to perform the target motion according to the control parameters; wherein, the global motion parameters include: the motion type and motion speed of the force control handle.

[0017] This specification provides a computer-readable storage medium having computer instructions stored thereon that, when executed by a processor, implement the steps of the method described above.

[0018] This specification provides an electronic device including a processor and a memory for storing executable instructions of the processor, the processor being configured to perform the steps of the method described above.

[0019] The technical solutions provided in the embodiments of this specification may include the following beneficial effects: The medical imaging device provided in this manual includes a force-controlled handle, a control module, multiple movable components, and multiple drive motors. The force-controlled handle responds to a user's target operation by sending a control signal to the control module and providing feedback on the reaction force of the target operation. The control module determines the global motion parameters for the force-controlled handle based on the control signal. Based on the current motion state information of each movable component, the global motion parameters are analyzed to identify the target motor among the multiple drive motors and determine the control parameters for the target motor. The control parameters are then sent to the target motor, which drives the corresponding movable component to perform the target motion according to the control parameters.

[0020] Through this medical imaging device, the force control handle installed on the device body can respond to the user's target operation and provide feedback reaction force, breaking the abstract connection between the joystick operation logic and the device's movement trajectory. Operators can intuitively perceive the correspondence between the operation and the device's movement through force feedback. Furthermore, the control module can determine global motion parameters based on control signals, and analyze the target motor and control parameters by combining the current state of each movable component, thereby achieving precise control of the device's movement and fully meeting the high-precision control requirements of modern medical imaging equipment. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a medical imaging device provided in the embodiments of this specification; Figure 2 This is a structural schematic diagram of a force-controlled handle provided in the embodiments of this specification; Figure 3A flowchart illustrating a control method for a medical imaging device provided in an embodiment of this specification; Figure 4 A schematic diagram of a control device for a medical imaging device provided in the embodiments of this specification; Figure 5 This specification provides a corresponding Figure 1 A schematic diagram of the structure of an electronic device. Detailed Implementation

[0022] 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 modes described in the following exemplary embodiments do not represent all modes consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0023] C-arm imaging equipment, as a typical type of medical imaging equipment, can generate dynamic images in real time during surgery thanks to its flexible adjustable C-shaped gantry structure. This helps doctors clearly observe the position of surgical instruments, the extent of lesion removal, and the anatomical relationships of tissues. It is widely used in orthopedic surgery, cardiovascular interventional therapy, neurosurgery, and other scenarios, becoming an important piece of equipment to ensure the smooth implementation of surgery and the effectiveness of treatment.

[0024] Currently, in clinical applications, joystick controllers are typically used to control the movement of the C-arm gantry, image detector, or X-ray emitter of C-arm imaging equipment to adjust to the position and angle required for clinical imaging. However, this joystick-based control method has significant technical drawbacks: On the one hand, there is a strong abstraction between the operation logic of the joystick and the actual movement trajectory of the C-arm imaging device. Operators need to undergo long-term professional training to establish a precise correlation between the operation action and the movement of the device. This not only increases the cost of human training, but also makes it easy for the device to deviate due to lack of operation skills. On the other hand, existing joystick control systems cannot effectively provide feedback on the real-time motion status of C-arm imaging equipment (such as movement speed, positional accuracy, and gantry stress). Operators can only judge whether the target position has been reached by visually observing the equipment's movement, making it difficult to accurately perceive the details of the equipment's movement and thus unable to achieve micron-level precise movement control of the C-arm imaging equipment. Especially in scenarios such as minimally invasive interventional surgery where extremely high equipment positional accuracy is required, this deficiency in control methods may lead to deviations in image capture angles, affecting the accuracy of lesion localization and even increasing surgical risks, failing to meet the modern medical demand for high-precision and high-efficiency control of imaging equipment.

[0025] Based on this, this specification provides a medical imaging device in which a force-controlled handle is mounted on the body of the medical imaging device to respond to the user's target operation and provide feedback reaction force. The operator can intuitively perceive the correspondence between the operation and the device's movement through force feedback. The control module can determine global motion parameters based on control signals and analyze the target motor and control parameters in combination with the current state of each movable component, thereby achieving precise control of the device's movement.

[0026] In this specification, the medical imaging device may include a force control handle, a control module, multiple movable components, and multiple drive motors, etc. The force control handle may include one or more, all of which are mounted on the body of the medical imaging device.

[0027] The control module can be a logic module capable of processing code logic. Physically, it can be integrated into the processor or a separate electronic device such as a microcontroller, field-programmable gate array (FPGA), or application-specific integrated circuit (ASIC).

[0028] Each movable component corresponds to one or more drive motors. The drive motors provide power output to the corresponding movable component to drive the movable component to achieve movement along a preset trajectory, such as translation, rotation, or angle adjustment, so as to ensure that the medical imaging equipment can adjust the position of the components according to the scanning requirements and improve the imaging accuracy.

[0029] In addition, each movable component can form a one-to-one or many-to-one driving relationship with the drive motor. After receiving the control signal from the control module, the drive motor converts electrical energy into mechanical energy, which drives the movable components to complete the corresponding actions, ensuring the coordinated work of each moving part of the medical imaging equipment.

[0030] The embodiments of this specification will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments can be combined with each other.

[0031] Figure 1 This is a schematic diagram of a medical imaging device provided in the embodiments of this specification.

[0032] like Figure 1 As shown, the medical imaging device can be a C-arm imaging device. The movable components can include: a mounting base 101, a connecting arm 102, a C-shaped arm 103, and a detector 104. The connecting arm can be connected to the mounting base 101 via a first axis 105 and to the C-shaped arm 103 via a second axis 106. The detector 104 is located at the end of the C-shaped arm 103.

[0033] The first force control handle 107 is positioned on the connecting arm 102, coaxial with the second shaft 106 (corresponding to the axis of rotation direction P in the figure), and can control the medical imaging equipment as follows: Control the translation of the connecting arm 102 on the mounting base (i.e., control the connecting arm 102 on the mounting base 101) In the plane, along direction or (Directional translation) Control the connecting arm 102 to rotate along the first axis 105 (that is, control the connecting arm 102 to rotate along the first axis 105 in the direction of rotation L). Control the C-arm 103 to rotate along the second axis 106 (that is, control the C-arm 103 to rotate along the second axis 106 in the direction of rotation P).

[0034] The second force control handle 108 is mounted on the detector 104 and can control the medical imaging equipment as follows: Control the C-shaped arm 103 to slide along the C-shaped slide rail 109 (that is, control the C-shaped arm 103 to rotate along the C-shaped slide rail 109 in the direction of rotation C). The detector 104 is controlled to rotate along its own axis (i.e., rotate in the direction of rotation DR).

[0035] Control the detector to extend or retract (i.e., control the detector to extend or retract along the DL direction).

[0036] In order to ensure the matching of imaging accuracy and detection angle, during the rotation of detector 104, the ray emitter set at the other end of C-shaped arm 103 can rotate synchronously with detector 104 in the rotation direction CR.

[0037] It should be pointed out that, Figure 1 The diagram only shows one exemplary direction of rotation L, rotation P, rotation DR, and rotation CR. In practical applications, bidirectional rotation, i.e., clockwise rotation and counterclockwise rotation, can be achieved.

[0038] In addition, more force control handles can be added in practical applications, and the force control handles can be set in other positions. This manual does not limit this.

[0039] Furthermore, this specification provides a structural schematic diagram of a force-controlled handle, as shown below. Figure 2 As shown.

[0040] The force-controlled handle includes a mechanical handle 201, a force sensor 202, an enabling component 203, and a motion constraint component 204. Additionally, the medical intention device may include a power module for powering the force-controlled handle, control module, and various drive motors.

[0041] During the user's control of medical imaging equipment, the force control handle can respond to the user's target operation and send control signals to the control module.

[0042] To ensure operational safety and accurate triggering of control commands, the force control handle can enter an enabled state after detecting that the enabling component 203 has been triggered. In the enabled state, it responds to the target operation performed by the user, sends a control signal to the control module, and drives the corresponding component to complete the preset action.

[0043] The enabling component 203 can have various structural forms and triggering methods. For example, the enabling component 203 can be a long-press button, meaning that the force control handle can only enter the enabling state when the long-press button is in a continuous pressing state; another example is that the enabling component 203 can be a rotary switch, which is triggered by rotating the knob to a specific position; of course, the enabling component 203 can also be a trigger button, where the user presses it once to maintain the triggering state, and presses it again to deactivate the trigger.

[0044] Force sensor 202 can be a six-dimensional force sensor. When the user grips the mechanical handle 201, he applies force to the handle in various directions. Force sensor 202 can analyze the force into force or torque in the X, Y, and Z axis directions and generate corresponding control signals to send to the control module.

[0045] In addition, to prevent the device from moving unevenly due to slight hand tremors or unstable operation, and to ensure the smooth operation of the device, the force control handle can perform smoothing and anti-shake processing on the analyzed force or torque. For example, by setting a certain filtering threshold, sudden force signals that instantaneously exceed the threshold can be filtered out; another example is to use a weighted average calculation of force signal data within a time window to smooth instantaneous fluctuations; in addition, minute force signals that are consistently below a set threshold can be ignored, and only the effective operating force can be responded to.

[0046] In practical applications, different motion controls may correspond to force operations in the same direction. For example, to control the rightward translation and counterclockwise rotation of the connecting arm 102, a force in the right direction needs to be applied to the force control handle. In this case, if the motion type of the force control handle is not constrained, the equipment may erroneously execute the operation.

[0047] Therefore, in order to avoid misoperation and improve the accuracy of equipment control, the force control handle can constrain the motion type of the force control handle through the motion constraint component 204. When the motion constraint component 204 is in the translation constraint state, the force control handle can only respond to the target operation executed by the user to control the movable component to perform translational motion. When the motion constraint component 204 is in the rotation constraint state, the force control handle can only respond to the target operation executed by the user to control the movable component to perform rotational motion.

[0048] In this way, users can limit the motion type of the force control handle in advance by switching the state of the motion constraint component 204: when it is necessary to control the translation of the connecting arm 102, the component is switched to the translation constraint state, and even if a force is applied to the right, the device will only respond to the translation command; when it is necessary to control the rotation of the connecting arm 102, the component is switched to the rotation constraint state, and the force applied in the same direction will only trigger the rotation action.

[0049] Similarly, the above-mentioned motion constraint component 204 can also have various structural forms. For example, the motion constraint component 204 can be a rotary switch, which can be rotated to different motion constraint states; another example is that the motion constraint component 204 can be a trigger button, which corresponds to the translation constraint state when the button is pressed once to lock, the rotation constraint state when the button is pressed again, the translation constraint state when the button is not pressed, and the rotation constraint state when the button is pressed and held.

[0050] It should be noted that, Figure 2 This is merely an example of how motion constraint components and enabling components are set on the force control handle. In practical applications, motion constraint components and enabling components can be set in other locations besides the force control handle, such as the control panel of the medical imaging equipment, the side control area of ​​the connecting arm, or the convenient gripping part of the C-arm. The specific setting location can be flexibly adjusted according to the overall layout of the equipment, the operating habits of medical staff, and the clinical use scenario. This manual does not impose a unique limitation on this.

[0051] Furthermore, to ensure that users can accurately perceive the operating force and the movement status of the equipment, and to avoid deviations in the movement of the equipment due to excessive or insufficient operating force, the force control handle can also provide feedback on the reaction force of the user's target operation. This allows users to adjust the operating force in real time through tactile feedback, thereby improving the stability and safety of equipment control.

[0052] It should be noted that the reaction force here is not the original mechanical resistance, but a controllable feedback force calculated and adjusted by the control module under the drive of each drive motor. It can simulate the real operating feel and indicate to the user whether the current operation meets the equipment operating requirements by the magnitude of the reaction force.

[0053] Furthermore, after receiving the control signal, the control module can determine the global motion parameters for the force-controlled handle based on the control signal.

[0054] In this specification, the control signals mentioned above may carry the force amplitude, force direction, and motion type (i.e., translational and rotational motion) of the force control handle. The global motion parameters may include the motion type and speed of the force control handle to reflect the overall motion state of the medical imaging equipment.

[0055] During this process, the force control handle can determine the movement speed of the force control handle based on the force direction and movement type carried in the control signal and the target mapping relationship corresponding to the movement type.

[0056] The target mapping relationship is used to represent the mapping relationship between the force amplitude and the motion velocity amplitude under the current motion type. The specific mapping parameters of the target mapping relationship are different under different motion types. For example, under the connecting arm translation motion type, the force amplitude and the motion velocity amplitude may have a linear proportional relationship, that is, the greater the force, the faster the speed; while under the C-arm rotation motion type, in order to ensure imaging stability, the force amplitude and the motion velocity amplitude may have a piecewise proportional relationship. For example, when the force amplitude is less than 5N, the proportional coefficient is 0.3, and when it is greater than 5N, the proportional coefficient is adjusted to 0.5.

[0057] Then, the control module can analyze the global motion parameters based on the current motion state information of each movable component, so as to identify the target motor among multiple drive motors and determine the control parameters for the target motor.

[0058] It should be noted that some movable components of medical imaging equipment may include two motors. Taking the connecting arm 102 as an example, its corresponding drive motor may include a drive motor for driving it to perform translational motion and a drive motor for driving it to perform rotational motion. When the control module analyzes the global motion parameters, it can match the corresponding drive motor according to the target motion type (translation or rotation) of the connecting arm 102.

[0059] Furthermore, the control module can determine the current calibration state of the global kinematic model for the medical imaging equipment based on the current motion state information of each movable component, and in the calibration state, decompose the global motion parameters into the sub-axis motion parameters of at least some movable components through the global kinematic model.

[0060] For each movable component, the current motion state information of the component includes: the current position and the current axis velocity of the component. The axis motion parameters may include motion type, target motion velocity, target acceleration, and target position.

[0061] For the target motion speed: it can be determined comprehensively based on the current sub-axis speed of the movable component, the distribution ratio of the global motion speed, and the motion type characteristics of the component. For example, if the global motion speed is 0.5 m / s, the translational motion allocated to the connecting arm 102 accounts for 60%, and its current sub-axis speed is 0.2 m / s, then the target motion speed can be calculated as 0.2 + 0.5 × 60% = 0.32 m / s.

[0062] For the target position: it can be determined based on the current position of the movable component, the estimated operation time corresponding to the target movement speed, and the preset mechanical limit / safety zone boundary. For example, if the current position of the C-arm 103 is 25° rotated around the second axis, the target speed (angular velocity) is 8° / s, and the estimated operation duration is 3s based on clinical image acquisition needs, then the initial calculation of the target position is the coordinate position corresponding to 25° + 8° / s × 3s = 49°. If the safe rotation range of the C-arm is 0°~60°, then the final target position is set to the coordinate position corresponding to a 49° rotation. If the calculated rotation exceeds 60°, the target position is automatically corrected to the coordinate position corresponding to a 60° rotation.

[0063] For target acceleration: it can be determined by combining the distance between the target position and the current position, the target speed and the current axis speed, to ensure that the component can smoothly reach the target speed and stop accurately at the target position.

[0064] The control module can then determine the control parameters of the target motor (such as drive current magnitude, pulse frequency, rotation direction, start-stop sequence, acceleration ramp curve parameters, etc.) based on the split-axis motion parameters of the movable component.

[0065] For example, when the user controls the connecting arm 102 along the force control handle During directional translation, the control module can determine the target motor as the motor that drives the connecting arm 102 to perform translational movement based on the received control signal.

[0066] The control module can first obtain the current motion state information of the connecting arm 102, specifically including its current position (such as the mounting base 101). Coordinates in the plane (X1, Y1), current axis velocity (e.g., along...) (Direction 0.2m / s).

[0067] The control module can then adjust the current position of the connecting arm 102 accordingly. In-plane coordinates (X1, Y1) and current axis velocity (along...) (Direction 0.2m / s) to calibrate the model's current actual state. For example, the difference between the current position and the previous position is used to correct coordinate drift error, and the deviation between the current axis velocity and the standard velocity sampling value is used to compensate for velocity measurement error. Finally, the accurate state of the global kinematic model is determined (i.e., the model parameters reflecting the true motion state of the connecting arm 102, such as the corrected real-time position coordinates). , The compensated real-time split-axis speed is 0.21 m / s; under this accurate calibration state, the global motion parameters (connecting arm 102 along) are calculated based on the corrected model parameters. The direction translation) is decomposed into the component axis motion parameters of the connecting arm 102 (motion type: translation, target velocity 0.5m / s, target acceleration 0.1m / s², target position X2, Y2) to ensure that the decomposition results match the actual motion state of the connecting arm.

[0068] Finally, for the target motor corresponding to connecting arm 102, the control module determines the control parameter as "drive direction along" based on its split-axis motion parameters. "In the positive direction, the output power is matched with the target speed of 0.5m / s, and the acceleration is adjusted to 0.1m / s²", thereby achieving precise drive of the connecting arm 102.

[0069] Furthermore, since the movable components may be affected by factors such as mechanical wear, assembly gaps, load changes, environmental vibrations, and transmission delays during operation, resulting in deviations between the actual motion trajectory and the theoretical trajectory, in order to avoid the cumulative impact of such deviations on the operating accuracy of the equipment, for each movable component, the control module acquires the error source parameters of that movable component. These error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component, such as the guide rail friction coefficient of the connecting arm 102, the rotation shaft clearance of the C-shaped arm 103, the output torque attenuation rate of the drive motor, and the transmission delay between different movable components and the transmission module.

[0070] The control module can then quantify the error source parameters to determine the estimated error amount generated when the motion component performs the target motion under the influence of the error source parameters. After determining the estimated error amount, the control module can correct the split-axis motion parameters of the motion component based on the estimated error amount, so as to generate control parameters for the corresponding target motor based on the corrected split-axis motion parameters.

[0071] The control module can quantify error source parameters in several ways. For example, it can quantify them using a pre-defined "error source parameter - estimated error" mapping table, directly querying the estimated error for the corresponding gear based on the measured value of the error source parameter. Another example is inputting the error source parameters and the corresponding movable component information (such as name / ID) into a pre-trained error prediction model, which then calculates and outputs the estimated error corresponding to the parameter combination. In addition, the error source parameters and the target motion parameters of the movable component can be input into the simulation environment, and by simulating the accumulation pattern of errors during motion, an estimated error matching the actual operating scenario can be output.

[0072] Through the above methods, the control module can obtain accurate control parameters, which can then be sent to the target motor. Upon receiving the control parameters, the target motor can drive the corresponding movable component to perform the target motion.

[0073] The above describes a medical imaging device provided in this manual. Further, the following will describe the control method of the medical imaging device provided in this manual from the perspective of the medical imaging device control module. Figure 3 As shown.

[0074] Figure 3 A flowchart illustrating a control method for a medical imaging device provided in this specification includes the following steps: S301: Receive a control signal sent by a force control handle, wherein the force control handle is mounted on the body of the medical imaging device, and the control signal is sent by the force control handle to the control module in response to the target operation performed by the user; S302: Determine global motion parameters for the force control handle based on the control signal; wherein, the global motion parameters include: the motion type and motion speed of the force control handle; S303: Based on the current motion state information of each movable component, the global motion parameters are analyzed to identify the target motor among the multiple drive motors of the medical imaging device, and control parameters for the target motor are determined. S304: Send the control parameters to the target motor so that the target motor drives the corresponding movable component to perform the target motion according to the control parameters.

[0075] As can be seen from the above, the force control handle, integrated into the body of the medical imaging equipment, not only accurately responds to the user's target operation but also provides real-time feedback of the reaction force. This design completely breaks down the abstract disconnect between the operating logic and the equipment's movement trajectory found in traditional joystick operation. Operators no longer need to rely on experience or prediction; they can intuitively perceive the correspondence between their operation and the actual movement of the equipment simply by using the reaction force transmitted through the force control handle, significantly reducing the learning curve for operation.

[0076] At the control level, the control signal output by the force control handle is converted into global motion parameters by the control module. Then, the control module combines the current state information of each movable component to complete the calibration and parameter decomposition of the global kinematic model, accurately locate the target motor to be driven, and generate suitable motor control parameters, ultimately achieving fine-grained control of the equipment's motion.

[0077] Compared to the shortcomings of existing operation methods (such as joysticks and buttons) that cannot provide real-time feedback on the movement status of the equipment, this design uses the reaction force feedback of the force control handle to allow operators to dynamically perceive the details of the equipment's movement. This not only improves the intuitiveness and controllability of the operation, but also further adapts to the high requirements of motion control precision and operational safety of medical imaging equipment in modern medical scenarios, providing strong support for precise equipment operation during diagnosis and treatment.

[0078] The above describes one or more control methods for implementing medical imaging equipment as described in this manual. Based on the same concept, this manual also provides corresponding control devices for medical imaging equipment, such as... Figure 4 As shown.

[0079] The control device for the medical imaging equipment may include: The receiving unit 401 is used to receive control signals sent by the force control handle, wherein the force control handle is disposed on the body of the medical imaging device, and the control signal is sent by the force control handle to the control module in response to the target operation performed by the user; The determining unit 402 is used to determine global motion parameters for the force control handle based on the control signal; wherein the global motion parameters include: the motion type and motion speed of the force control handle; The parsing unit 403 is used to parse the global motion parameters based on the current motion state information of each movable component, so as to determine the target motor among the multiple drive motors of the medical imaging device and determine the control parameters for the target motor. The control unit 404 is used to send the control parameters to the target motor so that the target motor drives the corresponding movable component to perform the target motion according to the control parameters.

[0080] Optionally, the control signal carries the force amplitude, force direction, and motion type of the force control handle; The determining unit 402 is specifically used to determine the movement speed of the force control handle based on the force direction and the target mapping relationship corresponding to the movement type; wherein, the target mapping relationship is used to represent the mapping relationship between the force amplitude and the movement speed amplitude under the movement type.

[0081] Optionally, for each movable component, the current motion state information of the movable component includes: the current position and the current speed of the component's axes; The analysis unit 403 is specifically used to: determine the current calibration state of the global kinematic model for the medical imaging device based on the current motion state information of each movable component; and in the calibration state, decompose the global motion parameters into the partial axis motion parameters of at least some movable components through the global kinematic model; and for each movable component among the at least some movable components, determine the control parameters for the corresponding target motor based on the partial axis motion parameters of that movable component.

[0082] Optionally, the parsing unit 403 is specifically used to: for each movable component, obtain the error source parameters corresponding to that movable component; wherein, the error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component; quantify the error source parameters to determine the estimated error amount generated when the movable component performs the target motion under the influence of the error source parameters; and correct the split-axis motion parameters of the movable component according to the estimated error amount, so as to generate control parameters for the corresponding target motor according to the corrected split-axis motion parameters.

[0083] Optionally, the movable component includes: a mounting base, a connecting arm, a C-shaped arm, and a detector; the connecting arm is connected to the mounting base via a first axis and to the C-shaped arm via a second axis, and the detector is disposed at the end of the C-shaped arm; The force control handle includes a first force control handle and a second force control handle; The first force control handle is positioned on the connecting arm coaxial with the second axis, and is used to control the connecting arm to translate on the mounting base, control the connecting arm to rotate along the first axis, or control the C-shaped arm to rotate along the second axis; The second force control handle is mounted on the detector and is used to control the C-shaped arm to slide along the C-shaped slide rail on the C-shaped arm or to control the detector to extend or retract.

[0084] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 3 A control method for a medical imaging device is provided.

[0085] This instruction manual also provides Figure 5 One of the corresponding Figure 3 A schematic diagram of the structure of an electronic device. (e.g.) Figure 5 At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for the business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 3 The risk detection method described herein. 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. In other words, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0086] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0087] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0088] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0089] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0090] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0091] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0092] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0093] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0094] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that 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, magnetic magnetic disk storage 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.

[0095] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0096] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0098] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0099] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A medical imaging device, characterized in that, The medical imaging device includes: a force-controlled handle, a control module, multiple movable components, and multiple drive motors, wherein the force-controlled handle is disposed on the body of the medical imaging device; The force control handle is used to: send a control signal to the control module in response to a target operation performed by the user, and provide feedback on the reaction force of the target operation; The control module is configured to: determine global motion parameters for the force-controlled handle based on the control signal; parse the global motion parameters based on the current motion state information of each movable component to identify a target motor among the plurality of drive motors, and determine control parameters for the target motor; send the control parameters to the target motor; wherein the global motion parameters include: the motion type and motion speed of the force-controlled handle; determine the current calibration state of the global kinematic model for the medical imaging device based on the current motion state information of each movable component, and in the calibration state, decompose the global motion parameters into at least some of the component-axis motion parameters through the global kinematic model; for each movable component, determine the corresponding target motor control parameters based on the component-axis motion parameters; The target motor is used to drive the corresponding movable component to perform the target motion according to the control parameters.

2. The medical imaging equipment as described in claim 1, characterized in that, An enabling component is provided on the force control handle; The force control handle is used to: enter an enabled state after detecting that the enabling component has been triggered, and send a control signal to the control module in response to the target operation performed by the user in the enabled state.

3. The medical imaging device as described in claim 1, characterized in that, The force control handle is equipped with a motion constraint component, which is used to constrain the motion type of the force control handle, wherein: When the motion constraint component is in a translational constraint state, the force control handle controls the movable component to perform translational movement in response to the target operation performed by the user. When the motion constraint component is in a rotational constraint state, the force control handle controls the movable component to perform rotational movement in response to the target operation performed by the user.

4. The medical imaging device as described in claim 1, characterized in that, The control signal carries the force amplitude, force direction, and motion type of the force control handle; The control module is specifically used for: The movement speed of the force control handle is determined based on the force direction and the target mapping relationship corresponding to the movement type; wherein, the target mapping relationship is used to represent the mapping relationship between the force amplitude and the movement speed amplitude under the movement type.

5. The medical imaging device as described in claim 1, characterized in that, For each movable component, the current motion state information of the movable component includes: the current position of the movable component and the current speed of the split axis.

6. The medical imaging device as described in claim 5, characterized in that, The control module is specifically used for: For each movable component, obtain the error source parameters of that movable component; wherein, the error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component; The error source parameters are quantified to determine the estimated error amount generated when the motion component performs the target motion under the influence of the error source parameters. The spindle motion parameters of the movable component are corrected based on the estimated error, so as to generate control parameters for the corresponding target motor based on the corrected spindle motion parameters.

7. The medical imaging device as described in claim 1, characterized in that, The movable component includes: a mounting base, a connecting arm, a C-shaped arm, and a detector; the connecting arm is connected to the mounting base via a first axis and to the C-shaped arm via a second axis, and the detector is disposed at the end of the C-shaped arm; The force control handle includes a first force control handle and a second force control handle; The first force control handle is positioned on the connecting arm coaxial with the second axis, and is used to control the connecting arm to translate on the mounting base, control the connecting arm to rotate along the first axis, or control the C-shaped arm to rotate along the second axis; The second force control handle is mounted on the detector and is used to control the C-shaped arm to slide along the C-shaped slide rail on the C-shaped arm, control the detector to rotate along its own axis, or control the detector to extend or retract.

8. A control method for a medical imaging device, applied to a medical imaging device, characterized in that, include: The system receives control signals sent by a force control handle, wherein the force control handle is mounted on the body of the medical imaging device, and the control signal is sent by the force control handle to the control module in response to the target operation performed by the user. Based on the control signal, global motion parameters for the force control handle are determined; wherein, the global motion parameters include: the motion type and motion speed of the force control handle; Based on the current motion state information of each movable component, the global motion parameters are analyzed to identify the target motor among the multiple drive motors of the medical imaging device, and to determine the control parameters for the target motor. Specifically, based on the current motion state information of each movable component, the current calibration state of the global kinematic model for the medical imaging device is determined. In the calibration state, the global motion parameters are decomposed into the partial axis motion parameters of at least some of the movable components using the global kinematic model. For each movable component, the control parameters for the corresponding target motor are determined based on the partial axis motion parameters of that movable component. The control parameters are sent to the target motor so that the target motor drives the corresponding movable component to perform the target motion according to the control parameters.

9. The method as described in claim 8, characterized in that, The control signal carries the force amplitude, force direction, and motion type of the force control handle; Based on the control signal, the global motion parameters for the force-controlled handle are determined, specifically including: The movement speed of the force control handle is determined based on the force direction and the target mapping relationship corresponding to the movement type; wherein, the target mapping relationship is used to represent the mapping relationship between the force amplitude and the movement speed amplitude under the movement type.

10. The method as described in claim 8, characterized in that, For each movable component, the current motion state information of the movable component includes: the current position of the movable component and the current speed of the split axis.

11. The method as described in claim 10, characterized in that, Determining the control parameters for the target motor specifically includes: For each movable component, obtain the error source parameters corresponding to that movable component; wherein, the error source parameters are used to characterize the parameters that cause errors in the actual motion trajectory of the movable component; The error source parameters are quantified to determine the estimated error amount generated when the motion component performs the target motion under the influence of the error source parameters. The spindle motion parameters of the movable component are corrected based on the estimated error, so as to generate control parameters for the corresponding target motor based on the corrected spindle motion parameters.

12. The method as described in claim 8, characterized in that, The movable component includes: a mounting base, a connecting arm, a C-shaped arm, and a detector; the connecting arm is connected to the mounting base via a first axis and to the C-shaped arm via a second axis, and the detector is disposed at the end of the C-shaped arm; The force control handle includes a first force control handle and a second force control handle; The first force control handle is positioned on the connecting arm coaxial with the second axis, and is used to control the connecting arm to translate on the mounting base, control the connecting arm to rotate along the first axis, or control the C-shaped arm to rotate along the second axis; The second force control handle is mounted on the detector and is used to control the C-shaped arm to slide along the C-shaped slide rail on the C-shaped arm or to control the detector to extend or retract.

13. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 9-12.

14. An electronic device, characterized in that, It includes a processor and a memory for storing executable instructions of the processor, the processor being configured to perform the steps of the method according to any one of claims 9-12.

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