Medical image acquisition support system, control method, and storage medium

Abstract

This invention relates to the field of robotics, and discloses a medical image acquisition scaffold system, a control method, and a storage medium. The medical image acquisition scaffold system includes: a signal acquisition device, comprising a first acquisition unit and a second acquisition unit; a mobile robot, comprising a mobile base and a robotic arm; and a processor configured to: respond to a first control command, control the mobile base and the robotic arm to move sequentially to move the signal acquisition device to a first spatial orientation; respond to a second control command, control the first acquisition unit to acquire a reference image in the first spatial orientation; and, based on the reference image, control at least one of the mobile base and the robotic arm to move to move the signal acquisition device to a second spatial orientation, and control the second acquisition unit to acquire medical images in the second spatial orientation. This invention achieves automated movement and imaging of a mobile X-ray machine.

Description

Technical Field

[0001] This invention relates to the field of computer network technology, and in particular to a medical image acquisition support system, control method, and storage medium. Background Technology

[0002] X-ray imaging is one of the most commonly used and important diagnostic tools in modern clinical medicine. For patients with limited mobility or those in intensive care, mobile X-ray machines can be moved to the bedside for imaging, avoiding the risks associated with moving patients. They play an irreplaceable role in inpatient wards, ICUs, emergency departments, and other settings.

[0003] However, the automation and intelligence levels of mobile X-ray machines widely used in clinical practice are severely insufficient. The operation process still relies heavily on the manual intervention of technicians, including manual location and preparation, manual identification and positioning, etc. This high dependence on manual intervention leads to problems such as low operating efficiency, poor image quality stability, high labor intensity for technicians and the risk of radiation exposure, and susceptibility to human error. In other words, existing mobile X-ray machines are unable to achieve automated movement and imaging. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem of the lack of automated control for the movement and imaging of mobile X-ray machines in the existing technology.

[0005] The first aspect of this invention provides a medical image acquisition support system, comprising: a signal acquisition device, the signal acquisition device including a first acquisition unit and a second acquisition unit, the first acquisition unit being used to acquire a first type of signal, and the second acquisition unit being used to acquire a second type of signal, wherein the signal acquisition range of the first acquisition unit and the second acquisition unit includes at least a partially overlapping area, and a shooting object is arranged relative to a first spatial orientation, the shooting object including multiple shooting parts, and the signal acquisition range of the first acquisition unit including at least a portion of the shooting parts; a mobile robot, the mobile robot including a mobile base and a robotic arm, the proximal end of the robotic arm being disposed on the mobile base, and the signal acquisition device being disposed at the distal end of the robotic arm; and a processor, respectively connected to the mobile base and the robotic arm. The robotic arm is communicatively connected and configured to: respond to a first control command, control the movable base and the robotic arm to move sequentially to move the signal acquisition device to a first spatial orientation; respond to a second control command, control the first acquisition unit to acquire a first type of signal in the first spatial orientation to obtain a reference image; determine the location of the target imaging part corresponding to the first control command in the reference image; determine the spatial transformation orientation between the location and the overlapping area, and control at least one of the movable base and the robotic arm to move according to the spatial transformation orientation, so that the target imaging part is located in the overlapping area, thereby moving the signal acquisition device from the first spatial orientation to a second spatial orientation, and controlling the second acquisition unit to acquire a second type of signal in the second spatial orientation to obtain a medical image.

[0006] Preferably, when executing the step of controlling the movable base and the robotic arm to move sequentially in response to the first control command to move the signal acquisition device to the first spatial orientation, the processor is further configured to: control the movable base to move to the target position in a preset first coordinate system in response to the first control command, and trigger a third control command; control the robotic arm to move to the target pose in a preset second coordinate system in response to the third control command; and move the signal acquisition device to the first spatial orientation when the movable base moves to the target position and the robotic arm moves to the target pose.

[0007] Preferably, the movable base is provided with a first alignment device, and at least one second alignment device is provided at a preset position in the preset first coordinate system; when executing the step of controlling the movable base to move to the target position in the preset first coordinate system in response to the first control command, the processor is configured to: control the movable base to move in the preset first coordinate system in response to the first control command, so as to drive the first alignment device to move; determine the relative positional relationship between the first alignment device and the second alignment device, and determine the movement of the movable base to the target position based on the relative positional relationship.

[0008] Preferably, a plurality of second alignment devices are provided at a preset position in the preset first coordinate system, and the first alignment device and any one of the second alignment devices can be physically disconnected; the plurality of second alignment devices includes one of the target second alignment devices corresponding to the first control command; when performing the step of determining that the moving base moves to the target position according to the relative position relationship, the processor is further configured to: determine that the moving base moves to the target position when a physical connection occurs between the first alignment device and the target second alignment device.

[0009] Preferably, a slide rail is provided at a preset position in the preset first coordinate system, and a second alignment device is provided on the slide rail. The slide rail is slidably connected to the second alignment device, and the slide rail is provided with multiple fixed sliding positions. The first alignment device and the second alignment device can be physically disconnected. The second alignment device further includes a control module, which responds to the first control command to control the second alignment device to slide to one of the multiple fixed sliding positions to a target sliding position. When performing the step of determining that the moving base moves to the target position based on the relative position relationship, the processor is further configured to: determine that the moving base moves to the target position when a physical connection occurs between the first alignment device and the second alignment device at the target sliding position.

[0010] Preferably, a planned path is generated in the preset first coordinate system according to the first control command, and the mobile base moves at least according to the planned path; when performing the step of determining the relative positional relationship between the first alignment device and the second alignment device, the processor is further configured to: acquire real-time images through the first acquisition unit when the mobile base moves along the planned path, and monitor the position of the second alignment device according to the real-time images; if the position of the second alignment device is not detected, it is confirmed that the relative positional relationship between the first alignment device and the second alignment device is not connected; if the position of the second alignment device is detected, an alignment path is generated according to the detected position of the second alignment device to control the movement of the mobile base until the mobile base completes the movement according to the alignment path, and the relative positional relationship between the first alignment device and the second alignment device is confirmed to be connected.

[0011] Preferably, before executing the step of controlling the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image in response to the second control command, the processor is further configured to: control the first acquisition unit to acquire a verification part image among the plurality of shooting parts, and identify the identity information of the shooting object based on the verification part image; determine whether the identity information matches the identity identification information in the first control command; if they match, generate a trigger signal for the second control command.

[0012] A second aspect of the present invention provides a control method for a medical image acquisition support system, the medical image acquisition support system comprising: a signal acquisition device, the signal acquisition device including a first acquisition unit and a second acquisition unit, the first acquisition unit being used to acquire a first type of signal, and the second acquisition unit being used to acquire a second type of signal, wherein the signal acquisition range of the first acquisition unit and the second acquisition unit includes at least a partially overlapping area, an object to be photographed is arranged relative to a first spatial orientation, the object to be photographed includes multiple photographing parts, and the signal acquisition range of the first acquisition unit includes at least a portion of the photographing parts; a mobile robot, the mobile robot including a mobile base and a robotic arm, the proximal end of the robotic arm being disposed on the mobile base, and the signal acquisition device being disposed at the end of the robotic arm; The control method includes: responding to a first control command, controlling the movable base and the robotic arm to move sequentially to move the signal acquisition device to a first spatial orientation; responding to a second control command, controlling the first acquisition unit to acquire a first type of signal in the first spatial orientation to obtain a reference image; determining the location of the target imaging part corresponding to the first control command in the reference image; determining the spatial transformation orientation between the location and the overlapping area, and controlling at least one of the movable base and the robotic arm to move according to the spatial transformation orientation, so that the target imaging part is located in the overlapping area, thereby moving the signal acquisition device from the first spatial orientation to a second spatial orientation, and controlling the second acquisition unit to acquire a second type of signal in the second spatial orientation to obtain a medical image.

[0013] Preferably, in response to a first control command, controlling the movable base and the robotic arm to move sequentially to move the signal acquisition device to a first spatial orientation includes: in response to the first control command, controlling the movable base to move to a target position in a preset first coordinate system and triggering a third control command; in response to the third control command, controlling the robotic arm to move to a target pose in a preset second coordinate system; and when the movable base moves to the target position and the robotic arm moves to the target pose, moving the signal acquisition device to the first spatial orientation.

[0014] Preferably, the movable base is provided with a first alignment device, and at least one second alignment device is provided at a preset position in the preset first coordinate system; in response to a first control command, controlling the movable base to move to a target position in the preset first coordinate system includes: in response to the first control command, controlling the movable base to move in the preset first coordinate system to drive the first alignment device to move; determining the relative positional relationship between the first alignment device and the second alignment device, and determining the movable base to move to the target position based on the relative positional relationship.

[0015] Preferably, a plurality of second alignment devices are provided at a preset position in the preset first coordinate system, and the first alignment device and any one of the second alignment devices can be physically disconnected; the plurality of second alignment devices includes one of the target second alignment devices corresponding to the first control command; determining the movement of the mobile base to the target position according to the relative position relationship includes: determining the movement of the mobile base to the target position when a physical connection occurs between the first alignment device and the target second alignment device.

[0016] Preferably, a slide rail is provided at a preset position in the preset first coordinate system, and a second alignment device is provided on the slide rail. The slide rail is slidably connected to the second alignment device, and the slide rail is provided with multiple fixed sliding positions. The first alignment device and the second alignment device can be physically disconnected. The second alignment device further includes a control module, which responds to the first control command to control the second alignment device to slide to one of the multiple fixed sliding positions to a target sliding position. Determining that the movable base moves to the target position according to the relative position relationship includes: determining that the movable base moves to the target position when a physical connection occurs between the first alignment device and the second alignment device at the target sliding position.

[0017] Preferably, a planned path is generated in the preset first coordinate system according to the first control command, and the mobile base moves at least according to the planned path; determining the relative positional relationship between the first alignment device and the second alignment device includes: when the mobile base moves along the planned path, acquiring a real-time image through the first acquisition unit, and monitoring the position of the second alignment device according to the real-time image; if the position of the second alignment device is not detected, it is confirmed that the relative positional relationship between the first alignment device and the second alignment device is not connected; if the position of the second alignment device is detected, an alignment path is generated according to the detected position of the second alignment device to control the movement of the mobile base, until the mobile base completes the movement according to the alignment path, and the relative positional relationship between the first alignment device and the second alignment device is confirmed to be connected.

[0018] Preferably, before controlling the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image in response to the second control command, the method includes: controlling the first acquisition unit to acquire a verification part image among the plurality of shooting parts, and identifying the identity information of the shooting object based on the verification part image; determining whether the identity information matches the identity identification information in the first control command; if they match, generating a trigger signal for the second control command.

[0019] A third aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described control method applied to a medical image acquisition support system. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of an embodiment of the medical image acquisition support system of the present invention;

[0021] Figure 2 This is a schematic diagram illustrating an application scenario of the medical image acquisition support system in this invention.

[0022] Figure 3 This is a schematic diagram of another embodiment of the application scenario of the medical image acquisition support system in this invention;

[0023] Figure 4 This is a schematic diagram of an embodiment of the present invention for determining the relative positional relationship between the medical image acquisition support system and the operating table;

[0024] Figure 5 This is a schematic diagram of another embodiment of the present invention for determining the relative positional relationship between the medical image acquisition support system and the operating table;

[0025] Figure 6 This is a schematic diagram of the first embodiment of the present invention, in which a second alignment device is provided on the operating table;

[0026] Figure 7 This is a schematic diagram of a second embodiment of the present invention, in which a second alignment device is provided on the operating table;

[0027] Figure 8 This is a schematic diagram of a third embodiment of the present invention, in which a second alignment device is provided on the operating table;

[0028] Figure 9 This is a schematic diagram of an embodiment of the medical image acquisition support system adjusting the signal acquisition range in this invention.

[0029] Figure 10 This is a schematic diagram of an embodiment of the control method applied to a medical image acquisition support system according to the present invention;

[0030] Figure 11 This is a schematic diagram of one embodiment of the computer device in this invention. Detailed Implementation

[0031] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0032] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, the term "a plurality of" includes two or more.

[0033] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0034] The system structure of this invention embodiment is described below. Please refer to [link / reference]. Figure 1 The first embodiment of the present invention applied to a medical image acquisition stent system includes:

[0035] The medical image acquisition support system 100 includes: a signal acquisition device 110, which includes a first acquisition unit 111 and a second acquisition unit 112 (unless otherwise described in the following figures, only the signal acquisition device will be shown, and the first and second acquisition units will not be shown), the first acquisition unit 111 is used to acquire a first type of signal, and the second acquisition unit 112 is used to acquire a second type of signal; and a mobile robot, which includes a mobile base 120 and a robotic arm 130, the proximal end of the robotic arm 130 being disposed on the mobile base 120, and the signal acquisition device 110 being disposed at the end of the robotic arm 130.

[0036] Specifically, the mobile base 120 is arranged horizontally and has drive wheels 140 at the bottom; the mobile base 120 includes a fixed-size base and a retractable base; the retractable base extends and retracts according to instructions, thereby reducing the ground area occupied during movement and increasing support during the shooting process of the signal acquisition device 110.

[0037] The robotic arm 130 is equipped with a first longitudinal support arm, a lateral support arm, and a second longitudinal support arm. Each pair of support arms is movably connected. The first longitudinal support arm is fixedly connected to the movable base 120, and the second longitudinal support arm is either movably or fixedly connected to the signal acquisition device 110. The robotic arm includes a fixed-size robotic arm and a telescopic robotic arm. In the telescopic robotic arm, the first longitudinal support arm, the lateral support arm, and the second longitudinal support arm can extend or retract according to commands, increasing the working range of the signal acquisition device 110. The second longitudinal support arm and the signal acquisition device 110 are connected by a joint, and can at least perform a rotation operation according to commands.

[0038] For example, if the mobile base is a retractable base and the robotic arm is a retractable robotic arm, then as follows: Figure 1 As shown, the movable base 120 can extend to the movable base position a, and the drive wheel 140 also moves to the drive wheel position b; the first longitudinal support arm can extend to the first longitudinal support arm position c, the transverse support arm can extend to the transverse support arm position d, and the second longitudinal support arm can extend to the second longitudinal support arm position e; the signal acquisition device 110 can rotate to the signal acquisition device position f according to the rotation operation.

[0039] In one embodiment, the first longitudinal support arm, the transverse support arm, the second longitudinal support, and the signal acquisition device 110 are connected to each other by joints to achieve preset degrees of freedom of movement between them; the joints include any one of the elbow joint, wrist joint, and ball joint.

[0040] In one embodiment, the robotic arm 130 may not include a second longitudinal link to reduce the load on the movable base 120.

[0041] Specifically, the first acquisition unit 111 and the second acquisition unit 112 in the signal acquisition device 110 include any one of the imaging devices such as visible light imaging devices, laser imaging devices, acoustic imaging devices, and photoacoustic microscopy imaging systems. The first acquisition unit 111 and the second acquisition unit 112 can be the same or different imaging devices among the aforementioned imaging devices. Optical imaging devices include X-ray machines, infrared thermal imagers, lidar scanners, confocal laser imaging systems, laser speckle blood flow imagers, etc., while acoustic imaging devices include ultrasonic scanners, etc.

[0042] The medical image acquisition support system also includes a processor, which is communicatively connected to the movable base and the robotic arm, and is configured to: respond to a first control command, control the movable base and the robotic arm to move sequentially to move the signal acquisition device to a first spatial orientation; respond to a second control command, control the first acquisition unit to acquire a first type of signal in the first spatial orientation to obtain a reference image; and, based on the reference image, control at least one of the movable base and the robotic arm to move to move the signal acquisition device from the first spatial orientation to a second spatial orientation, and control the second acquisition unit to acquire a second type of signal in the second spatial orientation to obtain a medical image.

[0043] In this embodiment, the first control command includes first identification information and second identification information. The first identification information includes any one of first path planning information, first spatial sequence number information, first spatial coordinate information, and object information, used to control the mobile base to move from its current position to the target spatial position; at this time, the mobile base drives the robotic arm and signal acquisition device to move together to the target spatial position. The second identification information includes any one of second path planning information, second spatial sequence number information, second spatial coordinate information, and part information of the object being photographed; at this time, the mobile base remains in a fixed position, and only the robotic arm drives the signal acquisition device to move.

[0044] In one embodiment, the robotic arm includes multiple support arms and joints, with each pair of support arms connected by a joint, the support arms and the signal acquisition device connected by a joint, or the support arms and the movable base connected by a joint, and the movement of the robotic arm including the movement of the joints.

[0045] In another embodiment, the mobile base is a telescopic base, and the robotic arm is a telescopic robotic arm. The robotic arm does not include joints, and the movement of the robotic arm includes the telescopic movement of the telescopic robotic arm. At the same time, the telescopic base can be further controlled to telescopically move accordingly.

[0046] In addition, the first control command controls the movement of the mobile base and the robotic arm in sequence. During the movement of the mobile base, the robotic arm remains in a fixed position so that the robotic arm will not collide with the movement path. During the movement of the robotic arm, the mobile base remains in a fixed position so that the mobile base will not affect the accuracy of the signal acquisition device moving to the first spatial orientation.

[0047] In this embodiment, when the signal acquisition device moves to the first spatial orientation, the acquisition range of the first acquisition unit includes the entire object being photographed or a part of the object being photographed. By acquiring reference images, the various parts of the object being photographed can be further accurately identified, and the target shooting part pointed to by the first control command (second identification information) can be identified from the various parts of the object being photographed. This helps to determine and correct that the acquisition range of the second acquisition unit includes the target shooting part.

[0048] Specifically, the subjects of the photographs include the patient, and the patient's body parts include the hands, feet, chest, abdomen, neck, head, etc., or further include more specific parts of the hands, feet, chest, abdomen, neck, head, etc., without limitation here. Reference images include multiple consecutive parts of the aforementioned patient, such as the entire body of the patient, or multiple parts of the head, neck, chest, abdomen, and hands of the upper body, or multiple parts of the chest, abdomen, and hands of the lower body.

[0049] Furthermore, the subjects being photographed include patients; the path planning information includes the planned path from the current location of the medical image acquisition support system to the patient's ward, or the number of the planned path; the first spatial sequence information includes the ward number and code number of the patient's ward; the spatial coordinate information includes the two-dimensional plane coordinates (x, y) or three-dimensional spatial coordinates (x, y, z) of the coordinate system within the movement range of the medical image acquisition support system, where the z coordinate can represent the floor; and the subject information includes the patient's unique identification information.

[0050] In this embodiment, the signal acquisition ranges of the two units relative to the target object have any of the following relationships: no overlapping signal acquisition ranges, the signal acquisition range of the first acquisition unit includes the entire signal acquisition range of the second acquisition unit, or both include partially overlapping signal acquisition ranges. The target shooting location is determined within the signal acquisition range of the first acquisition unit using a reference image. Based on the signal acquisition range area and the relationship between the signal acquisition ranges of the first and second acquisition units, this is transformed into a positional relationship between the target shooting location and the signal acquisition range of the second acquisition unit. Based on this, the second spatial orientation that the signal acquisition device needs to move when the target shooting location is within the signal acquisition range of the second acquisition unit is determined.

[0051] Specifically, the target shooting part being within the signal acquisition range of the second shooting unit includes: the target shooting part being within the middle shooting area of ​​the signal acquisition range of the second shooting unit, and the target shooting part occupying a proportion of the signal acquisition range of the second shooting unit that is greater than a preset range; for example, the preset range proportion includes 50%, 60%, 70%, 80%, 90%, etc.

[0052] In one implementation, the first acquisition unit has a larger signal acquisition range, and the second acquisition unit has a smaller signal acquisition range, with a preset signal acquisition range ratio between them. For example, the preset signal acquisition range ratio of the first and second acquisition units includes ratios such as 2:1, 3:1, 4:1, 5:1, and 10:1. When the signal acquisition range of the first acquisition unit includes the entire signal acquisition range of the second acquisition unit, the latter's signal acquisition range is located in the middle region of the former's signal acquisition range.

[0053] Both the first and second spatial orientations include spatial position and direction, which can be represented by position parameters and attitude parameters. Position parameters include three-dimensional coordinates in the Cartesian coordinate system (x, y, z), and attitude parameters include Euler angles (Rx, Ry, Rz).

[0054] In addition, a signal acquisition device is located at the end of the robotic arm. The robotic arm moves to change the end-effector's pose, thereby moving the signal acquisition device from a first spatial orientation to a second spatial orientation. Specifically, the positional relationship between the target imaging area and the signal acquisition range of the second acquisition device is determined in the first spatial orientation. Based on this positional relationship, a predetermined imaging position of the second acquisition unit is determined. Based on the predetermined imaging position, the motion parameters of the robotic arm are calculated using an inverse kinematics algorithm. The robotic arm's movement is controlled based on these motion parameters, causing the signal acquisition device to move to the second spatial orientation. At this point, the second acquisition unit actually reaches the aforementioned predetermined imaging position.

[0055] The second acquisition unit is controlled to acquire a second type of signal in the second spatial orientation to obtain medical images.

[0056] In this embodiment, the movement of the mobile base and the robotic arm is controlled according to the first control command, so that the signal acquisition range of the first acquisition unit includes at least part of the object to be photographed; the second acquisition unit is controlled according to the second control command to acquire a reference image, and the target shooting part of the object to be photographed is located according to the reference image; the position of the signal acquisition device is adjusted according to the located target shooting part, so that the signal acquisition range of the second acquisition unit includes the target shooting part; at this time, the medical image of the target shooting part can be accurately acquired through the second acquisition unit.

[0057] In one specific embodiment, when executing the step of controlling the movable base and the robotic arm to move sequentially in response to the first control command to move the signal acquisition device to the first spatial orientation, the processor is further configured to: control the movable base to move to the target position in a preset first coordinate system in response to the first control command, and trigger a third control command; control the robotic arm to move to the target pose in a preset second coordinate system in response to the third control command; and move the signal acquisition device to the first spatial orientation when the movable base moves to the target position and the robotic arm moves to the target pose.

[0058] In this embodiment, the preset first coordinate system includes the ODOM coordinate system (Odometry Coordinate System), map coordinate system, world coordinate system, etc. The coordinate information of the fixed position of each shooting object is set in the preset first coordinate system; the first control command includes at least the coordinate information or other identification information associated with the coordinate information, the planned path for the mobile robot to move from the current position to the position of the coordinate information, or other identification information associated with the planned path.

[0059] For different subjects, medical images of the same or different parts of the body need to be captured; the first control command also carries the identification information of the imaging part, and the third control command is generated based on the identification information and output to the robotic arm for motion control.

[0060] Specifically, the subjects of the filming include patients, whose fixed positions are the operating beds in each ward; furthermore, it can be one of the filming positions relative to the operating bed, which is set according to the standard that one or more parts of the patient can be filmed, such as the left side, right side, head of the bed, middle of the bed, foot of the bed, etc.

[0061] This provides an application scenario where a mobile base moves to a target position within a preset first coordinate system, such as... Figure 2As shown, a first space 210, a second space 220, and a third space 230 are set in a preset first coordinate system. The third space includes multiple subspaces such as a first subspace 231, a second subspace 232, and a third subspace 233, each containing only one imaging object. Each subspace of the first space 210 and the third space 230 is connected through the second space 220. The first space 210 is the standby placement space for the medical image acquisition support system, the second space 220 is the movement path space for the medical image acquisition support system, and the third space 230 is the working space of the medical image acquisition support system, i.e., the space where the imaging object is located. Based on a first control command, the medical image acquisition support system can move between the first space 210 and each subspace via the second space 220, and can also move between each subspace.

[0062] In this embodiment, the medical image acquisition support system is in the first space 210 when it is in standby or charging state. When the processor receives the first control command, it distributes the first control command to one of the medical image acquisition support systems according to a preset rule. The first control command includes the coordinate information of the target subspace (such as the first subspace 231) in the third space 230, or it includes the planned path from the first space 210 to the first subspace 231 in the second space 220. After receiving the first control command, the medical image acquisition support system moves from the second space 220 to the first subspace 231 according to the coordinate information or the planned path, and reaches the target position in the first subspace 231.

[0063] The target location in each subspace is set at the same or different relative positions within the subspace, or at different relative positions within the subspace based on the shooting location. The planned path includes the starting position, the route position, and the destination position. The starting position and the destination position are the first space 210, the route position is any subspace, and the destination position is the route position.

[0064] In one embodiment, the first control instruction is a sequence of multiple instructions arranged in order. The planned path is set in the second space 220 according to multiple path subspaces. The planned path sequence includes a starting position, multiple sequentially arranged path positions and an arrival position. The multiple sequentially arranged path positions correspond to the subspaces corresponding to the multiple sequentially arranged instructions.

[0065] When the first control command is a sequence of multiple commands, after the medical image acquisition support system reaches each target position (such as the subspace in the previous example), and completes the medical image acquisition task at the target position, the moving base continues to move to the next target position.

[0066] For example, such as Figure 3 As shown, if the first control command includes a single command pointing to the first target subspace 310, the planned path includes at least a first path 331 from the first space 320 to the first target subspace 310, and a second path 332 from the first target subspace 310 to the first space 320. If the first control command is a sequence of two commands pointing to the second target subspace 341 and the third target subspace 342, the planned path includes a third path 351 from the first space 320 to the second target subspace 341, a fourth path 352 from the second target subspace 341 to the third target subspace 342, and a fifth path 353 from the third target subspace 342 to the first space 320. In this embodiment, the recipients of the first control command sent to this processor include user terminals, timing systems, and other processors equipped with neural network models. The user inputs any identification information, arrangement information, and shooting information of the subject and shooting location on the user terminal. Based on the input, the system generates the first control command and sends it to this processor. The timing system pre-sets a timing task, which includes a timing period, identification information, arrangement information, and shooting information of any subject and shooting location. Upon reaching the timing period, the system generates the first control command based on the timing task and sends it to this processor. Other processors automatically identify key indicator information in the input text, voice, or image interface. This key indicator information includes the identification information, arrangement information, and shooting information of any subject and shooting location. Based on this key indicator information, they generate the first control command and send it to this processor. Furthermore, other processors can also generate timing tasks based on the key indicator information for subsequent execution.

[0067] In one specific embodiment, the application scenario is a hospital; see further details. Figure 2 The first space 210 serves as a charging and idle placement space for the medical image acquisition support system; the second space 220 is a hospital corridor; and the third space 230 is a patient room. In response to a work command, the medical image acquisition support system is controlled to move from its placement space through the corridor to the target patient room indicated by the work command and reach the target position relative to the operating table, where it continues to perform its imaging task. The third space 230 is preferably an ICU patient room.

[0068] In this embodiment, the third control command includes the identification information of the shooting location. Different poses are preset for different shooting locations. The target pose is determined according to the identification information of the shooting location in the third control command, and the robotic arm is controlled to move to the target pose.

[0069] Finally, when the mobile base moves to the target position and the robotic arm moves to the target pose, driving the signal acquisition device to move to the first spatial orientation, the first acquisition unit has a corresponding signal acquisition range and a corresponding shooting angle for the object being photographed. For example, the signal acquisition range includes the entire object being photographed, a first sequential area, a second sequential area, and a third sequential area divided at a 1 / 3 ratio along the object being photographed from one end to the other, or a first sequential area and a second sequential area divided at a 1 / 2 ratio; the shooting angle includes a preset angle relative to the preset positive plane of the object being photographed, such as 90°, 80°, 60°, 45°, 30°, 0°, etc.; the signal acquisition range and shooting angle can be set according to the shooting requirements, and will not be listed one by one here. It should be noted that the signal acquisition range should at least include the part being photographed.

[0070] In one specific embodiment, the movable base is provided with a first alignment device, and at least one second alignment device is provided at a preset position in the preset first coordinate system; when executing the step of controlling the movable base to move to the target position in the preset first coordinate system in response to a first control command, the processor is configured to: control the movable base to move in the preset first coordinate system in response to a first control command, so as to drive the first alignment device to move; determine the relative positional relationship between the first alignment device and the second alignment device, and determine the movement of the movable base to the target position based on the relative positional relationship.

[0071] In this embodiment, by setting a first alignment device and a second alignment device to assist in determining whether the moving base has reached the target position, the moving base can be more accurately controlled to reach the target position. The relative positional relationship between the first alignment device and the second alignment device is determined by one of the following methods: whether the two are physically connected or whether their positions overlap; wherein, whether the positions overlap includes: during the movement of the moving base, the signal acquisition range of the first acquisition unit includes the first alignment device, and an image including the first alignment device is acquired; the position of the second alignment device is monitored based on the acquired image; if the first alignment device does not overlap with the second alignment device in the acquired image, or does not include the second alignment device, it is determined that the moving base has not moved to the target position; if the first alignment device and the second alignment device overlap in the acquired image, it is determined that the moving base has moved to the target position.

[0072] For example, when determining the relative positional relationship between the first and second alignment devices by whether they are physically connected, such as... Figure 4As shown, an embodiment of a medical image acquisition support system 400 is provided. The target location space includes an operating table 410, on which an imaging subject 420, such as a patient, is mounted. A first alignment device 430 is mounted on a movable base, and a second alignment device 440 is mounted on the operating table 410. One of the first alignment device 430 and the second alignment device 440 is equipped with a sensor. Figure 4 (Not shown in the image) is used to detect whether the first alignment device 430 and the second alignment device 440 are physically connected. The sensors include pressure sensors, position sensors, magnetic sensors, photoelectric sensors, vision sensors, distance sensors, etc.

[0073] It should be noted that the first alignment device can be mounted on the mobile base or the robotic arm, and the second alignment device can also be mounted on the robotic arm. Figure 4 As shown, it can be set on the bed leg, or it can be set anywhere on the operating table. Figure 4 This is just one example setup and does not limit the specific location of the second alignment device.

[0074] In one embodiment, the first alignment device 430 and the second alignment device 440 can be magnetically connected, using the attraction of a permanent magnet (such as a neodymium magnet) or the switching on and off of an electromagnet to attract and disconnect. Physical connection occurs when they are close together or energized, and physical connection does not occur when they are pulled apart by external force or de-energized (electromagnetic).

[0075] In one embodiment, the first alignment device 430 and the second alignment device 440 can be a pawl and a ratchet, respectively. The inclined teeth of the ratchet allow unidirectional rotation. The pawl, held in place by a spring, is engaged between the inclined teeth to prevent reverse rotation. The unidirectional rotation of the ratchet automatically locks the pawl, meaning that a physical connection is established between the two. Lifting the pawl disengages it from the ratchet, meaning that no physical connection is established between the two.

[0076] In one embodiment, the first alignment device 430 and the second alignment device 440 can be an electromagnet and an armature, respectively. When energized, the electromagnet generates a strong attraction force to hold the armature, that is, a physical connection is formed between the two. When de-energized, the magnetic force of the electromagnet disappears, and it is separated from the armature by a spring or external force, that is, no physical connection is formed between the two.

[0077] For example, when determining the relative positional relationship between the first and second alignment devices by whether their positions overlap, such as... Figure 5As shown, another embodiment of a medical image acquisition support system 500 is provided. A first alignment device 510 is disposed on a movable base 520, and a second alignment device 530 is disposed on the ground at a preset distance from the subject (operating table). Specifically, it includes a textured surface made of materials such as PVC (polyvinyl chloride), polyester, and ethylene. The overlap between the first and second alignment devices is determined based on the image acquired by the first acquisition unit 540. For example, as shown in the acquired image 550, the image includes a rectangular pattern 560 corresponding to the first alignment device 510 and an enclosing pattern 570 corresponding to the second alignment device 530. When the rectangular pattern 560 is within the enclosing pattern 570, it is determined that the first and second alignment devices overlap.

[0078] In addition, the first alignment device 510, the movable base 520, the ground and the second alignment device 530 can be set with different patterns or colors, so that the rectangular pattern 560 acquired by the first acquisition unit 540 can be specifically identified and easily distinguished from the base pattern 580, the enclosing pattern 570 and the ground pattern corresponding to the acquired movable base, so as to facilitate the detection of whether the rectangular pattern 560 is within the enclosing pattern 570 in the acquired image.

[0079] In one specific embodiment, a plurality of second alignment devices are provided at a preset position in the preset first coordinate system, and the first alignment device and any one of the second alignment devices can be physically disconnected; the plurality of second alignment devices includes one of the target second alignment devices corresponding to the first control command; when performing the step of determining that the moving base moves to the target position according to the relative position relationship, the processor is further configured to: determine that the moving base moves to the target position when a physical connection occurs between the first alignment device and the target second alignment device.

[0080] In this embodiment, the relative positional relationship between the first alignment device and the second alignment device is determined by whether they are physically connected. The two are set to be detachable from the physical connection. The relative positional relationship includes physical connection and no physical connection. The first control command includes the identification information of the shooting part, which is used to determine the movement of the mobile base to select one of the second alignment devices to determine the target position, so that the signal acquisition range of the first acquisition unit can easily cover the shooting part.

[0081] Specifically, three second alignment devices are set up corresponding to the upper, middle, and lower parts of the subject being photographed. When the shooting part is in the upper part of the subject, the first second alignment device corresponding to the upper part is set as the target second alignment device. When the shooting part is in the middle part of the subject, the second second alignment device corresponding to the middle part is set as the target second alignment device. When the shooting part is in the lower part of the subject, the third second alignment device corresponding to the lower part is set as the target second alignment device.

[0082] For example, such as Figure 6 As shown, the operating table is equipped with a first second alignment device 610, a second second alignment device 620, and a third second alignment device 630. When the first alignment device is physically connected to the first second alignment device 610, it facilitates the first acquisition unit to acquire the upper part 640 of the subject. When the first alignment device is physically connected to the second second alignment device 620, it facilitates the first acquisition unit to acquire the middle part 650 of the subject. When the first alignment device is physically connected to the third second alignment device 630, it facilitates the first acquisition unit to acquire the lower part 660 of the subject.

[0083] In another specific embodiment, a slide rail is provided at a preset position in the preset first coordinate system, and a second alignment device is provided on the slide rail. The slide rail is slidably connected to the second alignment device, and the slide rail is provided with multiple fixed sliding positions. The first alignment device and the second alignment device can be physically disconnected. The second alignment device further includes a control module, which responds to the first control command to control the second alignment device to slide to one of the multiple fixed sliding positions to a target sliding position. When performing the step of determining that the movable base moves to the target position based on the relative position relationship, the processor is further configured to: determine that the movable base moves to the target position when a physical connection occurs between the first alignment device and the second alignment device at the target sliding position.

[0084] In this embodiment, three fixed sliding positions are set on the slide rail corresponding to the upper, middle, and lower parts of the object being photographed. When the shooting part is at the upper part of the object being photographed, the first fixed sliding position corresponding to the upper part is set as the target sliding position. When the shooting part is at the middle part of the object being photographed, the second fixed sliding position corresponding to the middle part is set as the target sliding position. When the shooting part is at the lower part of the object being photographed, the third fixed sliding position corresponding to the lower part is set as the target sliding position.

[0085] For example, such as Figure 7As shown, the operating table is provided with a first fixed sliding position 710, a second fixed sliding position 720, and a third fixed sliding position 730. The second alignment device can slide back and forth between the three fixed sliding positions. When the first alignment device is physically connected to the second alignment device at the first fixed sliding position 710, it facilitates the first acquisition unit to acquire the upper part 740 of the subject. When the first alignment device is physically connected to the second alignment device at the second fixed sliding position 720, it facilitates the first acquisition unit to acquire the middle part 750 of the subject. When the first alignment device is physically connected to the second alignment device at the third fixed sliding position 730, it facilitates the first acquisition unit to acquire the lower part 760 of the subject.

[0086] In one specific embodiment, a planned path is generated in the preset first coordinate system according to the first control command, and the mobile base moves at least according to the planned path; when performing the step of determining the relative positional relationship between the first alignment device and the second alignment device, the processor is further configured to: acquire real-time images through the first acquisition unit when the mobile base moves along the planned path, and monitor the position of the second alignment device according to the real-time images; if the position of the second alignment device is not detected, it is confirmed that the relative positional relationship between the first alignment device and the second alignment device is not connected; if the position of the second alignment device is detected, an alignment path is generated according to the detected position of the second alignment device to control the movement of the mobile base until the mobile base completes the movement according to the alignment path, and the relative positional relationship between the first alignment device and the second alignment device is confirmed to be connected.

[0087] In this embodiment, the relative positional relationship between the first alignment device and the second alignment device is determined by whether their positions overlap. This includes: acquiring a real-time image through the first acquisition unit, and determining the relative positional relationship between the first alignment device and the second alignment device based on whether their positions overlap in the real-time image, including unconnected relationship and connected relationship.

[0088] In this embodiment, the second alignment device includes a preset planar pattern or three-dimensional pattern structure, which can be set on the ground, wall, or operating table, etc.; one or more second alignment devices are set relative to the shooting part of the subject.

[0089] Specifically, the second alignment device includes multiple rectangular planar patterns with the same or different visual effects set on the ground; three rectangular planar patterns are set on the ground corresponding to the upper, middle, and lower parts of the subject being photographed; when the shooting part is at the upper part of the subject, the first rectangular planar pattern corresponding to the upper part is set as the target rectangular planar pattern; when the shooting part is at the middle part of the subject, the second rectangular planar pattern corresponding to the middle part is set as the target rectangular planar pattern; when the shooting part is at the lower part of the subject, the third rectangular planar pattern corresponding to the lower part is set as the target rectangular planar pattern.

[0090] For example, such as Figure 8 As shown, a first rectangular planar pattern 810, a second rectangular planar pattern 820, and a third rectangular planar pattern 830 are set on the ground next to the operating table. When it is necessary to determine whether the first alignment device overlaps with the first rectangular planar pattern 810, it is convenient for the first acquisition unit to acquire the upper part 840 of the subject. When it is necessary to determine whether the first alignment device overlaps with the second rectangular planar pattern 820, it is convenient for the first acquisition unit to acquire the middle part 850 of the subject. When it is necessary to determine whether the first alignment device overlaps with the third rectangular planar pattern 830, it is convenient for the first acquisition unit to acquire the lower part 860 of the subject.

[0091] In one specific embodiment, a first alignment image is acquired by a first acquisition unit. The planned path for controlling the movable base to move to the target position includes at least a starting position. When at the starting position, the signal acquisition range of the first acquisition unit includes all the second alignment devices. At this time, the acquired first alignment image includes all the second alignment devices. Based on the sorting characteristics or visual effects of the second alignment devices, the target second alignment device is identified. Based on the identified target second alignment device, the movable base is controlled to move towards the target second alignment device.

[0092] In one specific embodiment, the signal acquisition ranges of the first acquisition unit and the second acquisition unit include at least a partially overlapping area. A shooting object is arranged relative to the first spatial orientation, and the shooting object includes multiple shooting parts. The signal acquisition range of the first acquisition unit includes at least a portion of the shooting parts. When performing the step of controlling at least one of the movable base and the robotic arm to move according to the reference image, the processor is further configured to: determine the area in the reference image where the target shooting part corresponding to the first control command is located; determine the spatial transformation orientation between the located area and the overlapping area; and control at least one of the movable base and the robotic arm to move according to the spatial transformation orientation, so that the target shooting part is located in the overlapping area.

[0093] In this embodiment, at least one of the movable base and the robotic arm is moved according to the spatial change orientation control, and the target imaging part moves from the area where it is located to the overlapping area, so that the signal acquisition range of the second acquisition unit also includes the target imaging part, so that the second acquisition unit can acquire medical images of the target imaging part.

[0094] Determining the spatial transformation orientation between the location and the overlapping area includes the distance and direction from the center of the location to the center of the overlapping area. Based on the distance and the direction, at least one of the movable base and the robotic arm is controlled to move, so that the signal acquisition device moves accordingly by the distance and the direction.

[0095] For example, such as Figure 9 As shown, the signal acquisition range of the first acquisition unit 910 includes a first region 920, and the signal acquisition range of the second acquisition unit 930 includes a second region 940; the first region 920 includes the entire second region 940, that is, the overlapping area of ​​the first signal acquisition unit 910 and the second signal acquisition unit is the second region 940. The reference image acquired by the first acquisition unit 910 includes the first region 920, and the location 950 of the target shooting part corresponding to the second control command in the reference image (in the first region 920) is determined.

[0096] Based on the spatial change orientation movement of the signal acquisition device from the second region 940 to the region 950 where the target shooting location is located, the overlapping area of ​​the first signal acquisition unit 910 and the second signal acquisition unit 930 moves from the second region 940 to the third region 960, that is, the new signal acquisition range of the second signal acquisition unit after the spatial change orientation movement.

[0097] In one specific implementation, before executing the step of controlling the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image in response to the second control command, the processor is further configured to: control the first acquisition unit to acquire a verification part image among the plurality of shooting parts, and identify the identity information of the shooting object based on the verification part image; determine whether the identity information matches the identity identification information in the first control command; if they match, generate a trigger signal for the second control command.

[0098] The verification area image includes a verification area, which is a part of the body that can specifically identify the subject, such as the face. Facial recognition is performed on the verification area image to confirm the subject's identity information. Only after ensuring the accuracy of the subject's identity is confirmed will a second control command be triggered to execute the subsequent target area localization and medical image acquisition, reducing the risk of false imaging.

[0099] The medical image acquisition support system in the embodiments of the present invention has been described above. The control method of the medical image acquisition support system in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 10 One embodiment of the control method for the medical image acquisition support system in this invention includes:

[0100] 1010. In response to the first control command, control the movable base and the robotic arm to move sequentially, so as to move the signal acquisition device to the first spatial position;

[0101] In this embodiment, the medical image acquisition support system includes: a signal acquisition device, which includes a first acquisition unit and a second acquisition unit, wherein the first acquisition unit is used to acquire a first type of signal and the second acquisition unit is used to acquire a second type of signal; and a mobile robot, which includes a mobile base and a robotic arm, wherein the proximal end of the robotic arm is disposed on the mobile base and the signal acquisition device is disposed at the end of the robotic arm.

[0102] Specifically, when executing the step of controlling the movable base and the robotic arm to move sequentially in response to the first control command to move the signal acquisition device to the first spatial orientation, the processor is further configured to: control the movable base to move to the target position in a preset first coordinate system in response to the first control command, and trigger a third control command; control the robotic arm to move to the target pose in a preset second coordinate system in response to the third control command; and move the signal acquisition device to the first spatial orientation when the movable base moves to the target position and the robotic arm moves to the target pose.

[0103] Specifically, the movable base is provided with a first alignment device, and at least one second alignment device is provided at a preset position in the preset first coordinate system; when executing the step of controlling the movable base to move to the target position in the preset first coordinate system in response to the first control command, the processor is configured to: control the movable base to move in the preset first coordinate system in response to the first control command, so as to drive the first alignment device to move; determine the relative positional relationship between the first alignment device and the second alignment device, and determine the movement of the movable base to the target position based on the relative positional relationship.

[0104] Specifically, a plurality of second alignment devices are set at a preset position in the preset first coordinate system, and the first alignment device and any one of the second alignment devices can be physically disconnected; the plurality of second alignment devices includes one of the target second alignment devices corresponding to the first control command; when executing the step of determining the movement of the mobile base to the target position based on the relative position relationship, the processor is further configured to: determine the movement of the mobile base to the target position when a physical connection occurs between the first alignment device and the target second alignment device.

[0105] Specifically, a slide rail is provided at a preset position in the preset first coordinate system, and a second alignment device is provided on the slide rail. The slide rail is slidably connected to the second alignment device, and the slide rail is provided with multiple fixed sliding positions. The first alignment device and the second alignment device can be physically disconnected. The second alignment device also includes a control module, which responds to the first control command to control the second alignment device to slide to one of the multiple fixed sliding positions to a target sliding position. When performing the step of determining that the moving base moves to the target position based on the relative position relationship, the processor is further configured to: determine that the moving base moves to the target position when a physical connection occurs between the first alignment device and the second alignment device at the target sliding position.

[0106] Specifically, in the preset first coordinate system, a planned path is generated according to the first control command, and the mobile base moves at least according to the planned path; when performing the step of determining the relative positional relationship between the first alignment device and the second alignment device, the processor is further configured to: acquire real-time images through the first acquisition unit when the mobile base moves along the planned path, and monitor the position of the second alignment device according to the real-time images; if the position of the second alignment device is not detected, it is confirmed that the relative positional relationship between the first alignment device and the second alignment device is not connected; if the position of the second alignment device is detected, an alignment path is generated according to the detected position of the second alignment device to control the movement of the mobile base until the mobile base completes the movement according to the alignment path, and the relative positional relationship between the first alignment device and the second alignment device is confirmed to be connected.

[0107] 1020. In response to the second control command, control the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image;

[0108] Specifically, before executing the step of responding to the second control command and controlling the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image, the processor is further configured to: control the first acquisition unit to acquire a verification part image among the plurality of shooting parts, and identify the identity information of the shooting object based on the verification part image; determine whether the identity information matches the identity identification information in the first control command; if they match, generate a trigger signal for the second control command.

[0109] 1030. Based on the reference image, control at least one of the movable base and the robotic arm to move, so as to move the signal acquisition device from the first spatial orientation to the second spatial orientation, and control the second acquisition unit to acquire the second type of signal in the second spatial orientation to obtain medical images.

[0110] Specifically, the signal acquisition ranges of the first acquisition unit and the second acquisition unit include at least a partially overlapping area. A shooting object is positioned relative to the first spatial orientation, and the shooting object includes multiple shooting parts. The signal acquisition range of the first acquisition unit includes at least a portion of the shooting parts. When performing the step of controlling at least one of the movable base and the robotic arm to move according to the reference image, the processor is further configured to: determine the area in the reference image where the target shooting part corresponding to the first control command is located; determine the spatial transformation orientation between the located area and the overlapping area; and control at least one of the movable base and the robotic arm to move according to the spatial transformation orientation, so that the target shooting part is located in the overlapping area.

[0111] The control method of the medical image acquisition support system in the embodiments of the present invention has been described in detail above. The computer equipment in the embodiments of the present invention will be described in detail below from the perspective of hardware processing.

[0112] Figure 11This is a schematic diagram of the structure of a computer device 1100 provided in an embodiment of the present invention. The computer device 1100 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 1110 (e.g., one or more processors) and a memory 1120, and one or more storage media 1130 (e.g., one or more mass storage devices) for storing application programs 1133 or data 1132. The memory 1120 and storage media 1130 can be temporary or persistent storage. The program stored in the storage media 1130 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the computer device 1100. Furthermore, the processor 1110 may be configured to communicate with the storage media 1130 and execute the series of instruction operations in the storage media 1130 on the computer device 1100.

[0113] Computer device 1100 may also include one or more power supplies 1140, one or more wired or wireless network interfaces 1150, one or more input / output interfaces 1160, and / or one or more operating systems 1131, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 11 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0114] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medical image acquisition support system, characterized in that, The medical image acquisition support system includes: A signal acquisition device includes a first acquisition unit and a second acquisition unit. The first acquisition unit is used to acquire a first type of signal, and the second acquisition unit is used to acquire a second type of signal. The signal acquisition range of the first acquisition unit and the second acquisition unit includes at least a partially overlapping area. A shooting object is arranged relative to a first spatial orientation. The shooting object includes multiple shooting parts, and the signal acquisition range of the first acquisition unit includes at least a portion of the shooting parts. A mobile robot includes a mobile base and a robotic arm, with the proximal end of the robotic arm disposed on the mobile base and the signal acquisition device disposed at the end of the robotic arm; wherein the mobile base is provided with a first alignment device and at least one second alignment device is provided at a preset position in a preset first coordinate system. The processor is communicatively connected to both the mobile base and the robotic arm, and is configured to: In response to a first control command, the movable base and the robotic arm are controlled to move sequentially to move the signal acquisition device to a first spatial orientation. The process of controlling the movable base and the robotic arm to move sequentially to move the signal acquisition device to the first spatial orientation includes: in response to the first control command, controlling the movable base to move to a target position in a preset first coordinate system and triggering a third control command; in response to the third control command, controlling the robotic arm to move to a target pose in a preset second coordinate system; and when the movable base moves to the target position and the robotic arm moves to the target pose, moving the signal acquisition device to the first spatial orientation. The process of controlling the movable base to move to the target position in the preset first coordinate system in response to the first control command includes: in response to the first control command, controlling the movable base to move in the preset first coordinate system to move the first alignment device; determining the relative positional relationship between the first alignment device and the second alignment device; and determining the target position based on the relative positional relationship. In response to the second control command, the first acquisition unit is controlled to acquire a first type of signal in a first spatial orientation to obtain a reference image; Determine the location of the target imaging part corresponding to the first control command in the reference image; The spatial orientation between the location and the overlapping area is determined, and at least one of the moving base and the robotic arm is controlled to move according to the spatial orientation, so that the target imaging part is in the overlapping area, thereby driving the signal acquisition device to move from the first spatial orientation to the second spatial orientation, and controlling the second acquisition unit to acquire the second type of signal in the second spatial orientation to obtain medical images.

2. The medical image acquisition support system according to claim 1, characterized in that, Multiple second alignment devices are set at preset positions in the preset first coordinate system. The first alignment device and any one of the second alignment devices can be physically disconnected. Among the multiple second alignment devices, there is one target second alignment device corresponding to the first control command. When performing the step of determining that the movable base moves to the target position based on the relative positional relationship, the processor is further configured to: determine that the movable base moves to the target position when a physical connection occurs between the first alignment device and the target second alignment device.

3. The medical image acquisition support system according to claim 1, characterized in that, A slide rail is provided at a preset position in the preset first coordinate system, and a second alignment device is provided on the slide rail. The slide rail is slidably connected to the second alignment device, and the slide rail is provided with multiple fixed sliding positions. The first alignment device and the second alignment device can be physically disconnected. The second alignment device further includes a control module, which responds to the first control command to control the second alignment device to slide to one of the multiple fixed sliding positions to a target sliding position. When performing the step of determining that the moving base moves to the target position based on the relative position relationship, the processor is further configured to: determine that the moving base moves to the target position when a physical connection occurs between the first alignment device and the second alignment device at the target sliding position.

4. The medical image acquisition support system according to claim 1, characterized in that, In the preset first coordinate system, a planned path is generated according to the first control command, and the movable base moves at least according to the planned path; when performing the step of determining the relative positional relationship between the first alignment device and the second alignment device, the processor is further configured to: As the mobile base moves along the planned path, real-time images are acquired through the first acquisition unit, and the position of the second alignment device is monitored based on the real-time images. If the position of the second alignment device is not detected, it is confirmed that the relative positional relationship between the first alignment device and the second alignment device is not connected. If the position of the second alignment device is detected, an alignment path is generated based on the detected position of the second alignment device to control the movement of the movable base until the movable base completes the movement according to the alignment path, confirming that the relative positional relationship between the first alignment device and the second alignment device is a connection relationship.

5. The medical image acquisition support system according to claim 1, characterized in that, Before executing the step of controlling the first acquisition unit to acquire a first type of signal in a first spatial orientation to obtain a reference image in response to the second control command, the processor is further configured to: The first acquisition unit is controlled to acquire images of the verification area among the multiple shooting locations, and the identity information of the shooting object is identified based on the verification area images; Determine whether the identity information matches the identity identifier information in the first control command; If a match is found, a trigger signal for the second control command is generated.

6. A control method applied to a medical image acquisition stent system, characterized in that, The medical image acquisition support system includes: A signal acquisition device includes a first acquisition unit and a second acquisition unit. The first acquisition unit is used to acquire a first type of signal, and the second acquisition unit is used to acquire a second type of signal. The signal acquisition range of the first acquisition unit and the second acquisition unit includes at least a partially overlapping area. A shooting object is arranged relative to a first spatial orientation. The shooting object includes multiple shooting parts, and the signal acquisition range of the first acquisition unit includes at least a portion of the shooting parts. A mobile robot includes a mobile base and a robotic arm, with the proximal end of the robotic arm disposed on the mobile base and the signal acquisition device disposed at the end of the robotic arm; wherein the mobile base is provided with a first alignment device and at least one second alignment device is provided at a preset position in a preset first coordinate system. The control method includes: In response to a first control command, the movable base and the robotic arm are controlled to move sequentially to move the signal acquisition device to a first spatial orientation. The process of controlling the movable base and the robotic arm to move sequentially to move the signal acquisition device to the first spatial orientation includes: in response to the first control command, controlling the movable base to move to a target position in a preset first coordinate system and triggering a third control command; in response to the third control command, controlling the robotic arm to move to a target pose in a preset second coordinate system; and when the movable base moves to the target position and the robotic arm moves to the target pose, moving the signal acquisition device to the first spatial orientation. The process of controlling the movable base to move to the target position in the preset first coordinate system in response to the first control command includes: in response to the first control command, controlling the movable base to move in the preset first coordinate system to move the first alignment device; determining the relative positional relationship between the first alignment device and the second alignment device; and determining the target position based on the relative positional relationship. In response to the second control command, the first acquisition unit is controlled to acquire a first type of signal in a first spatial orientation to obtain a reference image; Determine the location of the target imaging part corresponding to the first control command in the reference image; The spatial orientation between the location and the overlapping area is determined, and at least one of the moving base and the robotic arm is controlled to move according to the spatial orientation, so that the target imaging part is in the overlapping area, thereby driving the signal acquisition device to move from the first spatial orientation to the second spatial orientation, and controlling the second acquisition unit to acquire the second type of signal in the second spatial orientation to obtain medical images.

7. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the various steps of the control method for a medical image acquisition stent system as described in claim 6.

Images