Method for controlling movement of C-shaped arm X-ray machine, C-shaped arm X-ray machine and medium

Abstract

The invention provides a method for controlling a C-shaped arm X-ray machine to move, the C-shaped arm X-ray machine and a medium. The method comprises the following steps: acquiring an image of a moving object acquired by a camera device; under the condition that a target feature matched with the preset visual feature is recognized in the image, determining that the moving object is a target object; obtaining motion data of a target object collected by a camera device and a sensor array; mapping the motion data into limited motion parameters according to a preset rule; and carrying the limited motion parameters in an instruction for controlling the movement of the chassis, and sending the instruction to a C-arm X-ray machine to drive the chassis to move. The C-shaped arm X-ray machine is moved in a non-contact movement control mode, the risk that a sterile environment is damaged is effectively reduced, and the equipment adjusting efficiency in the operation process is improved. By limiting the motion parameters and the degree of freedom in the moving direction of the C-arm X-ray machine, the precision and safety of equipment movement are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method for controlling the movement of a C-arm X-ray machine, the C-arm X-ray machine, and a medium. Background Technology

[0002] C-arm X-ray machines are commonly used intraoperative imaging devices and are widely applied in surgical scenarios such as orthopedics and interventional therapy. During surgery, surgeons typically need to frequently adjust the position of the C-arm based on real-time imaging results to meet the imaging needs of different surgical stages.

[0003] Because the operating room is a highly controlled sterile environment, the movement of equipment during surgery requires a high level of safety, convenience, and impact on the sterile environment.

[0004] In existing technologies, the main methods for moving C-arm X-ray machines include: manually pushing the machine by an operator using casters located at the bottom; or controlling the movement of the machine by using buttons, handles, or foot switches on the machine to operate an electric chassis. While these methods achieve some degree of movement for C-arm X-ray machines, they still primarily rely on contact-based operation.

[0005] Therefore, how to achieve safe, efficient, and precise movement of a C-arm X-ray machine while ensuring aseptic requirements has become an urgent technical problem to be solved. Summary of the Invention

[0006] To overcome the problems existing in the related technologies, this application provides a method for controlling the movement of a C-arm X-ray machine, a C-arm X-ray machine, and a medium.

[0007] According to a first aspect of the embodiments of this application, a method for controlling the movement of a C-arm X-ray machine is provided. The X-ray machine has a movable chassis, the movable direction of which includes linear forward and backward movement and linear movement along a preset angle. The X-ray machine is also equipped with an image receiver for receiving X-rays, and the image receiver is provided with a camera device for continuously acquiring images of a fixed area and a sensor array. The method includes: Acquire images of moving objects captured by the camera device; If a target feature matching a preset visual feature is identified in the image, the moving object is determined to be the target object; The motion data of the target object collected by the camera device and sensor array is acquired, wherein the motion data of the target object is used to generate instructions to control the movement of the chassis; The motion data is mapped into restricted motion parameters according to preset rules. The restricted motion parameters are used to limit the movement direction of the C-arm X-ray machine to the movable direction of the chassis, the movement distance to a preset distance, the movement speed to no more than a first threshold, and the movement acceleration to no more than a second threshold. The restricted motion parameters are carried in the command to control the movement of the chassis and sent to the C-arm X-ray machine to drive the chassis to move.

[0008] According to a second aspect of the embodiments of this application, a C-arm X-ray machine is provided, the C-arm X-ray machine comprising: a processor; a memory for storing machine-readable instructions; a chassis for moving the C-arm X-ray machine, the movable direction of the chassis including forward and backward linear movement and linear movement along a preset angle; an image receiver, the image receiver being provided with a camera device and a sensor array for continuously acquiring images of a fixed area; wherein, the processor executes the above-described method for controlling the movement of the C-arm X-ray machine by calling the machine-readable instructions.

[0009] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing the above-described method for controlling the movement of a C-arm X-ray machine.

[0010] The technical solutions provided by the embodiments of this application may include the following beneficial effects: By employing a non-contact motion control scheme, the movement of the C-arm X-ray machine can be controlled without physical contact with the equipment, effectively reducing the risk of compromised sterile environments. This reduces the surgeon's reliance on assistant operators and improves the efficiency of equipment adjustments during surgery. By limiting the motion parameters and degrees of freedom of the C-arm X-ray machine's movement direction, a low-degree-of-freedom, low-speed, and short-stroke control method is used, improving the precision and safety of equipment movement during surgery. Attached Figure Description

[0011] Figure 1 This is an exemplary embodiment of the present application illustrating an application scenario of a method for controlling the movement of a C-arm X-ray machine; Figure 2 This is a schematic flowchart illustrating a method for controlling the movement of a C-arm X-ray machine according to an exemplary embodiment of this application; Figure 3 This is a schematic diagram of a data acquisition scenario illustrating a method for controlling the movement of a C-arm X-ray machine, as shown in an exemplary embodiment of this application. Figure 4 This is a schematic diagram of the movement direction of a method for controlling the movement of a C-arm X-ray machine, as illustrated in an exemplary embodiment of this application. Figure 5This is a structural block diagram of a C-arm X-ray machine illustrated in an exemplary embodiment of this application. Detailed Implementation

[0012] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0013] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0014] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0015] When moving a C-arm X-ray machine during surgery, operators typically use conventional contact control methods, such as directly touching the control panel, handles, or foot switches. These contact control methods can easily disrupt the sterile environment and increase the risk of infection. Furthermore, adjusting the equipment's position requires frequent movement or changes in operating methods, which can affect the continuity of the surgical procedure.

[0016] To avoid the drawbacks of operators using contact control methods, the equipment can be moved by auxiliary personnel on the non-sterile side according to the operator's instructions. However, this method relies on the cooperation between the operator and the auxiliary personnel, and the accuracy of equipment movement and the efficiency of operation are relatively poor.

[0017] To address the aforementioned technical problems, this application provides a method for controlling the movement of a C-arm X-ray machine, the C-arm X-ray machine itself, and a media. Through a non-contact movement control scheme, the movement of the C-arm X-ray machine can be controlled without physical contact with the equipment, effectively reducing the risk of compromised sterile environment. This reduces the doctor's reliance on assistant operators and improves the efficiency of equipment adjustments during surgery. By restricting the motion parameters and degrees of freedom of the C-arm X-ray machine's movement direction, a low-degree-of-freedom, low-speed, and short-stroke control method is used, improving the accuracy and safety of equipment movement during surgery.

[0018] Figure 1 This is an exemplary embodiment of the present application illustrating an application scenario of a method for controlling the movement of a C-arm X-ray machine, such as... Figure 1 As shown, the camera device 120 and sensor array 130 can be positioned on the C-arm near the image receiver 110, which receives X-rays passing through the human body. The camera device 120 and sensor array 130 continuously acquire images and motion data of moving objects within a fixed area in front of them. Non-contact control of the device's movement is achieved by monitoring the movement of a specific object (such as a human hand) within this fixed area. The height and size of the acquired fixed area can be customized to suit the operator's personal habits and surgical needs.

[0019] like Figure 1 As shown, the C-arm X-ray machine is equipped with a chassis 140 for moving the machine. The chassis 140 can move in the following directions: forward or backward linear movement, or linear movement along a preset angle. The chassis 140 can be controlled by conventional contact control (e.g., via buttons, handles, or foot switches on the equipment) and non-contact control.

[0020] In some embodiments, after the C-arm X-ray machine is turned on, non-contact control is activated by default, i.e., the camera device and sensor array are activated. The activation method of non-contact control may also include: stepping on the foot pedal device located on the C-arm X-ray machine for more than one second. Non-contact control can be actively or passively turned off. Active turning off methods may include: crossing both hands and holding them for more than one second within a fixed area captured by the camera device and sensor array; or triggering the foot pedal device located on the C-arm X-ray machine twice consecutively. The threshold for determining the interval between consecutive triggers can be set by the user, and this application does not impose any limitations on this. Passive turning off methods include: detecting a collision with the C-arm X-ray machine.

[0021] During the movement of a C-arm X-ray machine, despite limitations on its range and speed, collisions with other equipment or the patient's body can still occur, for example, when other equipment or the operating table is positioned close to the C-arm X-ray machine due to surgical needs. To ensure surgical safety and prevent patient injury or damage to medical equipment, this application involves installing a collision detection device on the C-arm X-ray machine. Upon detecting a collision, the device stops the C-arm X-ray machine and disables non-contact control. After disabling non-contact control, the operator can move the machine using conventional contact control methods, or manually re-enable non-contact control after confirming it is safe to do so.

[0022] In some possible implementations, the collision detection device may include multiple sensors positioned at different locations on the C-arm X-ray machine. Considering that the ionizing radiation from X-rays can affect the accuracy and lifespan of infrared and laser sensors, sensor types unaffected by X-rays, such as millimeter-wave radar or contact sensors, can be considered. Taking pressure sensors as an example, these sensors are triggered by detecting pressure changes during collision contact, and the trigger force is adjustable. Pressure sensors can be placed at multiple locations on the C-arm X-ray machine as needed. To prevent the C-arm from colliding with the patient's body during movement and rotation, causing injury, the trigger force threshold for sensors located near the patient and the C-arm can be set to a lower value. Conversely, for locations such as under the operating table or on the chassis, where movement may involve contact with medical personnel without requiring equipment cessation, a lower trigger force threshold is not necessary to avoid false triggering and frequent interruptions to equipment movement. The specific sensor selection and trigger force settings can be configured according to the actual usage scenario and are not limited here.

[0023] In some embodiments, the C-arm X-ray machine's display is equipped with status indicator lights. The color of the status indicator lights indicates whether the non-contact control is on or off, allowing operators to intuitively understand the current control mode of the equipment and reducing the risk of misoperation. In some possible implementations, the status indicator light is blue to indicate that the non-contact control is on; the status indicator light is orange to indicate that the non-contact control is off.

[0024] Figure 2 This is a schematic flowchart illustrating a method for controlling the movement of a C-arm X-ray machine according to an exemplary embodiment of this application, as shown below. Figure 2 As shown, it includes the following steps: Step S201: Acquire an image of the moving object captured by the camera device.

[0025] The camera device and sensor array continuously collect data on the fixed area. When a moving object is detected entering the fixed area, an image of the moving object is acquired to determine whether it is the target object for non-contact control.

[0026] Step S202: If a target feature matching the preset visual features is identified in the image, the moving object is determined to be the target object.

[0027] In this embodiment, the target object includes: a human hand, an object of a specific color, or an object of a specific shape. Correspondingly, the target features matching the preset visual features include: the shape of the human hand, the object held by the human hand having a preset color, or the object held by the human hand having a preset shape. The target object can also be other objects with obvious features and easy identification. Considering the characteristics of easy identification and easy acquisition, a human hand or a colored card can be used as the target object.

[0028] In this application, a camera device and sensor array are used to continuously collect data on a fixed area. Based on a visual model, it is used to identify whether a moving object appearing within the fixed area is a target object. Through a pre-trained visual model, it is determined whether the moving object has target features. If it does, the moving object is identified as a target object, and subsequent motion data processing steps are performed.

[0029] In some possible embodiments, the visual model is trained using a target object for performing non-contact control, such as a human hand, a card of a specific color, or a card of a specific shape or symbol, so that the visual model can recognize the visual features of the target object.

[0030] Step S203: Acquire motion data of the target object collected by the camera device and sensor array, wherein the motion data of the target object is used to generate instructions to control the movement of the chassis.

[0031] In this embodiment of the application, the motion data includes at least one of the following: motion displacement, polar angle of the motion end position relative to the motion start position, and motion time.

[0032] In some embodiments, the collected data needs to be processed by a filtering algorithm to reduce interference from non-target objects and environmental noise in the fixed area of ​​the data collection, thereby improving the accuracy of the collected data.

[0033] In some embodiments, Figure 3 This is a schematic diagram of a data acquisition scenario illustrating a method for controlling the movement of a C-arm X-ray machine, as shown in an exemplary embodiment of this application. Figure 3As shown, a two-dimensional coordinate system is established with the starting position of the target object's motion as the origin. Motion data of the target object is collected throughout the entire motion process, and the trajectory of the target object and the corresponding coordinates at each moment are recorded. The polar angle in the motion data is the angle between the coordinates of the target object's ending position and the origin (i.e., the starting position of the target object's motion) and the positive direction of the X-axis.

[0034] Step S204: Map the motion data into restricted motion parameters according to preset rules. The restricted motion parameters are used to limit the movement direction of the C-arm X-ray machine to the movable direction of the chassis, the movement distance to a preset distance, the movement speed to no more than a first threshold, and the movement acceleration to no more than a second threshold.

[0035] In this embodiment of the application, motion data is mapped to restricted motion parameters according to preset rules, including: determining the movement distance parameter and movement speed parameter corresponding to the numerical range to which the motion displacement belongs based on a predetermined range of multiple numerical segments, each predetermined range of numerical segments corresponds to a set of preset movement distance parameters and movement speed parameters, and the movement speed parameter is not greater than a first threshold.

[0036] In some embodiments, preset movement distance and movement speed parameters are determined based on the numerical range to which the movement displacement belongs. For safety reasons, a safety upper limit is set for the movement speed parameter; even when the movement displacement value is large, the mapped movement speed parameter will not exceed a first threshold (i.e., the safety upper limit). By mapping the movement data within the range to preset movement parameters, the computational overhead is reduced and the efficiency of the movement operation is improved while achieving the movement objective. The division of the predetermined multi-segment numerical ranges and the parameter values ​​corresponding to each segment can be set according to the size of the operating room, the type of surgery, the operating habits of the operators, etc., and there are no restrictions on this.

[0037] The following is a mapping scheme that maps motion displacement to distance and speed parameters: The range of motion is divided into four predetermined numerical ranges, corresponding to invalid movement, small movement, medium movement, and large movement, respectively.

[0038] Invalid movement corresponds to a displacement of less than 5cm, where both the movement distance and speed parameters are 0. In other words, movement of a target object with a displacement of less than 5cm is considered invalid movement and will not trigger chassis movement.

[0039] The numerical range corresponding to a small movement is a displacement greater than 6cm and less than 10cm. The corresponding movement distance parameter is 5cm and the movement speed parameter is 0.1m / s. That is, the movement of the target object with a displacement greater than 6cm and less than 10cm is mapped to the chassis moving 5cm at a speed of 0.1m / s.

[0040] The numerical range corresponding to medium-amplitude movement is a displacement greater than 11cm and less than 15cm. Its corresponding movement distance parameter is 10cm and movement speed parameter is 0.2m / s. That is, the movement of the target object with a displacement greater than 11cm and less than 15cm is mapped to the chassis moving 10cm at a speed of 0.2m / s.

[0041] The range of values ​​corresponding to a large movement is a displacement greater than 16cm and less than 20cm. The corresponding movement distance parameter is 15cm, and the movement speed parameter is 0.3m / s. In other words, a movement of the target object with a displacement greater than 15cm and less than 20cm is mapped to the chassis moving 15cm at a speed of 0.3m / s. In the above scheme, 0.3m / s is the first threshold. Regardless of the displacement value, the mapped movement speed parameter will not exceed 0.3m / s. By setting the first threshold, a safe upper limit is set for the movement speed of the C-arm X-ray machine, improving the safety of moving equipment in the surgical environment.

[0042] In this embodiment of the application, mapping motion data into restricted motion parameters according to preset rules further includes: determining the motion acceleration parameter corresponding to the numerical range to which the motion time belongs based on a predetermined range of multiple numerical segments, wherein each predetermined numerical range corresponds to a preset motion acceleration parameter, and the motion acceleration parameter is not greater than a second threshold.

[0043] In some embodiments, the shorter the motion time of the target object, the larger the corresponding mapped motion acceleration parameter, but the motion acceleration parameter will not exceed the safety upper limit (i.e., the second threshold).

[0044] The following is a mapping scheme that maps motion time to motion acceleration parameters: The acceleration parameter can be defined as the time required for the chassis to move from a standstill to the speed required for the acceleration parameter, i.e., the acceleration time.

[0045] When the motion time is greater than 0 and less than or equal to 0.5s, the motion acceleration parameter (i.e., the start-up acceleration time) is 0.4s.

[0046] When the motion time is greater than 0.5s and less than or equal to 1.5s, the moving acceleration parameter is 0.8s.

[0047] When the motion time is greater than 1.5s, the moving acceleration parameter is 1.5s.

[0048] The time it takes for the chassis to come to a standstill from its initial speed (corresponding to the acceleration during deceleration) can be set to a fixed value, such as 0.8 seconds.

[0049] In this embodiment of the application, mapping motion data into restricted motion parameters according to preset rules further includes: determining the movement direction parameter corresponding to the numerical range to which the polar angle belongs based on a predetermined range of multiple numerical segments, wherein each predetermined range of numerical segments corresponds to a preset movement direction parameter, and the movement direction parameter corresponds to the movable direction of the chassis.

[0050] In some embodiments, the chassis of the C-arm X-ray machine can move in two directions: forward / backward / left / right linear movement and left-front / left-rear / right-front / right-rear 45-degree linear movement. These different movement directions are achieved through steering wheels mounted on the chassis, which can rotate to meet the movement requirements in different directions. Considering that during surgery, the movement adjustments to the C-arm X-ray machine are generally small-amplitude movements at the centimeter level, an eight-directional low-degree-of-freedom movement method is used to control the chassis. This satisfies the equipment's movement requirements while avoiding the problems of inaccurate movement direction recognition and mapping caused by excessive degrees of freedom, thus avoiding potential safety hazards caused by inconsistencies between the equipment and the expected movement direction.

[0051] The following is a mapping scheme for converting polar angles into movement direction parameters: Figure 4 This is a schematic diagram illustrating the movement direction of a method for controlling the movement of a C-arm X-ray machine, as shown in an exemplary embodiment of this application. Figure 4 As shown, the polar angle is the angle between the line connecting the end position and the start position of the target object's movement and the positive direction of the X-axis. The polar angle is determined according to its numerical range to determine which of the eight movement directions it corresponds to.

[0052] When the polar angle is greater than or equal to -15 degrees and less than or equal to 15 degrees, the movement direction parameter is 0 degrees, corresponding to the positive X-axis direction (taking the negative Y-axis direction as the forward direction, i.e., corresponding to left lateral movement). When the polar angle is greater than or equal to 30 degrees and less than or equal to 60 degrees, the movement direction parameter is 45 degrees (i.e., a straight line movement of 45 degrees to the left and back). When the polar angle is greater than or equal to 75 degrees and less than or equal to 105 degrees, the movement direction parameter is 90 degrees, corresponding to the positive Y-axis direction (i.e., backward). When the polar angle is greater than or equal to 120 degrees and less than or equal to 150 degrees, the movement direction parameter is 135 degrees (i.e., a straight movement of 45 degrees to the right and rear). When the polar angle is greater than or equal to 165 degrees and less than or equal to 195 degrees, the movement direction parameter is 180 degrees, corresponding to the negative X-axis direction (i.e., rightward lateral movement). When the polar angle is greater than or equal to 210 degrees and less than or equal to 240 degrees, the movement direction parameter is 225 degrees (i.e., a straight movement of 45 degrees to the right front). When the polar angle is greater than or equal to 255 degrees and less than or equal to 285 degrees, the movement direction parameter is 270 degrees, corresponding to the negative Y-axis direction (i.e., forward movement). When the polar angle is greater than or equal to 300 degrees and less than or equal to 330 degrees, the movement direction parameter is 315 degrees (i.e., a straight movement of 45 degrees to the left and front).

[0053] In this embodiment, the movable direction of the chassis also includes in-situ rotation, and the in-situ rotation speed and in-situ rotation acceleration of the chassis are set to fixed values. The C-arm extends a large range relative to the chassis, that is, the radius from the end of the C-arm to the center of rotation is large. Therefore, the angular velocity of the C-arm rotation is much greater than the rotation speed of the chassis. For safety reasons, appropriate in-situ rotation speed and in-situ rotation acceleration of the chassis are selected and set to fixed values ​​that do not change with the motion data of the target object.

[0054] In some embodiments, the chassis's in-situ rotation function is achieved through steering wheels on the chassis. The two steering wheels are initially parallel, one steering wheel rotates clockwise and the other steering wheel rotates counterclockwise, and the two steering wheels maintain the same drive speed to achieve in-situ rotation.

[0055] In this embodiment of the application, mapping motion data to restricted motion parameters according to preset rules can also be done by defining several numerical ranges, determining the rotation amplitude parameter corresponding to the numerical range to which the rotation angle belongs based on the predetermined numerical ranges, and each predetermined numerical range corresponds to a preset rotation amplitude parameter.

[0056] The following is a mapping scheme that maps rotation angle to rotation amplitude parameters: The rotation angle is the angle between the starting position and the ending position of the target object's rotation, with clockwise as the positive direction, and the rotation angle range is from -180 degrees to 180 degrees.

[0057] When the absolute value of the rotation angle is less than or equal to 15 degrees, the rotation amplitude parameter is 0, and the chassis does not trigger the stationary rotation action. When the rotation angle is greater than 15 degrees and less than 30 degrees, the rotation amplitude parameter is 10 degrees clockwise. When the rotation angle is greater than 35 degrees and less than 55 degrees, the rotation amplitude parameter is 20 degrees clockwise. When the rotation angle is greater than 60 degrees and less than 75 degrees, the rotation amplitude parameter is 30 degrees clockwise. When the rotation angle is greater than -30 degrees and less than -15 degrees, the rotation amplitude parameter is 10 degrees counterclockwise. When the rotation angle is greater than -55 degrees and less than -35 degrees, the rotation amplitude parameter is 20 degrees counterclockwise. When the rotation angle is greater than -75 degrees and less than -60 degrees, the rotation amplitude parameter is 30 degrees counterclockwise.

[0058] Step S205: The restricted motion parameters are sent to the C-arm X-ray machine in the command to control the movement of the chassis, so as to drive the chassis to move.

[0059] In some embodiments, the command for controlling the movement of the chassis can be in the format of a conventional control (contact control) command, carrying the restricted motion parameters in the command and sending it to the corresponding device or module for controlling the movement of the chassis. For example, it can be the motion controller of a C-arm X-ray machine, which can be integrated into the C-arm X-ray machine or set up independently of the C-arm X-ray machine.

[0060] In some embodiments, a control command for moving the chassis is generated based on the restricted motion parameters obtained in step S204, and the command is sent to the C-arm X-ray machine to drive the chassis to perform the corresponding movement. The camera device and sensor array continue to collect data on the fixed area to monitor whether new target object movements occur. If target object movement is detected, the aforementioned steps S201 to S205 are continued until no more motion data is collected or non-contact control is exited (either actively exiting or exiting due to collision detection).

[0061] Figure 5 This is a structural block diagram of a C-arm X-ray machine illustrated in an exemplary embodiment of this application, as follows: Figure 5 As shown, the C-arm X-ray machine 500 includes: Processor 510; Memory 520 for storing machine-readable instructions; The chassis 530 is used to move the C-arm X-ray machine. The chassis can move in the following directions: forward and backward linear movement and linear movement along a preset angle. The image receiver 540 is equipped with a camera device 550 and a sensor array 560 for continuously acquiring data from a fixed area.

[0062] The processor, memory, chassis, camera device, and sensor array are connected via an internal bus. The processor 510 implements a method for controlling the movement of a C-arm X-ray machine as described in any of the above embodiments by calling machine-readable instructions.

[0063] In some embodiments, the camera device 550 and the sensor array 560 acquire images and motion data of moving objects appearing in a fixed area, and send the acquired images to the processor 510. The processor 510 identifies whether there are target features in the image that match preset visual features by calling the visual model in the memory 520.

[0064] If the processor 510 identifies a target feature in the image that matches a preset visual feature, it determines that the moving object is the target object and acquires the motion data of the object from the camera device 550 and the sensor array 560.

[0065] The processor 510 maps motion data into restricted motion parameters according to preset rules, and generates instructions for controlling the movement of the chassis based on the restricted motion parameters. Based on the instructions, the processor controls the chassis 530 to perform corresponding movement actions.

[0066] The specific implementation process of the functions and roles of each module in the above-mentioned C-arm X-ray machine can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0067] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0068] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention filed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0069] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0070] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the movement of a C-arm X-ray machine, the X-ray machine having a movable chassis, the movable direction of the chassis including forward and backward linear movement and linear movement along a preset angle, the X-ray machine also being equipped with an image receiver for receiving X-rays, characterized in that, The image receiver is equipped with a camera device and a sensor array for continuously acquiring images of a fixed area; the method includes: Acquire images of moving objects captured by the camera device; If a target feature matching a preset visual feature is identified in the image, the moving object is determined to be the target object; The motion data of the target object collected by the camera device and sensor array is acquired, wherein the motion data of the target object is used to generate instructions to control the movement of the chassis; The motion data is mapped into restricted motion parameters according to preset rules. The restricted motion parameters are used to limit the movement direction of the C-arm X-ray machine to the movable direction of the chassis, the movement distance to a preset distance, the movement speed to no more than a first threshold, and the movement acceleration to no more than a second threshold. The restricted motion parameters are carried in the command to control the movement of the chassis and sent to the C-arm X-ray machine to drive the chassis to move.

2. The method according to claim 1, characterized in that, The target object includes: a human hand, an object of a specific color, or an object of a specific shape.

3. The method according to claim 2, characterized in that, The target features that match the preset visual features include: the shape of a human hand, the object held by the human hand having a preset color, or the object held by the human hand having a preset shape.

4. The method according to claim 1, characterized in that, The C-arm X-ray machine is also equipped with a collision detection device, and the method further includes: If the collision detection device detects a collision, it controls the C-arm X-ray machine to stop moving and controls the camera device and sensor array to stop acquiring motion data of the target object.

5. The method according to claim 3, characterized in that, The motion data includes at least one of the following: motion displacement, polar angle between the end position of motion and the start position of motion, and motion time; The restricted motion parameters include at least one of the following: distance traveled, speed traveled, acceleration traveled, and direction of travel.

6. The method according to claim 5, characterized in that, Mapping the motion data into restricted motion parameters according to preset rules includes: Based on a predetermined range of values, the moving distance parameter and the moving speed parameter corresponding to the range of values ​​to which the moving displacement belongs are determined, wherein each predetermined range of values ​​corresponds to a set of preset moving distance parameters and moving speed parameters, and the moving speed parameter is not greater than a first threshold. Based on a predetermined range of values, the motion acceleration parameter corresponding to the range of values ​​to which the motion time belongs is determined, wherein each predetermined range of values ​​corresponds to a preset motion acceleration parameter, and the motion acceleration parameter is not greater than a second threshold. Based on a predetermined range of values, the movement direction parameter corresponding to the range of values ​​to which the polar angle belongs is determined. Each predetermined range of values ​​corresponds to a preset movement direction parameter, and the movement direction parameter corresponds to the movable direction of the chassis.

7. The method according to claim 6, characterized in that, The movable direction of the chassis also includes rotation in place, wherein the rotational speed and acceleration of the chassis in place are fixed values.

8. The method according to claim 7, characterized in that, The motion data also includes rotation angle, and the restricted motion parameters also include rotation amplitude parameters; Mapping the motion data to restricted motion parameters according to preset rules also includes: Based on a predetermined range of values, the rotation amplitude parameter corresponding to the range of values ​​to which the rotation angle belongs is determined, wherein each predetermined range of values ​​corresponds to a preset rotation amplitude parameter.

9. A C-arm X-ray machine, characterized in that, The C-arm X-ray machine includes: processor; Memory used to store machine-readable instructions; The chassis is used to move the C-arm X-ray machine. The movable directions of the chassis include linear forward and backward movement and linear movement along a preset angle. An image receiver, which is equipped with a camera device and a sensor array, is used to continuously collect data on a fixed area; The processor executes the method as described in any one of claims 1 to 8 by invoking the machine-readable instructions.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1 to 8.

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