Radiation protection intelligent regulation method and system for radio-intervention nursing

Abstract

This application provides an intelligent control method and system for radiation protection in interventional radiology nursing. It acquires radiation field information of the interventional surgical area and the spatial coordinates of the interventional surgical instruments, and determines the scattering hotspots during the operation of the instruments. Spatial constraints are constructed based on the orientational relationship of the scattering hotspots relative to a preset interventional radiology buffer area. Within the reachable working space of the protective shield robotic arm, an allowable pose set satisfying the spatial constraints is calculated. An optimization solution is then performed within the allowable pose set, using the radiation attenuation function of the protective shield combined with the scattering hotspots, to maximize the radiation shielding effectiveness, thus obtaining the target position reached by the protective shield robotic arm. The target position is corrected based on the unobstructed status monitoring results of the interventional radiology buffer area until the protective shield robotic arm reaches the target shielding position. The technical solution provided by this application can achieve radiation protection in interventional radiology nursing under the spatial constraints of the interventional radiology buffer area.

Description

Technical Field

[0001] This application relates to the field of medical radiation protection technology, and more specifically, to a method and system for intelligent control of radiation protection in interventional radiology care. Background Technology

[0002] Medical radiation protection has evolved alongside the application of ionizing radiation in clinical diagnosis and treatment. Ionizing radiation such as X-rays and gamma rays are widely used in imaging diagnosis and tumor radiotherapy, but they pose risks of cell damage and genetic mutations, and can cause health threats to medical staff, patients, and the surrounding population. Early protection relied on lead shielding and distance protection methods. With the advancement of precision medicine, radiation intensity monitoring technology, intelligent protective equipment, and personalized dose optimization solutions have become the core of research and development. Currently, protection technologies combine dose detection sensors and AI dose optimization algorithms to achieve precise control of radiation risks.

[0003] Current medical radiation protection follows three core principles: time protection, distance protection, and shielding protection, supplemented by dose limit control to achieve risk prevention and control. Time protection is based on the positive correlation between radiation dose and exposure duration, requiring operators to minimize the time spent working in the radiation field. Distance protection utilizes the characteristic that radiation intensity decreases with the square of the distance, increasing the distance from the radiation source through long-handled instruments and remote control consoles. Shielding protection uses high-density materials to intercept rays. However, in radiation protection control for interventional radiology, the radiation field distribution changes in real time with the movement of interventional instruments and the operation steps, resulting in scattered heat... Dynamic offset of the point path, while the position of the static protective screen is fixed, often obstructs the preset radiation intervention buffer area (i.e., the transmission path of the instrument from the operating table to the surgeon's hand). This interrupts instrument delivery and forces the surgeon to be exposed to residual radiation risks. Existing technologies lack a coordinated control mechanism for the relationship between the scattered radiation path and the radiation intervention buffer area. The position adjustment of the protective screen depends on the surgeon's experience, making it difficult to calculate the optimal shielding position within the workspace accessible to the robotic arm. This results in low radiation shielding efficiency in interventional radiology care. Therefore, how to achieve radiation protection in interventional radiology care under the spatial constraints of the radiation intervention buffer area has become a difficult problem for the industry. Summary of the Invention

[0004] This application provides a method and system for intelligent control of radiation protection in interventional radiology care, which can achieve radiation protection in interventional radiology care under the spatial constraints of the interventional radiology buffer zone.

[0005] In a first aspect, this application provides a method for intelligent control of radiation protection in interventional radiology care, comprising the following steps: The radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instruments are obtained, and the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments are determined based on the radiation field information and the spatial coordinates. Spatial constraints for interventional radiology care are constructed based on the orientational relationship between the scattering hotspots and the preset interventional radiology buffer zone. Within the reachable workspace of the protective screen robotic arm, the allowable pose solution set that satisfies the spatial constraints is calculated. Then, by combining the radiation attenuation function of the protective screen with the scattering hotspots, an optimization solution is performed within the allowable pose solution set with the goal of maximizing the radiation shielding effectiveness, to obtain the target position that can be driven to reach by the protective screen robotic arm. During the movement of the protective screen robotic arm, the unobstructed status of the radiation intervention buffer area is monitored, and the target position is corrected based on the unobstructed status monitoring results until the protective screen robotic arm reaches the target shielding position.

[0006] In some embodiments, obtaining radiation field information of the interventional nursing surgical area and spatial coordinates of the interventional surgical instruments specifically includes: Determine the spatial coordinate system and boundaries of the interventional nursing surgical area; Radiation intensity distribution data of the interventional nursing surgical area are collected based on the spatial acquisition coordinate system and the boundary of the acquisition area. The radiation intensity distribution data is denoised to generate radiation field information for the interventional nursing surgical area; Based on the spatial acquisition coordinate system, image sequences of interventional surgical instruments are acquired, and feature points are extracted from the image sequences of the interventional surgical instruments to obtain the pixel coordinates of key feature points of the interventional surgical instruments. The pixel coordinates of the key feature points are mapped to the spatial acquisition coordinate system through camera calibration parameters to obtain the spatial coordinates of the interventional surgical instruments.

[0007] In some embodiments, determining the scattering hotspots of the scattered radiation during the operation of the interventional surgical instrument based on the radiation field information and the spatial coordinates specifically includes: Based on the mapping relationship between the radiation field information and the spatial coordinates of the interventional surgical instruments, a space-radiation intensity correlation dataset is generated; Based on the aforementioned space-radiation intensity correlation dataset, the abnormal radiation intensity distribution areas of interventional surgical instruments under working conditions were analyzed; The spatial coordinates of the interventional surgical instruments are used to determine the correlation between the abnormal radiation intensity distribution area and the spatial location of the interventional surgical instruments, thereby determining the candidate scattering area; The scattering hotspots of the interventional surgical instrument during operation are selected from the candidate scattering regions.

[0008] In some embodiments, constructing spatial constraints for interventional radiology care based on the orientational relationship between the scattering hotspot and the preset interventional radiology buffer zone specifically includes: The spatial position of the surgical instrument operating table and the surgeon's hand operating area is obtained in order to determine the geometric parameters of the preset interventional radiology buffer area; A spatial orientation analysis coordinate system is established based on the geometric parameters of the preset radiological intervention buffer zone. The geometric parameters of the scattering hotspot and the preset radiological intervention buffer area are mapped to the spatial orientation analysis coordinate system to obtain the coordinate representation of the scattering hotspot and the preset radiological intervention buffer area in the spatial orientation analysis coordinate system. Based on the coordinate representation, the azimuth relationship between the scattering hotspot and the preset radiological intervention buffer area is calculated. The geometric boundary of the preset radiological intervention buffer area is extracted based on the azimuth relationship, and the geometric boundary is used as a spatial constraint condition.

[0009] In some embodiments, calculating the allowable pose set that satisfies the spatial constraints within the reachable workspace of the protective screen robotic arm specifically includes: Obtain the DH parameters of the protective screen robotic arm and establish the kinematic model of the robotic arm; Based on the kinematic model of the robotic arm, the reachable workspace of the protective screen robotic arm is solved; The spatial constraints are mapped to the base coordinate system of the robotic arm kinematics model to obtain the coordinate representation of the spatial constraints. Based on the coordinate representation of the kinematic model of the robotic arm and the spatial constraints, the pose solution constraint equation is constructed. Solve the pose constraint equations within the reachable workspace to obtain an allowable pose solution set that satisfies the spatial constraints.

[0010] In some embodiments, during the movement of the protective screen robotic arm, monitoring the patency of the radiation intervention buffer area and correcting the target position based on the patency monitoring results until the protective screen robotic arm reaches the target shielding position specifically includes: A visual sensing module is deployed in the pre-designated radiological intervention buffer area, and a benchmark for determining channel patency is established. The protective screen robotic arm is activated to perform movement at the target position, and the vision sensing module is simultaneously activated to collect real-time image data of the radiation intervention buffer area. Based on the patency determination criteria, real-time image data is analyzed to obtain the patency status monitoring results of the radiological intervention buffer area. When the unobstructed status monitoring result indicates that the channel is blocked, the correction amount for the target position is calculated. The target position is adjusted using the correction amount, and the protective screen robotic arm is controlled to continue moving at the corrected target position until the unobstructed state monitoring result meets the preset unobstructed requirements. The target position corresponding to meeting the preset unobstructed requirements is then taken as the target shielding position.

[0011] In some embodiments, the movement of interventional surgical instruments is continuously captured by an industrial camera to obtain an image sequence of the interventional surgical instruments.

[0012] Secondly, this application provides a radiation protection intelligent control system for interventional radiology care, comprising: The acquisition module is used to acquire radiation field information of the interventional nursing surgical area and spatial coordinates of the interventional surgical instruments, and to determine the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments based on the radiation field information and the spatial coordinates. The processing module is used to construct spatial constraints for interventional radiology care based on the orientational relationship between the scattering hotspot and the preset interventional radiology buffer area. The processing module is also used to calculate the allowable pose solution set that satisfies the spatial constraints within the reachable workspace of the protective screen robotic arm, and to perform an optimization solution with the goal of maximizing radiation shielding effectiveness within the allowable pose solution set by combining the radiation attenuation function of the protective screen with the scattering hotspot, so as to obtain the target position that can be driven to the protective screen robotic arm. The execution module is used to monitor the patency of the radiation intervention buffer area during the movement of the protective screen robotic arm, and to correct the target position based on the patency monitoring results until the protective screen robotic arm reaches the target shielding position.

[0013] Thirdly, this application provides a computer device including a memory and a processor, the memory storing code, and the processor being configured to acquire the code and execute the above-described intelligent control method for radiation protection in interventional radiology care.

[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described intelligent control method for radiation protection in interventional radiology care.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: The intelligent control method and system for radiation protection in interventional radiology nursing provided in this application first acquires the radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instruments, and determines the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments based on the radiation field information and the spatial coordinates; secondly, spatial constraints for interventional radiology nursing are constructed based on the orientational relationship of the scattering hotspots relative to a preset interventional radiology buffer area; then, within the reachable working space of the protective screen robotic arm, the allowable pose solution set that satisfies the spatial constraints is calculated, and an optimization solution aimed at maximizing radiation shielding effectiveness is performed within the allowable pose solution set by combining the radiation attenuation function of the protective screen with the scattering hotspots, to obtain the target position that can be driven to the protective screen robotic arm; finally, during the movement of the protective screen robotic arm, the unobstructed state of the interventional radiology buffer area is monitored, and the target position is corrected based on the unobstructed state monitoring results until the protective screen robotic arm reaches the target shielding position.

[0016] Therefore, this application demonstrates that radiation protection for interventional nursing can be achieved under the spatial constraints of the interventional buffer zone. Firstly, by acquiring radiation field information and determining the scattering hotspots using the spatial coordinates of the interventional surgical instruments, the critical propagation paths of scattered radiation during instrument operation can be effectively identified, providing a targeted basis for subsequent radiation protection and avoiding the inefficient shielding caused by ambiguous radiation source positioning in traditional protection methods. Secondly, by using the pre-defined geometric boundaries of the interventional buffer zone as spatial constraints, the compatibility between radiation protection and surgical operations is effectively balanced, ensuring that the protective screen does not intrude into the instrument delivery channel during deployment. This guarantees the smooth delivery of surgical instruments and the integrity of the sterile environment, and defines reasonable boundaries for solving the robotic arm pose. Finally, by solving the allowed pose set and combining... The optimization solution of the attenuation function maximizes the shielding effectiveness. While ensuring the feasibility of the robotic arm's movement, it achieves the optimal configuration of radiation shielding effectiveness, enabling the shielding screen to be precisely deployed at key locations for blocking scattered radiation, significantly improving the targeting and efficiency of radiation protection. Finally, the dynamic monitoring of the channel's patency and correction of the target position during the robotic arm's movement achieves adaptive adjustment of protection control, effectively avoiding the risk of obstruction in the radiation intervention buffer zone during robotic arm movement. This ensures a dynamic balance between radiation protection effectiveness and the feasibility of robotic arm movement, effectively improving the intelligence and reliability of radiation protection in interventional radiology care. In summary, the technical solution provided in this application can achieve radiation protection in interventional radiology care under the spatial constraints of the interventional radiology buffer zone. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an application scenario architecture for a radiation protection intelligent control method for interventional radiology nursing, as shown in some embodiments of this application. Figure 2This is an exemplary flowchart of a radiation protection intelligent control method for interventional radiology care, according to some embodiments of this application; Figure 3 This is an exemplary flowchart illustrating the determination of spatial constraints according to some embodiments of this application; Figure 4 This is a schematic diagram of the structure of a radiation protection intelligent control system for interventional radiology nursing, as shown in some embodiments of this application; Figure 5 This is a schematic diagram of the structure of a computer device that implements a radiation protection intelligent control method for interventional radiology nursing, according to some embodiments of this application. Detailed Implementation

[0018] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] refer to Figure 1 This figure is a schematic diagram of an application scenario architecture for an intelligent control method of radiation protection for interventional radiology nursing, according to some embodiments of this application. The application scenario architecture includes a data acquisition terminal, a communication network, and a server. The data acquisition terminal and the server are directly or indirectly connected through the communication network. The data acquisition terminal acquires radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instruments and uploads it to the server. The server determines the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments based on the radiation field information and the spatial coordinates. Based on the orientational relationship of the scattering hotspots relative to a preset interventional radiology buffer area, spatial constraints for interventional radiology nursing are constructed. Within the reachable working space of the protective screen robotic arm, an allowable pose solution set satisfying the spatial constraints is calculated. An optimization solution is then performed within the allowable pose solution set using the radiation protection attenuation function of the protective screen combined with the scattering hotspots, aiming to maximize radiation shielding effectiveness, to obtain the target position that can be driven to the protective screen robotic arm. During the movement of the protective screen robotic arm, the unobstructed state of the interventional radiology buffer area is monitored, and the target position is corrected based on the unobstructed state monitoring results until the protective screen robotic arm reaches the target shielding position.

[0020] refer to Figure 2 The figure is an exemplary flowchart of a radiation protection intelligent control method for interventional radiology nursing according to some embodiments of this application. The radiation protection intelligent control method for interventional radiology nursing mainly includes the following steps: In step 101, the radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instrument are obtained, and the scattering hotspots of the scattered radiation during the operation of the interventional surgical instrument are determined based on the radiation field information and the spatial coordinates.

[0021] In some embodiments, obtaining the radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instruments is achieved through the following steps: Determine the spatial coordinate system and boundaries of the interventional nursing surgical area; Radiation intensity distribution data of the interventional nursing surgical area are collected based on the spatial acquisition coordinate system and the boundary of the acquisition area. The radiation intensity distribution data is denoised to generate radiation field information for the interventional nursing surgical area; Based on the spatial acquisition coordinate system, image sequences of interventional surgical instruments are acquired, and feature points are extracted from the image sequences of the interventional surgical instruments to obtain the pixel coordinates of key feature points of the interventional surgical instruments. The pixel coordinates of the key feature points are mapped to the spatial acquisition coordinate system through camera calibration parameters to obtain the spatial coordinates of the interventional surgical instruments.

[0022] In specific implementation, firstly, a spatial acquisition coordinate system is established in the interventional nursing surgical area, with the center of the operating table as the origin, the length of the operating table as the X-axis, and the vertical plane of the operating table upwards as the Z-axis. This spatial acquisition coordinate system is a three-dimensional rectangular coordinate system representing various spatial positional information within the interventional nursing surgical area. Simultaneously, a laser contour scanner is used to scan the surgeon's operating range, instrument movement range, and radiation source coverage area within the interventional nursing surgical area, thereby defining the boundary of the acquisition area. This boundary defines the spatial range for radiation intensity data acquisition and instrument image acquisition. Secondly, based on the established spatial acquisition coordinate system and the defined acquisition area boundary, a radiation intensity sensor array is uniformly deployed within the acquisition area boundary. The array collects raw radiation intensity data at different spatial locations during the interventional surgery in real time, obtaining radiation intensity distribution data for the interventional nursing surgical area. This radiation intensity distribution data represents the dataset representing the magnitude of radiation intensity corresponding to each spatial coordinate point within the acquisition area. Further, a Gaussian filtering algorithm is used to denoise the radiation intensity distribution data. The denoised radiation intensity distribution data generates radiation field information for the interventional nursing surgical area. This radiation field information reflects the spatial distribution of radiation intensity within the surgical area. The process involves: first, using the spatial acquisition coordinate system as a reference, continuously capturing images of the interventional surgical instruments within the surgical area using an industrial camera to obtain an image sequence of the interventional surgical instruments. This image sequence refers to a set of two-dimensional images containing the interventional surgical instruments arranged sequentially over time. Finally, the Scale Invariant Feature Transform (SIFT) algorithm is used to extract feature points from the image sequence. First, the scale space of the image is constructed and extreme points in the scale space are detected. Then, the extreme points are filtered to remove unstable edge points, generating 128-dimensional feature descriptors for the extreme points, thus obtaining the key features of the interventional surgical instruments. The key feature point pixel coordinates refer to the coordinate values ​​of stable feature points on the surface of the interventional surgical instrument in a two-dimensional image coordinate system. Finally, the industrial camera capturing the image sequence is calibrated using the Zhang Zhengyou calibration method to obtain the camera's intrinsic and extrinsic parameters, i.e., camera calibration parameters. The camera calibration parameters refer to the set of parameters used to establish the mapping relationship between the camera's two-dimensional image coordinate system and the spatial acquisition coordinate system. The extracted key feature point pixel coordinates are substituted into the perspective projection transformation equation established based on the camera calibration parameters to convert the key feature point pixel coordinates into three-dimensional coordinates under the spatial acquisition coordinate system, thus obtaining the spatial coordinates of the interventional surgical instrument.

[0023] It should be noted that the spatial coordinates of the interventional surgical instruments in this application refer to the three-dimensional position information of the key feature points of the interventional surgical instruments in the spatial acquisition coordinate system.

[0024] In some embodiments, determining the scattering hotspots of the scattered radiation during the operation of the interventional surgical instrument based on the radiation field information and the spatial coordinates is achieved through the following steps: Based on the mapping relationship between the radiation field information and the spatial coordinates of the interventional surgical instruments, a space-radiation intensity correlation dataset is generated; Based on the aforementioned space-radiation intensity correlation dataset, the abnormal radiation intensity distribution areas of interventional surgical instruments under working conditions were analyzed; The spatial coordinates of the interventional surgical instruments are used to determine the correlation between the abnormal radiation intensity distribution area and the spatial location of the interventional surgical instruments, thereby determining the candidate scattering area; The scattering hotspots of the interventional surgical instrument during operation are selected from the candidate scattering regions.

[0025] In specific implementation, firstly, using the radiation field information and the spatial coordinates of the interventional surgical instruments as input, a spatial coordinate mapping relationship between the radiation field information and the interventional surgical instruments is constructed through coordinate index matching. That is, for each coordinate point in the spatial acquisition coordinate system, the radiation intensity value in the radiation field information corresponding to the coordinate point is bound and associated with the corresponding spatial coordinate, generating a spatial-radiation intensity association dataset. The spatial-radiation intensity association dataset refers to a dataset formed by binding the spatial location coordinates within the surgical area with the corresponding location radiation intensity information in a one-to-one correspondence. Secondly, the mean and standard deviation of all radiation intensity data in the spatial-radiation intensity association dataset are calculated, and then the mean plus 3 times the standard deviation is calculated. Using the standard deviation as a threshold, regions with radiation intensity exceeding this threshold are identified as areas of abnormal radiation intensity distribution. These areas are defined as spatial regions where radiation intensity significantly deviates from the normal distribution range. Then, based on the spatial coordinates of the interventional surgical instrument, the Euclidean distance calculation method is used to determine the spatial correlation between the abnormal radiation intensity distribution areas and the interventional surgical instrument. Specifically, the Euclidean distance between each coordinate point within the abnormal radiation intensity distribution area and the key feature points of the interventional surgical instrument is calculated. Areas with distances less than a preset scattering influence threshold are selected as candidate scattering regions. The scattering influence threshold can be set according to actual needs or expert knowledge. Without limitation, the spatial location correlation refers to the degree of distance correlation between different spatial regions and interventional surgical instruments. The candidate scattering region refers to the potential spatial region that will generate scattered radiation during the operation of the interventional surgical instrument. Finally, based on the linear propagation characteristics of radiation, the direction of radiation intensity gradient within the candidate scattering region is analyzed. By calculating the gradient vector of radiation intensity at each point within the candidate scattering region, the direction of radiation propagation is determined. The region where the radiation propagation direction originates from the surface of the interventional surgical instrument and has the largest radiation intensity gradient is selected as the scattering hotspot of the scattered radiation during the operation of the interventional surgical instrument. It should be noted that the sources of scattered radiation during interventional surgery are multiple. In addition to scattering caused by the interaction between the surface of interventional surgical instruments and the main radiation beam, the patient's body tissue, as the primary agent of the radiation beam, is a key source of secondary scattering. Simultaneously, Compton scattering by surrounding objects such as the operating table and medical instrument trays also contributes to the scattered radiation field. Therefore, the method described in this paper for determining scattering hotspots based on the spatial coordinates of interventional surgical instruments essentially uses the interventional surgical instruments—a key and spatially defined scattering source—as the core reference benchmark. Through analysis of spatial-radiation intensity correlation data, the core area of ​​scattered radiation accumulation, formed by the combined effects of instruments, patients, and surrounding objects, that contributes most significantly to the radiation dose in the surgeon's area is identified as the scattering hotspot.

[0026] It should be noted that, in this application, the scattering hotspot refers to the dominant spatial region characterizing the scattering radiation path during the operation of interventional surgical instruments. Identifying the scattering hotspot allows for the precise location of the key propagation source and core path of scattering radiation during interventional surgery, providing a clear target basis for subsequent radiation protection control. By locking onto the core scattering region with the highest radiation intensity and the greatest threat to the surgeon, the problem of inefficient shielding or surgical operation interference caused by blindly deploying protective screens can be avoided. At the same time, it provides precise spatial reference for defining the spatial constraints of the interventional radiation buffer zone and optimizing the posture of the protective screen robotic arm, enabling the protection strategy to specifically focus on the key path of scattering radiation. Under the premise of minimizing the surgeon's radiation exposure risk, it ensures the smooth delivery of surgical instruments and operational safety, achieving a dynamic balance between radiation protection and the needs of surgical practice.

[0027] In step 102, spatial constraints for interventional radiology care are constructed based on the orientational relationship between the scattering hotspot and the preset interventional radiology buffer zone.

[0028] In some embodiments, reference Figure 3 As shown in the figure, this is an exemplary flowchart of determining spatial constraints according to some embodiments of this application. In this embodiment, the spatial constraints for interventional radiology care based on the orientational relationship of the scattering hotspot relative to the preset interventional radiology buffer area can be achieved by the following steps: In step 1021, the spatial position of the surgical instrument operating table and the surgeon's hand operating area is obtained to determine the geometric parameters of the preset interventional radiology buffer area; In step 1022, a spatial orientation analysis coordinate system is established based on the geometric parameters of the preset radiological intervention buffer zone; In step 1023, the geometric parameters of the scattering hotspot and the preset radiological intervention buffer area are mapped to the spatial orientation analysis coordinate system to obtain the coordinate representation of the scattering hotspot and the preset radiological intervention buffer area in the spatial orientation analysis coordinate system. In step 1024, the azimuth relationship between the scattering hotspot and the preset radiological intervention buffer area is calculated based on the coordinate characterization. The geometric boundary of the preset radiological intervention buffer area is extracted based on the azimuth relationship, and the geometric boundary is used as a spatial constraint condition.

[0029] In specific implementation, firstly, the spatial positions of the center point and edge feature points of the surgical instrument operating table are collected using infrared positioning sensors. Simultaneously, the coordinates of the boundary points of the surgeon's hand operating range during the procedure are obtained. Then, combined with the conventional path requirements for interventional surgical instrument delivery, existing spatial geometric fitting methods are used to determine the geometric parameters of the pre-defined radiological intervention buffer area. These geometric parameters refer to the set of parameters characterizing the cross-sectional shape, cross-sectional dimensions, central axis direction, and channel length of the radiological intervention buffer area. Secondly, a spatial orientation analysis coordinate system is established with the midpoint of the central axis of the pre-defined radiological intervention buffer area as the origin, the direction along the central axis towards the surgeon's hand operating area as the Y-axis, the direction perpendicular to the central axis and parallel to the operating table plane as the X-axis, and the direction perpendicular to the operating table plane and upwards as the Z-axis. This spatial orientation analysis coordinate system is a three-dimensional rectangular coordinate system used to analyze the relative spatial position relationship between the scattering hotspot and the radiological intervention buffer area. The pre-defined radiological intervention buffer area refers to the area pre-planned and set before the interventional surgery based on the fixed layout of the surgical instrument operating table, the core operating area of ​​the surgeon's hand, and the standardized delivery path of the interventional surgical instruments. A three-dimensional spatial channel for the precise transfer of surgical instruments from the operating table to the surgeon's hand is established. This radiological intervention buffer area has a clearly defined geometric boundary and spatial range. The internal and surrounding areas must maintain a strictly aseptic operating environment. It is the core path for the smooth arrival of surgical instruments at the patient's surgical site. At the same time, it serves as a key spatial constraint boundary for the motion control of the protective screen robotic arm. It is used to avoid problems such as instrument delivery obstruction, aseptic environment disruption, or surgeon operation restriction caused by the protective screen and its installation structure intruding into the channel. It is a preset spatial structure that balances the smoothness of instrument delivery, the standardization of aseptic operation, and the safety of radiation protection in radiological intervention surgery. Then, based on the coordinate transformation matrix between the previously established spatial acquisition coordinate system and the spatial orientation analysis coordinate system (the coordinate transformation matrix can be obtained based on the rigid coordinate transformation matrix solution method of three-point coplanar calibration, which will not be elaborated here), the spatial coordinates of the scattering hotspot and the geometric parameters of the preset radiological intervention buffer area are substituted into the coordinate transformation matrix to complete the coordinate transformation and obtain the coordinate representation of the two in the spatial orientation analysis coordinate system. The coordinate representation refers to the specific coordinate expression of the scattering hotspot and each component of the radiological intervention buffer area in the spatial orientation analysis coordinate system.Finally, using spatial geometric calculation methods, the vertical distance from the scattering hotspot to the central axis of the preset radiological intervention buffer area and the projected position of the scattering hotspot relative to the channel cross-section are calculated based on the coordinate representation. This yields the orientational relationship between the scattering hotspot and the preset radiological intervention buffer area. The orientational relationship refers to the spatial relationship information of the scattering hotspot's position, distance, and direction relative to the radiological intervention buffer area. Based on this orientational relationship, the spatial surface formed by the boundary points of the inner wall of the preset radiological intervention buffer area is extracted as the geometric boundary. This geometric boundary refers to the three-dimensional contour boundary that defines the effective passage space of the radiological intervention buffer area, and this geometric boundary is used as a spatial constraint condition.

[0030] It should be noted that the spatial constraints in this application refer to the spatial boundaries that the robotic arm with the protective screen must not intrude upon during its movement. In the intelligent control of radiation protection in interventional radiology, the posture of the robotic arm with the protective screen must simultaneously meet the dual requirements of efficient radiation shielding and non-interference in surgical operation. Without clear spatial constraints, the protective screen may easily intrude into the pre-set radiation buffer area from the surgical instrument operating table to the surgeon's hand, leading to obstructed instrument delivery, destruction of the sterile environment, or limited surgeon operation. Therefore, determining the spatial constraints can clarify the geometric boundaries of the radiation buffer area, define an intrusive rigid range for the reachable working space of the robotic arm with the protective screen, and provide key constraint basis for subsequent posture solution and shielding effectiveness optimization. This ensures that the protective screen avoids the radiation buffer area during the targeted position optimization process, thus ensuring the smoothness, sterility, and surgeon's operational flexibility of surgical instruments, while also enabling the protective screen to accurately focus on the scattered radiation path to achieve efficient shielding. This achieves a dynamic balance between radiation protection effectiveness and surgical operation convenience, avoiding problems such as decreased surgical efficiency or protection failure caused by conflicts between protection and operation.

[0031] In step 103, within the reachable workspace of the protective screen robotic arm, the allowable pose solution set that satisfies the spatial constraints is calculated. Then, by combining the radiation attenuation function of the protective screen with the scattering hotspots, an optimization solution is performed within the allowable pose solution set to maximize the radiation shielding effectiveness, thereby obtaining the target position that can be driven to reach by the protective screen robotic arm.

[0032] In some embodiments, within the reachable workspace of the protective screen robotic arm, calculating the allowable pose set that satisfies the spatial constraints is achieved through the following steps: Obtain the DH parameters of the protective screen robotic arm and establish the kinematic model of the robotic arm; Based on the kinematic model of the robotic arm, the reachable workspace of the protective screen robotic arm is solved; The spatial constraints are mapped to the base coordinate system of the robotic arm kinematics model to obtain the coordinate representation of the spatial constraints. Based on the coordinate representation of the kinematic model of the robotic arm and the spatial constraints, the pose solution constraint equation is constructed. Solve the pose constraint equations within the reachable workspace to obtain an allowable pose solution set that satisfies the spatial constraints.

[0033] In practice, firstly, the design manual of the protective screen robotic arm is consulted to obtain the DH parameters of the protective screen robotic arm. The DH parameters include the link lengths, joint offsets, joint torsion angles, and link angles of each joint of the protective screen robotic arm. These DH parameters are a set of parameters describing the geometric relationship between the links and joints of the protective screen robotic arm. Based on these DH parameters, the DH parameter method in robotics is used. Local coordinate systems are established for each link sequentially, and the homogeneous transformation matrix between adjacent links is derived and multiplied successively to obtain the pose transformation equation of the end effector (i.e., the protective screen mounting end) relative to the base coordinate system. Then, a kinematic model of the robotic arm is established. This kinematic model is a mathematical model characterizing the mapping relationship between the joint variables of the robotic arm and the pose of the end effector. Secondly, based on the established kinematic model, the Monte Carlo method is used to solve for the reachable workspace of the protective screen robotic arm. This involves randomly generating a large number of joint angle combinations within the range of motion of each joint of the protective screen robotic arm and substituting them into the kinematic model. The forward kinematics equations are used to calculate the spatial coordinates of the end effector corresponding to each combination. Boundary fitting is performed on the spatial coordinates of all end effectors to obtain the reachable workspace of the protective screen robotic arm. The reachable workspace of the protective screen robotic arm refers to the set of all spatial positions that the end effector can reach under the joint motion limit constraints of the robotic arm. Further, based on the coordinate transformation matrix between the spatial acquisition coordinate system and the robotic arm base coordinate system (the coordinate transformation matrix can be obtained based on the rigid coordinate transformation matrix solution method of three-point coplanar calibration, which will not be elaborated here), the geometric boundary coordinates corresponding to the spatial constraints are substituted into the transformation equation corresponding to the coordinate transformation matrix to complete the coordinate transformation from the spatial acquisition coordinate system to the robotic arm base coordinate system, and the coordinate representation of the spatial constraints is obtained. The robotic arm base coordinate system refers to the three-dimensional rectangular coordinate system fixed to the base of the protective screen robotic arm, and the coordinate representation of the spatial constraints refers to the three-dimensional coordinate expression of the spatial constraints in the robotic arm base coordinate system.Then, based on the pose transformation equation of the end effector (i.e., the protective screen mounting end) relative to the base coordinate system in the kinematic model of the robotic arm, the three-dimensional position parameter expression of the end effector is extracted. This position parameter expression refers to the functional relationship between the X, Y, and Z axis coordinates of the end effector and the joint angles in the robotic arm's base coordinate system, derived through the DH homogeneous transformation. Combined with the coordinate representation of the spatial constraints, it is set that the spatial coordinates of the end effector and the protective screen as a whole must not intrude into the spatial constraint boundary corresponding to the coordinate representation. Through spatial geometric position relationship analysis, the maximum / minimum coordinate values ​​of the spatial constraint boundary are associated with the X, Y, and Z axis position parameter expressions of the end effector, respectively, constructing a set of... The inequality constraint equations stipulate that the X-axis coordinate of the end effector must be greater than the minimum X-axis coordinate of the spatial constraint boundary and less than the maximum X-axis coordinate of the spatial constraint boundary. Similarly, inequality constraints are established in the Y-axis and Z-axis directions, thus forming the pose solution constraint equations. These pose solution constraint equations are mathematical constraint expressions that limit the spatial position of the end effector of the protective screen robotic arm. Finally, within the three-dimensional space defined by the reachable workspace, the gradient descent method in numerical solutions is used to solve the pose solution constraint equations. All end effector pose parameters that satisfy the spatial constraints are traversed, and all end effector poses that are both within the reachable workspace and satisfy the spatial constraints are selected, thus forming the allowable pose solution set that satisfies the spatial constraints.

[0034] It should be noted that the permissible pose solution set in this application refers to the set of all possible poses of the end effector of the protective shielding robot arm within the reachable workspace that do not violate spatial constraints. The core function of determining the permissible pose solution set is to provide a candidate space that is both feasible and constraint-compatible for subsequent optimization of the target position to maximize radiation shielding effectiveness. By screening out all end-effector poses that do not intrude into the radiation intervention buffer area within the reachable workspace of the robot arm, it not only eliminates invalid poses that violate spatial constraints or may interfere with the delivery of surgical instruments or the surgeon's operation, but also provides a clear search boundary for radiation shielding effectiveness optimization, avoiding the optimization process from falling into the infeasible region and causing the solution to fail. At the same time, this solution set integrates the kinematic characteristics of the robot arm and the spatial constraint requirements, so that subsequent optimization solutions do not need to consider pose feasibility verification, but only need to focus on the goal of maximizing radiation shielding effectiveness, significantly improving the solution efficiency and accuracy, and ensuring that the final target position not only conforms to the robot arm's motion capability boundary, but also strictly avoids the radiation intervention buffer area, laying a key foundation for achieving a dynamic balance between radiation protection and surgical practice.

[0035] In some embodiments, the target position that can be reached by the robotic arm that drives the protective screen is obtained by performing an optimization solution aimed at maximizing the radiation shielding effectiveness within the allowable pose solution set by combining the attenuation function of the radiation shielding screen with the scattering hotspots: Obtain the material attenuation coefficient, thickness parameters, and geometric structure parameters of the protective screen, and establish the attenuation function of the protective screen for radiation protection; By mapping the spatial coordinates of the scattering hotspot to the allowable pose solution set, the relative spatial relationship between the protective screen and the scattering hotspot under each allowable pose is obtained; Calculate the radiation shielding effectiveness value corresponding to each permissible pose based on the attenuation function and the relative spatial relationship. To maximize radiation shielding effectiveness, an optimization objective function is constructed by combining the allowed pose solution set; Solve the optimization objective function, select the allowable pose corresponding to the optimal radiation shielding effectiveness, and determine the allowable pose as the target position that can be reached by the robotic arm that can drive the protective screen.

[0036] In practice, the process begins by consulting the material specifications of the protective screen to obtain its material attenuation coefficient, thickness parameters, and geometric parameters. Based on the Lambert-Beer Law (a well-known principle in radiation attenuation, where the attenuation of radiation intensity is exponentially related to the material attenuation coefficient of the absorbing medium and the effective path length of radiation through the medium), and considering the geometric parameters of the protective screen (including the spatial orientation and external dimensions of the shielding surface), and the radiation propagation direction of the scattering hotspots, spatial geometric calculations are used to solve for the angle between the radiation propagation direction and the normal to the shielding surface. Then, using trigonometric relationships (effective path length = shielding thickness parameter / cosθ, where θ is the angle between the radiation propagation direction and the normal to the shielding surface), the effective path length of radiation through the protective screen is derived. Subsequently, the obtained material attenuation coefficient is used as the proportionality coefficient of the exponent, and the effective path length is used as the variable of the exponent. These are substituted into the standard mathematical expression of the Lambert-Beer Law to construct the radiation attenuation function of the protective screen, specifically in the form of… (in The intensity of radiation after it penetrates the protective screen. The incident radiation intensity at the scattering hotspot. The material attenuation coefficient, The attenuation function is a mathematical expression that characterizes the mapping relationship between the attenuation degree of radiation intensity after being shielded by the protective screen and related influencing parameters. Secondly, based on the coordinate transformation matrix between the previously determined spatial acquisition coordinate system and the robotic arm base coordinate system, the spatial coordinates of the scattering hotspot and the allowable pose solution set are substituted into the transformation equation corresponding to the coordinate transformation matrix to complete the unified coordinate transformation, obtaining the relative spatial relationship between the protective screen and the scattering hotspot under each allowable pose. The relative spatial relationship refers to the position, direction, and path association information of the protective screen and the scattering hotspot in the unified coordinate system corresponding to different allowable poses. Further, from the effective path from the scattering hotspot to the surgeon's operating area in the relative spatial relationship, virtual rays are emitted from the scattering hotspot as the starting point of the radiation source to multiple key sampling points evenly distributed in the surgeon's operating area. It is determined whether each ray passes through the protective screen. If it does, the corresponding effective path length is substituted into the attenuation function to calculate the radiation intensity after the ray penetrates the protective screen. If it does not pass through, the original radiation intensity of the scattering hotspot is directly used to statistically analyze the radiation intensity of all key sampling points in the surgeon's operating area, calculate the average radiation intensity in the area, and then... The radiation shielding effectiveness value corresponding to each permissible pose is calculated using the formula (original radiation intensity - average radiation intensity) / original radiation intensity × 100%. This radiation shielding effectiveness value is a quantitative indicator characterizing the strength of the shielding ability of the protective screen. Then, with maximizing the radiation shielding effectiveness as the core objective, the radiation shielding effectiveness value is used as the dependent variable of the objective function, and the pose parameters in the permissible pose solution set are used as independent variables. Simultaneously, the joint motion limits of the robotic arm are used as implicit constraints to construct an optimization objective function. This optimization objective function refers to a function that aims to maximize radiation shielding effectiveness while constraining the independent pose parameters. The mathematical expression for the range of variable values ​​is then used. Finally, a genetic algorithm is employed to solve the optimization objective function. By initializing the population, the pose parameters in the allowable pose solution set are encoded into chromosomes. The fitness of each individual is calculated using the radiation shielding effectiveness value as the fitness function. Through selection, crossover, and mutation operations, the individuals with fitness below the threshold are eliminated, while those with fitness above the threshold are retained. When the number of iterations reaches a preset threshold, the iteration stops, and the allowable pose corresponding to the optimal radiation shielding effectiveness value is selected. This allowable pose is then determined as the target position that the robotic arm capable of driving the protective screen can reach.

[0037] It should be noted that, in this application, the target position refers to the target pose of the robotic arm end effector that maximizes the radiation shielding effectiveness of the protective screen while meeting the constraints. Determining the target position provides the robotic arm with a precise motion target that maximizes both radiation shielding effectiveness and surgical operation compatibility. By integrating the requirements for scattering hotspot shielding, the spatial constraints of the radiation intervention buffer area, and the kinematic characteristics of the robotic arm, the protective screen can be precisely deployed at the optimal shielding position between the critical propagation path of scattering radiation and the surgeon's operating area. While effectively blocking scattering radiation to reduce the surgeon's exposure risk, it strictly avoids intrusion and interference with the delivery channel of surgical instruments. At the same time, this target position provides clear guidance for the movement of the robotic arm. With the monitoring and dynamic correction of the unobstructed status during the movement, it ensures that the protective screen always takes into account both radiation protection effectiveness and surgical operation convenience throughout the process of reaching the final shielding position. Ultimately, it achieves a three-dimensional balance between radiation protection effectiveness, robotic arm movement feasibility, and surgical operation safety, which is the core execution benchmark for the implementation of the entire intelligent radiation protection control solution.

[0038] In step 104, during the movement of the protective screen robotic arm, the unobstructed status of the radiation intervention buffer area is monitored, and the target position is corrected based on the unobstructed status monitoring results until the protective screen robotic arm reaches the target shielding position.

[0039] In some embodiments, during the movement of the protective screen robotic arm, the patency of the radiation intervention buffer area is monitored, and the target position is corrected based on the patency monitoring results until the protective screen robotic arm reaches the target shielding position. This is achieved through the following steps: A visual sensing module is deployed in the pre-designated radiological intervention buffer area, and a benchmark for determining channel patency is established. The protective screen robotic arm is activated to perform movement at the target position, and the vision sensing module is simultaneously activated to collect real-time image data of the radiation intervention buffer area. Based on the patency determination criteria, real-time image data is analyzed to obtain the patency status monitoring results of the radiological intervention buffer area. When the unobstructed status monitoring result indicates that the channel is blocked, the correction amount for the target position is calculated. The target position is adjusted using the correction amount, and the protective screen robotic arm is controlled to continue moving at the corrected target position until the unobstructed state monitoring result meets the preset unobstructed requirements. The target position corresponding to meeting the preset unobstructed requirements is then taken as the target shielding position.

[0040] In specific implementation, firstly, industrial cameras are deployed as visual sensing modules at the entrance, exit, and intermediate turning point of the preset radiation intervention buffer area. Standard images of the unobstructed passage are acquired using these visual sensing modules. The pixel contours of the radiation intervention buffer area in these standard images are extracted using an edge detection operator (i.e., the Sobel operator) in image processing as a traversability criterion. This traversability criterion refers to an interference-free standard pixel contour template used to compare and determine whether there is any obstruction in the radiation intervention buffer area. Secondly, the protective screen robotic arm is activated to move at the targeted position, simultaneously triggering the visual sensing modules to capture real-time scenes of the radiation intervention buffer area at a preset frame rate, thereby acquiring a real-time image of the radiation intervention buffer area. The real-time image data refers to a set of two-dimensional images acquired continuously over time, reflecting whether the radiological intervention buffer area is currently obstructed. Further, based on the established patency assessment benchmark, the real-time image data is analyzed using a background subtraction method. This involves performing pixel grayscale value difference operations between the real-time image data and the patency assessment benchmark to obtain a difference image. An adaptive threshold segmentation algorithm is then used to extract the foreground region. If the area of ​​the foreground region exceeds a preset area threshold, the channel is determined to be obstructed; otherwise, the channel is determined to be unobstructed. This yields the patency status monitoring result of the radiological intervention buffer area. The area threshold can be set according to actual needs and is not limited here. The patency status monitoring result refers to the characteristic of the radiological intervention buffer area. The system determines whether the current passage is unobstructed and passable. The passability monitoring result includes whether the passage is unobstructed or obstructed. Then, when the passability monitoring result indicates obstruction, the system extracts the geometric parameters of the obstructed area based on the passability monitoring result. These geometric parameters include the three-dimensional coordinate range of the obstructed area in the robot arm's base coordinate system, the shortest distance to the current pose of the protective screen, and its relative orientation. Combined with the geometric structural parameters of the protective screen, including the shielding surface size and edge contour, the system analyzes the cause of the obstruction (i.e., the protective screen itself or its installation structure intruding into the passage). Then, using the inverse kinematics algorithm of the robot arm, with the constraint of eliminating the obstruction without deviating from the original radiation shielding target, the system solves for the position offset that the end effector needs to adjust. The displacement (fine-tuning distance in the X, Y, and Z axes) and attitude deflection angle (rotation angle around each axis) are used to obtain the three-dimensional correction amount of the target position. The correction amount refers to the pose adjustment parameter of the end effector of the robotic arm used to adjust the original target position to eliminate channel obstruction. Finally, the target position correction amount is superimposed on the original target position to obtain the corrected target position. The robotic arm controller sends a motion command to control the protective screen robotic arm to continue moving according to the corrected target position. At the same time, real-time image data is continuously collected and the unobstructed status is monitored. The above judgment and correction process is repeated until the unobstructed status monitoring result is that the channel is unobstructed. The target position corresponding to the preset unobstructed requirement is taken as the target shielding position, and then the protective screen robotic arm is moved to the target shielding position.

[0041] It should be noted that the target shielding position in this application refers to the final protective position of the protective screen.

[0042] In another aspect, in some embodiments, this application provides a radiation protection intelligent control system for interventional radiology care, referencing... Figure 4 The figure is a schematic diagram of the structure of an intelligent radiation protection control system for interventional radiology nursing according to some embodiments of this application. The intelligent radiation protection control system for interventional radiology nursing includes: an acquisition module 201, a processing module 202, and an execution module 203, which are described below: The acquisition module 201 in this application is mainly used to acquire radiation field information of the interventional nursing surgical area and spatial coordinates of the interventional surgical instrument, and to determine the scattering hotspots of the scattered radiation during the operation of the interventional surgical instrument based on the radiation field information and the spatial coordinates. Processing module 202, in this application, is mainly used to construct spatial constraints for interventional radiology care based on the orientational relationship between the scattering hotspot and the preset interventional radiology buffer area. The processing module 202 is also used to calculate the allowable pose solution set that satisfies the spatial constraints within the reachable workspace of the protective screen robotic arm, and to perform optimization solution with the goal of maximizing radiation shielding effectiveness within the allowable pose solution set by combining the radiation attenuation function of the protective screen with the scattering hotspot, so as to obtain the target position that can be driven to reach by the protective screen robotic arm. The execution module 203 in this application is mainly used to monitor the unobstructed state of the radiation intervention buffer area during the movement of the protective screen robotic arm, and to correct the target position based on the unobstructed state monitoring results until the protective screen robotic arm reaches the target shielding position.

[0043] In addition, this application also provides a computer device, the computer device including a memory and a processor, the memory storing code, the processor being configured to acquire the code and execute the above-described intelligent control method for radiation protection in interventional radiology care.

[0044] In some embodiments, reference Figure 5 The figure is a schematic diagram of the structure of a computer device implementing an intelligent control method for radiation protection in interventional radiology nursing, according to some embodiments of this application. The intelligent control method for radiation protection in interventional radiology nursing described in the above embodiments can be implemented through... Figure 5 The computer device shown is used to implement this, and the computer device includes at least one processor 301, a communication bus 302, a memory 303, and at least one communication interface 304.

[0045] The processor 301 may be a general-purpose central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more devices used to control the execution of the intelligent control method for radiation protection in interventional radiology care described in this application.

[0046] The communication bus 302 can be used to transmit information between the aforementioned components.

[0047] The memory 303 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CDROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disks or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 303 may exist independently and be connected to the processor 301 via the communication bus 302. The memory 303 may also be integrated with the processor 301.

[0048] The memory 303 stores program code for executing the scheme of this application, and its execution is controlled by the processor 301. The processor 301 executes the program code stored in the memory 303. The program code may include one or more software modules. The determination of the intelligent control method for radiation protection in interventional radiology care in the above embodiments can be implemented by the processor 301 and one or more software modules in the program code in the memory 303.

[0049] Communication interface 304 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0050] In a specific implementation, as one example, a computer device may include multiple processors, each of which may be a single-core (single CPU) processor or a multi-core (multi CPU) processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0051] The aforementioned computer device can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. This application does not limit the type of computer device.

[0052] In addition, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described intelligent control method for radiation protection in interventional radiology care.

[0053] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0054] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for intelligent control of radiation protection in interventional radiology care, characterized in that, Includes the following steps: The radiation field information of the interventional nursing surgical area and the spatial coordinates of the interventional surgical instruments are obtained, and the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments are determined based on the radiation field information and the spatial coordinates. Spatial constraints for interventional radiology care are constructed based on the orientational relationship between the scattering hotspots and the preset interventional radiology buffer zone. Within the reachable workspace of the protective screen robotic arm, the allowable pose solution set that satisfies the spatial constraints is calculated. Then, by combining the radiation attenuation function of the protective screen with the scattering hotspots, an optimization solution is performed within the allowable pose solution set with the goal of maximizing the radiation shielding effectiveness, to obtain the target position that can be driven to reach by the protective screen robotic arm. During the movement of the protective screen robotic arm, the unobstructed status of the radiation intervention buffer area is monitored, and the target position is corrected based on the unobstructed status monitoring results until the protective screen robotic arm reaches the target shielding position.

2. The method as described in claim 1, characterized in that, Obtaining radiation field information of the interventional surgical area and spatial coordinates of the interventional surgical instruments specifically includes: Determine the spatial coordinate system and boundaries of the interventional nursing surgical area; Radiation intensity distribution data of the interventional nursing surgical area are collected based on the spatial acquisition coordinate system and the boundary of the acquisition area. The radiation intensity distribution data is denoised to generate radiation field information for the interventional nursing surgical area; Based on the spatial acquisition coordinate system, image sequences of interventional surgical instruments are acquired, and feature points are extracted from the image sequences of the interventional surgical instruments to obtain the pixel coordinates of key feature points of the interventional surgical instruments. The pixel coordinates of the key feature points are mapped to the spatial acquisition coordinate system through camera calibration parameters to obtain the spatial coordinates of the interventional surgical instruments.

3. The method as described in claim 1, characterized in that, Determining the scattering hotspots of the scattered radiation during the operation of the interventional surgical instrument based on the radiation field information and the spatial coordinates specifically includes: Based on the mapping relationship between the radiation field information and the spatial coordinates of the interventional surgical instruments, a space-radiation intensity correlation dataset is generated; Based on the aforementioned space-radiation intensity correlation dataset, the abnormal radiation intensity distribution areas of interventional surgical instruments under working conditions were analyzed; The spatial coordinates of the interventional surgical instruments are used to determine the correlation between the abnormal radiation intensity distribution area and the spatial location of the interventional surgical instruments, thereby determining the candidate scattering area; The scattering hotspots of the interventional surgical instrument during operation are selected from the candidate scattering regions.

4. The method as described in claim 1, characterized in that, The spatial constraints for interventional radiology care, based on the orientational relationship between the scattering hotspots and the preset interventional radiology buffer zone, specifically include: The spatial position of the surgical instrument operating table and the surgeon's hand operating area is obtained in order to determine the geometric parameters of the preset interventional radiology buffer area; A spatial orientation analysis coordinate system is established based on the geometric parameters of the preset radiological intervention buffer zone. The geometric parameters of the scattering hotspot and the preset radiological intervention buffer area are mapped to the spatial orientation analysis coordinate system to obtain the coordinate representation of the scattering hotspot and the preset radiological intervention buffer area in the spatial orientation analysis coordinate system. Based on the coordinate representation, the azimuth relationship between the scattering hotspot and the preset radiological intervention buffer area is calculated. The geometric boundary of the preset radiological intervention buffer area is extracted based on the azimuth relationship, and the geometric boundary is used as a spatial constraint condition.

5. The method as described in claim 1, characterized in that, Within the reachable workspace of the protective shield robotic arm, calculating the allowable pose solution set that satisfies the aforementioned spatial constraints specifically includes: Obtain the DH parameters of the protective screen robotic arm and establish the kinematic model of the robotic arm; Based on the kinematic model of the robotic arm, the reachable workspace of the protective screen robotic arm is solved; The spatial constraints are mapped to the base coordinate system of the robotic arm kinematics model to obtain the coordinate representation of the spatial constraints. Based on the coordinate representation of the kinematic model of the robotic arm and the spatial constraints, the pose solution constraint equation is constructed. Solve the pose constraint equations within the reachable workspace to obtain an allowable pose solution set that satisfies the spatial constraints.

6. The method as described in claim 1, characterized in that, During the movement of the protective shield robotic arm, the patency of the radiation intervention buffer area is monitored, and the target position is corrected based on the patency monitoring results until the protective shield robotic arm reaches the target shielding position. Specifically, this includes: A visual sensing module is deployed in the pre-designated radiological intervention buffer area, and a benchmark for determining channel patency is established. The protective screen robotic arm is activated to perform movement at the target position, and the vision sensing module is simultaneously activated to collect real-time image data of the radiation intervention buffer area. Based on the patency determination criteria, real-time image data is analyzed to obtain the patency status monitoring results of the radiological intervention buffer area. When the unobstructed status monitoring result indicates that the channel is blocked, the correction amount for the target position is calculated. The target position is adjusted using the correction amount, and the protective screen robotic arm is controlled to continue moving at the corrected target position until the unobstructed state monitoring result meets the preset unobstructed requirements. The target position corresponding to meeting the preset unobstructed requirements is then taken as the target shielding position.

7. The method as described in claim 2, characterized in that, By continuously capturing the movement of interventional surgical instruments using an industrial camera, an image sequence of the interventional surgical instruments is obtained.

8. A radiation protection intelligent control system for interventional radiology care, characterized in that, The system includes: The acquisition module is used to acquire radiation field information of the interventional nursing surgical area and spatial coordinates of the interventional surgical instruments, and to determine the scattering hotspots of the scattered radiation during the operation of the interventional surgical instruments based on the radiation field information and the spatial coordinates. The processing module is used to construct spatial constraints for interventional radiology care based on the orientational relationship between the scattering hotspot and the preset interventional radiology buffer area. The processing module is also used to calculate the allowable pose solution set that satisfies the spatial constraints within the reachable workspace of the protective screen robotic arm, and to perform an optimization solution with the goal of maximizing radiation shielding effectiveness within the allowable pose solution set by combining the radiation attenuation function of the protective screen with the scattering hotspot, so as to obtain the target position that can be driven to the protective screen robotic arm. The execution module is used to monitor the patency of the radiation intervention buffer area during the movement of the protective screen robotic arm, and to correct the target position based on the patency monitoring results until the protective screen robotic arm reaches the target shielding position.

9. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing code, and the processor being configured to retrieve the code and execute the intelligent control method for radiation protection in interventional radiology care as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the intelligent control method for radiation protection in interventional radiology nursing as described in any one of claims 1 to 7.

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