CN106021922A - Three-dimensional medical image control equipment, method and system - Google Patents
Three-dimensional medical image control equipment, method and system Download PDFInfo
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- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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Abstract
The invention provides a three-dimensional medical image control method. A three-dimensional medical image corresponding to the observation angle of a user can be automatically generated through the tracking of the position of three-dimensional stereoscopic glasses worn by the user, and the user can observe the three-dimensional medical image from different angles without controlling the three-dimensional medical image to rotate through a handle and the like; and meanwhile, a depth transducer is used for monitoring the operation gesture of the user, and a Canny edge detection method is adopted to carry out image identification to identify the operation gesture of the user so as to call a corresponding gesture control instruction to realize three-dimensional medical image control. The three-dimensional medical image control method abandons a way of operating the three-dimensional medical image through medical equipment including a tracing ball, a joystick, a remote control handle, a mouse and the like, the three-dimensional medical image control method is convenient in operation, is high in flexibility and accuracy, and also exhibits science and technology feeling and good user experience.
Description
Technical field
The present invention relates to 3 D medical image and control technical field, be specifically related to a kind of 3 D medical image and control equipment, one
Plant 3 D medical image control method and 3 D medical image control system.
Background technology
3 D medical image can reflect the symptom at diagnosis position intuitively, comprehensively and accurately, help doctor quickly, science,
Carrying out medical diagnosis and treatment planning accurately, doctor, when checking 3 D medical image, needs to enter 3 D medical image
Row movement, rotation etc. control operation.
The control mode of existing 3 D medical image, first, based on display card and active three-dimensional stereo glasses, coordinates phase
The software answered shows to the picture realizing 3 D medical image, then, by user by spike ball, joystick, remote control hands
The plant equipment such as handle, mouse realizes the manipulation to 3 D medical image, these control modes manipulation inconvenience, and manipulates
Motility and accuracy the most poor.
Additionally, due to the display of 3 D medical image and process all can expend substantial amounts of system resource, at 3 D medical image
Control during, the stability of main frame is had higher requirements, and traditional server is often due to system stability is poor,
It is difficult to meet above-mentioned requirements, and system stability had both depended on that software system depended on hardware system, existing server
Hardware system is most difficult to radical cure due to the system failure that dirt and dust stratification cause, and causes system unstable first, second increases
Add maintenance cost, be especially unsuitable for 3 D medical image and control.
Summary of the invention
For drawbacks described above of the prior art, the invention provides a kind of 3 D medical image control method, existing to solve
Have in technology plant equipment such as utilizing spike ball, joystick, remote-control handle, mouse that 3 D medical image is carried out manipulation to deposit
Motility and the problem of poor accuracy.
First aspect, a kind of 3 D medical image that the application provides controls equipment, including: 3D display device, multiple stage are taken the photograph
Camera, console controller；Wherein,
The content needing display is shown as stereoscopic image by 3D display device；
Multiple cameras is for obtaining user's gesture motion data in different angles, and sends these gesture motion data to master
Machine controller；
User's gesture is identified by console controller, and controls image and show on 3D display device.
Second aspect, a kind of 3 D medical image control method that the application provides, including:
The positional information of the three-dimensional stereo glasses that the user that receiving infrared-ray tracker sends wears；
According to the positional information of described three-dimensional stereo glasses, calculate the described user's head relative position relative to display；
According to described user's head relative to the relative position of display, generate corresponding with the viewing angle of described user three
Dimension medical image is also sent to described display and shows；
Receive the depth transducer degree of depth image frame sequence for the manipulation gesture collection of described user；
To each degree of depth image frame in described degree of depth image frame sequence, canny edge detection method is used to detect described
Palm position in degree of depth image frame, it is thus achieved that the depth data of palm position；
Depth data to described palm position, uses position and the angle of inverse kinematics reconstruct finger segments, it is thus achieved that comprise hands
Referring to the hand data of attitude data, the hand data that all described degree of depth image frames are corresponding collectively constitute hand data sequence；
Manipulation gesture according to user described in described hand data sequence identification；
Inquire about gesture for described 3 D medical image be controlled corresponding with the manipulation gesture of described user to control
Instruction；
Perform described gesture control instruction, it is achieved the control to described 3 D medical image.
Optionally, the described manipulation gesture according to user described in described hand data sequence identification, including:
Palm position, finger gesture and the movement velocity of hand of described user is calculated according to described hand data sequence；
Utilize palm position, finger gesture and the movement velocity of hand of described user, in default manipulation gesture parameter list
The method using data pair inquires about the manipulation gesture of described user, and wherein, described manipulation gesture includes that both hands are spread out relatively
Mobile, one hand spread out mobile, stretch out forefinger and middle finger moves, stretches out forefinger and thumb, both hands stretch out forefinger and thumb moves
Dynamic, forefinger and thumb are become separately from kneading.
Optionally, described inquiry is corresponding with the manipulation gesture of described user for being controlled described 3 D medical image
Gesture control instruction, including:
Default gesture control instruction mapping table is inquired about corresponding with the manipulation gesture of described user for described three
The gesture control instruction that dimension medical image is controlled；In described default gesture control instruction mapping table, record has manipulation hands
Gesture and the mapping relations of gesture control instruction.
Optionally, described manipulation gesture and the mapping relations of gesture control instruction, specifically include:
Both hands spread out gesture control instruction that the manipulation gesture of relative movement maps for 3 D medical image is amplified or
The control instruction reduced；
The gesture control instruction of the manipulation gesture mapping that one hand spreads movement out is the control rotating 3 D medical image
Instruction；
Stretch out forefinger and gesture control instruction that manipulation gesture that middle finger moves maps is for translate 3 D medical image
Control instruction；
The gesture control instruction of the manipulation gesture mapping stretching out forefinger and thumb is the control clicking 3 D medical image
System instruction；
The gesture control instruction that the manipulation gesture that both hands stretch out forefinger and thumb moves maps is to the 3 D medical shadow clicked
As carrying out stretching or the control instruction of compression operation；
Forefinger and thumb are become the gesture control instruction of separate manipulation gesture mapping for enter 3 D medical image from kneading
The control instruction of row switching display surface.
Optionally, described execution described gesture control instruction, it is achieved the control to described 3 D medical image, including:
Described gesture control instruction is performed for operation object, it is achieved to described 3 D medical image with described 3 D medical image
Control；Or
Described gesture control instruction is converted to the instruction of the camera control to rendering camera, right with described rendering camera for operation
As performing the instruction of corresponding camera control, it is achieved the control to described 3 D medical image.
The third aspect, a kind of 3 D medical image control system that the application provides, it is characterised in that including: display,
Infrared ray tracker, depth transducer, main frame and three-dimensional stereo glasses；
Described display, infrared ray tracker, depth transducer are all connected with main frame and by host computer control；
Described infrared ray tracker, its three-dimensional stereo glasses wearing user carries out location tracking, and described in gathering
The positional information of three-dimensional stereo glasses sends to described main frame；
Described display, it shows described 3 D medical shadow after receiving the 3 D medical image that described main frame sends in real time
Picture；
Described depth transducer, it is connected with described main frame, and obtains user's manipulation gesture to described 3 D medical image,
Generate degree of depth image frame sequence, and described degree of depth image frame sequence is sent to described main frame；
Described main frame, it is according to the positional information of described three-dimensional stereo glasses, calculates described user's head relative to display
Relative position, and according to described user's head relative to the relative position of display, generate the viewing angle with described user
Spend corresponding 3 D medical image and be sent to described display and show；And every in described degree of depth image frame sequence
One degree of depth image frame, uses canny edge detection method to detect the palm position in described degree of depth image frame, it is thus achieved that hands
The depth data of palm position, the depth data to described palm position, use position and the angle of inverse kinematics reconstruct finger segments
Degree, it is thus achieved that comprising the hand data of finger gesture data, the hand data that all described degree of depth image frames are corresponding collectively constitute
Hand data sequence；And the manipulation gesture according to user described in described hand data sequence identification, inquiry and described user
Manipulation gesture corresponding gesture control instruction, with described 3 D medical image for manipulation object, perform described gesture control
Instruction, it is achieved the control to described 3 D medical image.
Optionally, described depth transducer includes two infrarede emitting diode GTG photographic head.
Optionally, described display includes: three-dimensional immersion display.
Optionally, described main frame includes:
Mainboard, hard disk, power supply and housing, described mainboard is provided with central processing unit, memory bar, chipset and I/O
Equipment；
Described mainboard also includes PCB and dust cleaning system, and described dust cleaning system includes the first dust stratification detection
Device, the second dust stratification detection device, exhaust outlet and dust blow device, described dust blow device includes cleaning air inlet dress
Put, described in be swept at the air inlet of device of air defecator be set, described in be swept into device of air and be arranged at PCB circuit
The cleaning pipeline connection of the component installed surface side of plate, described cleaning pipeline is positioned at above component, and in correspondence
The position of heater element is provided with self adaptation gas outlet, arranges multi-disc sector bimetal leaf at each described self adaptation gas outlet,
Time below deformation temperature, the described multi-disc mutually adjacent composition of sector bimetal leaf is discoid, thus by described self adaptation
Gas outlet is closed, and higher than during deformation temperature, described bimetal leaf bends to described self adaptation gas outlet lateral direction, by described
Self adaptation gas outlet is opened, and when the temperature of described bimetal leaf is the highest, the amplitude that described self adaptation gas outlet is opened
The biggest；
Described first dust stratification detection device includes the first electricity for measuring the element radiating chip capacitor value on central processing unit
Holding measuring device and comparator, described element radiating sheet is made up of multiple fin monomers, and between multiple fin monomers, electricity is absolutely
Edge, the electric capacity between fin monomer is detected by described first capacitometer, when comparator is judged to measure electric capacity
When value is less than threshold value electric capacity, starts and be swept into device of air, through filtered air via the self adaptation on described cleaning pipeline
Gas outlet blows out, and cleans described component；
Described second dust stratification detection device includes light-beam generator and at least one mirror surface being arranged in PCB,
This light-beam generator is arranged on described enclosure interior sidewall, and rectilinear light beam is transmitted into by light-beam generator with fixing angle
Described mirror surface, after described mirror surface reflects, light beam is projected onto the photosensitive switch being positioned on enclosure interior sidewall,
Photosensitive switch remains on after receiving light beam；When the dust stratification on mirror surface reaches predetermined thickness, photosensitive switch
Sense less than reflection light, then photosensitive switch Guan Bi, automatically start and be swept into device of air；
When any one startup in this first dust stratification detection device and the second dust stratification detection device is swept into device of air, this is clear
Sweeping into device of air to start, after the scheduled time, this is swept into device of air and is automatically switched off.
Optionally, the described light-beam generator in dust cleaning system is laser generator.
Optionally, the described light-beam generator in dust cleaning system includes LED and concave mirror, and described LED is by light
Line projects on described concave mirror, and by sending directional light after concave mirror.
Optionally, the described fin monomer in dust cleaning system is arranged on an insulating thermal conductor, and each is described scattered
Between backing monomer, the bearing of trend along diffusion sheet is split.
Optionally, the described fin monomer in dust cleaning system is arranged on an insulating thermal conductor, and each is described scattered
Along circular dividing between backing monomer.
Compared with prior art, the invention have the advantages that
A kind of 3 D medical image control method that the present invention provides, by following the trail of the position of the three-dimensional stereo glasses that user wears
Putting, can automatically generate 3 D medical image corresponding with the viewing angle of described user, user need not by handle etc.
Control described 3 D medical image to rotate, described 3 D medical image can be observed from different perspectives；Meanwhile, the degree of depth is utilized
The manipulation gesture of Sensor monitoring user, and use canny edge detection method to carry out image identification, i.e. can recognize that user's
Manipulation gesture, and then call the corresponding gesture control instruction realization control to described 3 D medical image.The present invention, gets rid of
Abandon and existing by plant equipment such as spike ball, joystick, remote-control handle, mouses, 3 D medical image has been manipulated
Mode, manipulates convenient, and motility and accuracy are the most higher, has science and technology sense, better user experience simultaneously.
Additionally, the present invention is by arranging dust cleaning system in main frame, it is possible to achieve the automatically cleaning to internal circuit element,
Thus it is bad to avoid causing because internal circuit element surface is furnished with dust dispelling the heat, and then the described main frame operational efficiency caused
Decline, the problems such as machine of delaying, thus improve the stability of described main frame, reduce maintenance cost, meet three-dimensional to greatest extent
The medical image processing requirement to main frame stability.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete real
Execute the required accompanying drawing used in mode or description of the prior art to be briefly described.In all of the figs, similar element
Or part is typically by the reference mark being similar to.In accompanying drawing, each element or part might not be painted according to actual ratio
System.
Fig. 1 shows that a kind of 3 D medical image that the embodiment of the present invention provides controls the structured flowchart of equipment；
Fig. 2 shows the flow chart of a kind of 3 D medical image control method that the present invention provides；
Fig. 3 shows that the user that the embodiment of the present invention provides manipulates the schematic diagram of 3 D medical image；
Fig. 4 shows the schematic diagram one of the finger segments of the employing inverse kinematics reconstruct that the embodiment of the present invention provides；
Fig. 5 shows the schematic diagram two of the finger segments of the employing inverse kinematics reconstruct that the embodiment of the present invention provides；
Fig. 6 shows the schematic diagram of manipulation gesture that the embodiment of the present invention provides and gesture control instruction；
Fig. 7 shows the structural representation of a kind of 3 D medical image control system that the embodiment of the present invention provides；
Fig. 8 shows the structured flowchart of main frame in 3 D medical image control system of the present invention；
Fig. 9 shows the structural representation of main frame in 3 D medical image control system of the present invention；
Figure 10 shows in 3 D medical image control system of the present invention the partial view of self adaptation gas outlet in main frame；
Figure 11 shows in 3 D medical image control system of the present invention the partial view of element radiating sheet in main frame；
Figure 12 shows that in 3 D medical image control system of the present invention, in main frame, element radiating sheet changes the structure of embodiment
Schematic diagram；
Figure 13 shows the structural representation of main frame change embodiment in 3 D medical image control system of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example are only used for more
Add and clearly demonstrate technical scheme, be therefore intended only as example, and the protection of the present invention can not be limited with this
Scope.
It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be the present invention
The ordinary meaning that one of ordinary skill in the art are understood.
Refer to Fig. 1, it controls the structured flowchart of equipment for a kind of 3 D medical image that the embodiment of the present invention provides, this
The 3 D medical image that inventive embodiments provides controls equipment and includes: 3D display device, multiple cameras, console controller；
Wherein,
The content needing display is shown as stereoscopic image by 3D display device；
Multiple cameras is for obtaining user's gesture motion data in different angles, and sends these gesture motion data to master
Machine controller；
User's gesture is identified by console controller, and controls image and show on 3D display device.
Refer to Fig. 2, the flow chart of its a kind of 3 D medical image control method provided for the embodiment of the present invention, described
The operation main body of 3 D medical image control method is main frame, comprises the following steps:
Step S101: the positional information of the three-dimensional stereo glasses that the user that receiving infrared-ray tracker sends wears.
In the present embodiment, user observes 3 D medical image, described three-dimensional stereo glasses by the three-dimensional stereo glasses worn
On be configured with infrared transceiver, utilize infrared ray tracker can realize the location tracking to described three-dimensional stereo glasses.
Step S102: according to the positional information of described three-dimensional stereo glasses, calculates described user's head relative to display
Position relatively.
The position of described three-dimensional stereo glasses is regarded as the position of described user's head, chases after according to set described infrared ray
The installation site of track device, the installation site of described display, can calculate the described user's head phase relative to display
To position.
Step S103: according to described user's head relative to the relative position of display, generate the viewing angle with described user
Spend corresponding 3 D medical image and be sent to described display and show.
In prior art, 3 D medical image is observed by doctor the most from different perspectives, needs to manipulate remote-control handle
Etc. plant equipment, described 3 D medical image is carried out the operations such as rotation, in the embodiment of the present invention, by following the trail of user's head
Position, automatically calculate the relative position of described user's head and described display, and then automatically to described 3 D medical
Image carries out the operations such as rotation, is simulated the three-dimensional seen when user's head moves by the camera lens in mobile context
Object image, generates 3 D medical image corresponding with the viewing angle of described user, and is sent out by described 3 D medical image
Give described display to show, compared to traditional control modes such as remote-control handles, it is achieved that to 3 D medical image
Automatization adjust, it is not necessary to user carries out extra complex operations, more convenient and flexible.
Step S104: receive the depth transducer degree of depth image frame sequence for the manipulation gesture collection of described user.
In the embodiment of the present invention, abandon and traditional utilized the plant equipment such as spike ball, joystick, remote-control handle, mouse
The mode manipulating 3 D medical image, uses depth transducer to gather the manipulation gesture of user, and combines corresponding
Image-recognizing method, identifies the operating gesture of described user, and then calls the realization of corresponding gesture control instruction to described
The manipulation of 3 D medical image.
Wherein, described depth transducer can use infrared ray depth transducer, the such as Kinect of Microsoft's exploitation
Depth transducer, in the embodiment that the present invention provides, described depth transducer includes two infrarede emitting diodes
GTG photographic head, to gather the manipulation gesture picture of user from different perspectives.
Refer to Fig. 3, it manipulates the schematic diagram of 3 D medical image for the user that the embodiment of the present invention provides.In Fig. 3,
After user wears three-dimensional stereo glasses, when observing the 3 D medical image on display, can be appreciated that virtual three-dimensional three-dimensional
Medical image, virtual 3 D medical image can be made to use gesture and manipulate by user.In the present embodiment, the described degree of depth
Sensor can be installed on display side, and with the manipulation gesture from front shooting user, depth transducer can set up one directly
Angle coordinate system, origin is the center of depth transducer, and the X-axis of coordinate is parallel to depth transducer, points to screen
Right, Y-axis points up, and Z axis points to the direction deviating from screen.In the degree of depth image frame that depth transducer gathers, use
Family palm is relatively near away from display screen, and background is distant, therefore, it is possible to identify the gesture of user eaily.
In the embodiment that the present invention provides, depth transducer central point is zero with the X-axis distance of display center point,
Both coordinate directions are consistent, utilize depth transducer central point and the Y-axis of display center point and Z axis distance, can use
Following transformation matrix calculates the position at hand place: i.e. with PtransRepresent
Wherein, PtransRepresenting the position at hand place, M is the centre of the palm transformation matrix relative to sensor.PxIt is 0, Py、
PzIt is respectively depth transducer central point and the Y-axis of display center point and Z axis distance.
Step S105: to each degree of depth image frame in described degree of depth image frame sequence, uses canny edge detection method
Detect the palm position in described degree of depth image frame, it is thus achieved that the depth data of palm position.
Described depth transducer can regularly gather the manipulation gesture picture of user, thus generates degree of depth image frame sequence, this
In step, canny edge detection method can be used to identify the palm position in each degree of depth image frame, it is thus achieved that palm
The depth data of position.
Wherein, canny edge detection method is image recognition algorithm more conventional in prior art, is suitable for degree of depth image
Frame is identified, and has that recognition speed is fast, accuracy advantages of higher.
Step S106: the depth data to described palm position, uses position and the angle of inverse kinematics reconstruct finger segments,
Obtaining the hand data comprising finger gesture data, the hand data that all described degree of depth image frames are corresponding collectively constitute hand
Data sequence.
After obtaining the depth data of described palm position, can use inverse kinematics reconstruct palm in each finger segments position and
Angle, its basis is:
Based on every finger tip can only flex inward, the angle calculation mode in every three joints of finger is:
Often refer to length=finger length/3
Finger tip gap=finger tip position-position, the centre of the palm
Joint angles T is:
Sin (T)=with the length of adjacent distance/the refer to joint referring to joint
The position of inverse kinematics reconstruct finger segments, is applied to refer to joint when finger tip is completely covered second and third, it is known that often save
Length, through the angle calculation equation reducible finger segments three-dimensional position in every three joints of finger.Refer to Fig. 4, Fig. 5,
The schematic diagram one of the finger segments that its employing inverse kinematics being respectively embodiment of the present invention offer reconstructs and schematic diagram two.
Finger segments is reconstructed, it is possible to obtain what each described degree of depth image frame was corresponding comprises finger gesture data by inverse kinematics
Hand data, the hand data that all described degree of depth image frames are corresponding collectively constitute hand data sequence.
Step S107: according to the manipulation gesture of user described in described hand data sequence identification.
Manipulate the frequency of gesture picture according to described hand data sequence and described depth transducer collection, i.e. would know that described
The movable information of the hand of user, i.e. may recognize that the manipulation gesture of described user according to described movable information, as clenched fist,
Spread palm, translation etc. out.
In the embodiment that the present invention provides, the described manipulation hands according to user described in described hand data sequence identification
Gesture, including:
Palm position, finger gesture and the movement velocity of hand of described user is calculated according to described hand data sequence；
Utilize palm position, finger gesture and the movement velocity of hand of described user, in default manipulation gesture parameter list
The method using data pair inquires about the manipulation gesture of described user, and wherein, described manipulation gesture includes that both hands are spread out relatively
Mobile, one hand spread out mobile, stretch out forefinger and middle finger moves, stretches out forefinger and thumb, both hands stretch out forefinger and thumb moves
Dynamic, forefinger and thumb are become separately from kneading.
Step S108: inquire about corresponding with the manipulation gesture of described user for described 3 D medical image is controlled
Gesture control instruction.
In the present embodiment, pre-set gesture control instruction mapping table, described default gesture control instruction mapping table is remembered
Record has the mapping relations of manipulation gesture and gesture control instruction, after getting the manipulation gesture of described user, by pairing
The method of data, can inquire about use corresponding with the manipulation gesture of described user in default gesture control instruction mapping table
In the gesture control instruction that described 3 D medical image is controlled, as zoom, rotation, automatically rotate, translation,
Click.
In the embodiment that the present invention provides, described manipulation gesture and the mapping relations of gesture control instruction, specifically wrap
Include:
Both hands spread out gesture control instruction that the manipulation gesture of relative movement maps for 3 D medical image is amplified or
The control instruction reduced；
The gesture control instruction of the manipulation gesture mapping that one hand spreads movement out is the control rotating 3 D medical image
Instruction；
Stretch out forefinger and gesture control instruction that manipulation gesture that middle finger moves maps is for translate 3 D medical image
Control instruction；
The gesture control instruction of the manipulation gesture mapping stretching out forefinger and thumb is the control clicking 3 D medical image
System instruction；
The gesture control instruction that the manipulation gesture that both hands stretch out forefinger and thumb moves maps is to the 3 D medical shadow clicked
As carrying out stretching or the control instruction of compression operation；
Forefinger and thumb are become the gesture control instruction of separate manipulation gesture mapping for enter 3 D medical image from kneading
The control instruction of row switching display surface.
Refer to Fig. 6, its manipulation gesture provided for the embodiment of the present invention and the schematic diagram of gesture control instruction.The present invention
Goal of the invention be that the operation by natural gesture controls to make Three dimensions control, in the middle of include using depth transducer to obtain number
According to, including the position in palm, the five fingers and joint, the anglec of rotation etc..By the method for paired data, estimate the hands of user
Gesture control command.Palm, palm bone and joint can be estimated relative to sensor millimeter based on gesture identification sensor
The location information of rank, can make definition of gesture action with the straight position of opponent's the five fingers and include the following:
Distinguishing state: hold fist a period of time in any state is i.e. convertible into the pattern of distinguishing, its discriminating fashion is
Cross sensor estimation and whether hold the fist palm the five fingers in distinguishing state, the definition of any non-gesture (zoom, rotates,
Automatically rotate, translation, click)
Zoom: gesture identification sensor detecting is moving to two handss of two handss, and both hands represent amplification in the opposite direction,
The parameter of detection is: the difference of the position of two palm center, and then two palm center of contrast are when the distance and carved
Start to detect the variation ratio of distance when two palms open as the position moving parameter to rendering camera.
Rotate: single palm is stretched out and indicated entry into rotation status, the when of mobile single palm, the horizontal shifting in the palm centre of the palm
The worthwhile azimuth rotation parameter making rendering camera of moment, the vertically movable difference in the palm centre of the palm as the elevation angle of rendering camera,
And the parameter of rendering camera action of rolling is the interior hand position line according to the centre of the palm and the angle of hand position line in the centre of the palm of upper one more new frame
Degree difference.
Automatically rotate: single palm quickly moves at rotation status, through present position, the palm centre of the palm and upper one more new frame
Position difference is divided by lead time between two frames, it is thus achieved that hands translational speed, if translational speed reaches or fast mistake 30 centimetres
Per second, automatic spinning block formula will be opened, and as normal rotation, according to the transverse shifting difference in the two frame palm centres of the palm
With vertically movable difference as the automatic rotary gyration of rendering camera.
Translation: only forefinger and two fingers of middle finger stretch and indicate entry into translation state, through present position, the palm centre of the palm with
The position difference of upper one more new frame is as the translation parameters of rendering camera
Click: only thumb and two fingers of forefinger stretch and indicate entry into the state of clicking, and obtain forefinger near-end through sensor
The relative sensor positions of phalanges and the anglec of rotation, add the relative distance of sensor and display center point, i.e. restructural
Forefinger is in the three-dimensional relative position of display.The action that detecting forefinger quickly clicks simultaneously, in limiting half second time
Obtain under forefinger finger point and return immediately and be i.e. considered as quickly clicking.And inform system, allow the point selection function of design come into force.
Step S109: perform described gesture control instruction, it is achieved the control to described 3 D medical image.
Owing to the display of 3 D medical image is together decided on by 3 D medical image and rendering camera, therefore, this step
There is numerous embodiments, can be to perform described gesture control instruction with described 3 D medical image for operation object, it is achieved
Control to described 3 D medical image, it is also possible to be that described gesture control instruction is converted to the camera control to rendering camera
System instruction, performs the instruction of corresponding camera control with described rendering camera for operation object, it is achieved to described 3 D medical shadow
The virtual controlling of picture, the display effect that above two embodiment produces is the same, and it is all in protection scope of the present invention
Within.
So far, by step S101 to step S109, a kind of 3 D medical image that the embodiment of the present invention provides is completed
The flow process of control method.
The 3 D medical image control method that the present invention provides, by following the trail of the position of the three-dimensional stereo glasses that user wears,
Can automatically generate 3 D medical image corresponding with the viewing angle of described user, user need not be controlled by handle etc.
Described 3 D medical image rotates, and can observe described 3 D medical image from different perspectives；Meanwhile, depth sensing is utilized
The manipulation gesture of device monitoring user, and use canny edge detection method to carry out image identification, i.e. can recognize that the manipulation of user
Gesture, and then call the corresponding gesture control instruction realization control to described 3 D medical image.The present invention, abandons
It is existing by the way of 3 D medical image is manipulated by the plant equipment such as spike ball, joystick, remote-control handle, mouse,
Manipulating convenient, motility and accuracy are the most higher, have science and technology sense, better user experience simultaneously.
Additionally, the infrared ray tracker of the present invention and depth transducer are all to have employed optical signal to sense, and automatically hold
The corresponding operation of row, in actual application, the present invention is directed to short distance three-dimensional object and gesture reaches a millimeter rank essence alternately
Standard, and, compared to prior art, the present invention can accurately obtain the attitude data of the five fingers, provides for gesture interaction application
More condition adjudgement.
In the above-described embodiments, it is provided that a kind of 3 D medical image control method, corresponding, the present invention also carries
For a kind of 3 D medical image control system, refer to Fig. 7, its a kind of 3 D medical shadow provided for the embodiment of the present invention
As the structural representation of control system, owing to native system embodiment is substantially similar to embodiment of the method, so describing to compare
Simply, relevant part sees the part of embodiment of the method and illustrates.System embodiment described below is only schematically
's.
Refer to Fig. 7, a kind of 3 D medical image control system that the embodiment of the present invention provides, including: display 101,
Infrared ray tracker 102, depth transducer 103, main frame 104 and three-dimensional stereo glasses 105；
Described display 101, infrared ray tracker 102, depth transducer 103 are all connected and by main frame with main frame 104
104 control；
Described infrared ray tracker 102, the three-dimensional stereo glasses 105 that user is worn by it carries out location tracking, and will adopt
The positional information of the described three-dimensional stereo glasses 105 of collection sends to described main frame 104；
Described display 101, it is display described three in real time after receiving the 3 D medical image that described main frame 104 sends
Dimension medical image；
Described depth transducer 103, it is connected with described main frame 104, and obtains user to described 3 D medical image
Manipulation gesture, generates degree of depth image frame sequence, and sends described degree of depth image frame sequence to described main frame 104；
Described main frame 104, it calculates described user's head relative according to the positional information of described three-dimensional stereo glasses 105
In the relative position of display 101, and according to described user's head relative to the relative position of display 101, generate with
The viewing angle corresponding 3 D medical image of described user is also sent to described display 101 and shows；And to described
Each degree of depth image frame in degree of depth image frame sequence, uses canny edge detection method to detect described degree of depth image frame
In palm position, it is thus achieved that the depth data of palm position, the depth data to described palm position, use inverse kinematics
The position of reconstruct finger segments and angle, it is thus achieved that comprise the hand data of finger gesture data, all described degree of depth image frames pair
The hand data answered collectively constitute hand data sequence；And the manipulation according to user described in described hand data sequence identification
Gesture, inquires about the manipulation gesture corresponding gesture control instruction with described user, right with described 3 D medical image for manipulation
As, perform described gesture control instruction, it is achieved the control to described 3 D medical image.
Optionally, described depth transducer 103 includes two infrarede emitting diode GTG photographic head.
Optionally, described display 101 includes: three-dimensional immersion display 101.
The described 3 D medical image control system that the present embodiment provides and above-mentioned 3 D medical image control method belong to one
Individual total inventive concept, has identical beneficial effect.
It is considered that owing to display and the process of 3 D medical image all can expend substantial amounts of system resource, at 3 D medical shadow
During the control of picture, the stability of main frame is had higher requirements, and traditional server is often due to system stability is poor,
It is difficult to meet above-mentioned requirements, and system stability had both depended on that software system depended on hardware system, existing server
Hardware system is most difficult to radical cure due to the system failure that dirt and dust stratification cause, and therefore, the present invention is simultaneously to described three-dimensional
Main frame in medical image control system is improved.
Refer to Fig. 8, Fig. 9, Figure 10 and Figure 11, wherein, Fig. 8 is main in 3 D medical image control system of the present invention
The structured flowchart of machine, Fig. 9 is the structural representation of main frame in 3 D medical image control system of the present invention, and Figure 10 is this
The partial view of self adaptation gas outlet in main frame in invention 3 D medical image control system, Figure 11 is three-dimensional of the present invention doctor
The partial view of element radiating sheet in main frame in image control system.
In figure, the implication that each reference represents is as follows；1, housing；2, PCB；
11, it is swept into device of air；12, defecator；13, pipeline is cleaned；14, self adaptation gas outlet；15、
Bimetal leaf；16, fin monomer；17, mirror surface；18, photosensitive switch；19, component；20、
Exhaust outlet；23, insulating thermal conductor；24, laser generator.
According to Fig. 8, Fig. 9, Figure 10 and Figure 11, main frame in 3 D medical image control system of the present invention, including: mainboard,
Hard disk, power supply and housing, described mainboard is provided with central processing unit, memory bar, chipset and I/O equipment；
Described mainboard also includes PCB 2 and dust cleaning system, and described dust cleaning system includes the first dust stratification inspection
Surveying device, the second dust stratification detection device, exhaust outlet 20 and dust blow device, described dust blow device includes cleaning
Air intake installation 11, in the present embodiment, being swept into device of air 11 can be supply fan or inlet air compressor, described
Be swept at the air inlet of device of air 11 and defecator 12 be set, described in be swept into device of air 11 and be arranged at PCB circuit
The cleaning pipeline 13 of the component 19 installed surface side of plate 2 connects, and described cleaning pipeline 13 is positioned at component 19
Top, and it is provided with self adaptation gas outlet 14, at each described self adaptation gas outlet 14 in the position of corresponding heater element
Multi-disc sector bimetal leaf 15 is set, time below deformation temperature, the mutually adjacent structure of described multi-disc sector bimetal leaf 15
Becoming discoid, thus closed described self adaptation gas outlet 14, higher than during deformation temperature, described bimetal leaf 15 is to described
Self adaptation gas outlet 14 lateral direction bending, opens described self adaptation gas outlet 14, and when described bimetal leaf 15
Temperature the highest time, the amplitude that described self adaptation gas outlet 14 is opened is the biggest；
Described first dust stratification detection device includes the first electricity for measuring the element radiating chip capacitor value on central processing unit
Holding measuring device and comparator, described element radiating sheet is made up of multiple fin monomers 16, multiple fin monomers 16 it
Between electric insulation, the electric capacity between fin monomer 16 is detected by described first capacitometer, when comparator judge
When going out to measure capacitance less than threshold value electric capacity, start and be swept into device of air 11, clean pipe through filtered air via described
Self adaptation gas outlet 14 on road 13 blows out, and cleans described component 19；Wherein, described threshold value electric capacity
Could be arranged to 0.9 times of described element radiating sheet reference capacitance value, this reference capacitance value is that described element radiating sheet does not tires out
Capacitance during dust stratification dirt, between two described fin monomers 16；
Described second dust stratification detection device includes that light-beam generator and at least one are arranged on the reflecting mirror in PCB 2
Face 17, this light-beam generator is arranged in described housing 1 internal side wall, light-beam generator with fixing angle by line light
Bundle is transmitted into described mirror surface 17, and after described mirror surface 17 reflects, light beam is projected onto and is positioned at housing 1 inside
Photosensitive switch 18 on sidewall, photosensitive switch 18 remains on after receiving light beam；When amassing on mirror surface 17
When ash reaches predetermined thickness, photosensitive switch 18 senses less than reflection light, then photosensitive switch 18 closes, and automatically starts clear
Sweep into device of air 11；
When any one startup in this first dust stratification detection device and the second dust stratification detection device is swept into device of air 11,
This is swept into device of air 11 and starts, and after the scheduled time, this is swept into device of air 11 and is automatically switched off.
When fin accumulation dust is more when, the gap between fin can reduce, and fin is overall as one
Electric capacity can diminish, so when electric capacity is varied down to certain value when, may mean that dust has run up to certain stage,
So needing to clear up dust；
When PCB 2 and component 19 dust stratification are more when, the dust stratification on mirror surface 17 is the most more, when
The when that dust stratification being more, dust can produce obvious diffuse-reflectance effect, and the minute surface weakening mirror surface 17 greatly is anti-
Penetrate effect, photosensitive switch 18 can be caused cannot to receive the light intensity of sufficient intensity to be triggered.By another mode
Also achieve the automatic monitoring for element surface dust stratification degree, thus it is more and make significantly to improve element surface dust stratification
The element burnout problems that the short circuit become or heat radiation be not smooth and causes；
By arranging capacitance detecting and light detection two ways, can backup each other, to guarantee when dust runs up to definitely
The when of step dust cleaning system can system in time, remove the dust of element surface covering.
Particularly, light-beam generator is laser generator 24.
Laser generator 24 directionality is good, and the light after direct reflection will not occur significantly to dissipate, but works as
After some surface attachment dust, after particularly dust accumulation is more, it will obvious diffuse-reflectance occurs.Thus carry
High when having dust and a free from dust or the when that dust being many and dust is few, the light intensity that photosensitive switch 18 is able to receive that
Discrimination, improves the reliability for light-intensity test, reduces the probability of error starting.
Particularly, fin monomer 16 is arranged on an insulating thermal conductor 23, between each fin monomer 16
Bearing of trend along diffusion sheet is split.
Insulating thermal conductor 23 can be attachment insulating barrier on metal material, in the case of significantly reducing heat conductivility,
Make each fin monomer 16 mutually insulated, so that constituting electric capacity between each monomer of fin.By making
Each fin is split along bearing of trend, can independently constitute electric capacity, it is simple to wiring between each fin monomer 16.
Particularly, the quantity of the bimetal leaf 15 at each self adaptation gas outlet 14 is 6.Bimetal leaf 15
Including active layers and passive layer, active layers is manganin manganin alloy, and the material of passive layer is mainly dilval.
When the quantity of bimetal leaf 15 is 6 when, the lateral restriction tension force in each bimetal leaf 15 is the most less,
So that bimetal leaf 15 forms bigger flexural deformation, the quantity of sheet metal is the most abundant, it is not necessary to be further added by gold
Belong to the quantity of sheet to reduce the reliability of system.
Bimetal leaf 15 uses monel as active layers, and its deformation quantity is relatively big, thus obtains obvious opening
Effect.
Particularly, described exhaust outlet 20 can arrange on the housing farthest away from the described position being swept into device of air
Put place.
In 3 D medical image control system of the present invention, the dust cleaning operating principle of main frame is as follows:
The when that between component or fin, upper dust stratification being more, the actual range between fin monomer can decline,
The air of the non-conductor as electricity between metal fin, also has the space shared by partial air and is replaced by dust,
So the electric capacity between fin monomer can decline step by step along with the accumulation of dust.When the low lower limit to threshold value of capacitance
Time, start and be swept into device of air.
In addition to this detection mode, be also provided with light detection mode, when dust accumulate on mirror surface more
When, the reflectance of direct reflection can be reduced, reduce the intensity of illumination that photosensitive switch can receive, photosensitive switch
Sense less than reflection light, then photosensitive switch Guan Bi, automatically start and be swept into device of air.
It is swept into after device of air starts and absorbs the most filtered cleaned air from the external world, send into and clean in pipeline.Due to certainly
Adapt to the bimetal leaf at gas outlet be as variations in temperature and shape is altered in steps, so self adaptation gas outlet now
Open, and, the self adaptation gas outlet above hotter element is opened bigger, on the most colder element
The self adaptation gas outlet of side is opened less, so that the flow of cleaned air can according to the different temperatures of element not
Same distribution, to improve the utilization ratio of cleaned air.Can allow be swept into after device of air first blows the very first time and be automatically switched off,
The such as very first time can be half a minute.Then second time that waited allows and is suspended in the ash fall in enclosure interior space, because of
Although the dust of component surface being blown afloat for giving vent to anger of self adaptation gas outlet, and constantly to enclosure interior space make-up
Air, says from main trend, and the air being mixed with dust can be discharged from exhaust outlet, but cannot guarantee that after some time,
The air being mixed with dust will all be discharged from enclosure interior space.So after blowing over a period of time, space in housing
Air, being still the air being mixed with a small amount of dust in fact, so needing to wait for a period of time, allowing dust in air settle.
Such as second time can be 3 minutes or 2 minutes.After ash fall in housing, then detect electric capacity, if still
Be less than threshold value, then continue to clean, the most repeatedly, so that the ash on element and circuit board
Dirt is cleaned up.
The present invention is by arranging dust cleaning system in main frame, it is possible to achieve the automatically cleaning to internal circuit element, thus
Avoid causing because internal circuit element surface is furnished with dust dispelling the heat bad, and then the described main frame operational efficiency caused declines,
Delay the problems such as machine, thus improve the stability of described main frame, reduce maintenance cost, meet 3 D medical shadow to greatest extent
As processing the requirement to main frame stability.
Figure 12 is the structural representation of element radiating sheet change embodiment in main frame in 3 D medical image control system of the present invention
Figure；
It is in place of the present embodiment and the change of above-described embodiment:
Fin monomer 16 is arranged on an insulating thermal conductor 23, along circular dividing between each fin monomer 16.
Insulating thermal conductor 23 can be attachment insulating barrier on metal material, in the case of significantly reducing heat conductivility,
Make each fin monomer 16 mutually insulated, so that constituting electric capacity between each fin monomer 16 of fin.
Figure 13 is the structural representation of main frame change embodiment in 3 D medical image control system of the present invention.
The implication that the reference occurred in aforementioned figures in figure represents continues to use the implication in aforementioned figures, newly occurs
The implication that represents of each reference as follows: 21, LED；22, concave mirror；
In this change embodiment, light-beam generator uses laser generator, in the present embodiment, it is also possible to by light beam
Generator is set to include LED 21 and concave mirror 22, and light is projected on concave mirror 22 by LED 21, and by
Directional light is sent after concave mirror 22 reflection.LED 21 is as a kind of widely used light source, by concave mirror 22 by it
Reflect, still can obtain the preferable directional light of quality.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned
Detailed description of the invention, above-mentioned detailed description of the invention is only schematically, is not restrictive, this area general
Logical technical staff is under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection,
Can be to make a lot of form, such as: 1. above-described embodiment is to be the annular of L-shaped by a cross section, fixes
The afterbody of each bimetal leaf, actually can also by bimetal leaf by the way of bonding or soldering with the table cleaning pipeline
Face connects；2. the bimetal leaf at each self adaptation gas outlet in above-described embodiment is 6, can essentially make into
3-10 sheet, when the quantity of bimetal leaf is 3 when, can form a bad angle by each bimetal leaf so that
This sheet metal can have a tip that can open, and when being heated when, tip levers up, and can form self adaptation and go out
The air channel in air port.When the quantity of bimetal leaf is 10 when, the lateral restriction tension force in each bimetal leaf is
Less, so that bimetal leaf forms bigger flexural deformation, the quantity of sheet metal is the most abundant, it is not necessary to be further added by
The quantity of sheet metal is to reduce the reliability of system.Within these belong to protection scope of the present invention.
It should be noted that flow chart in accompanying drawing of the present invention and block diagram show the multiple embodiments according to the present invention be
System, architectural framework in the cards, function and the operation of method and computer program product.In this, flow chart or
Each square frame in block diagram can represent a module, program segment or a part for code, described module, program segment or generation
Code a part comprise one or more for realize regulation logic function can operating instruction.It should also be noted that having
A bit as in the realization replaced, the function marked in square frame can also occur to be different from the order marked in accompanying drawing.
Such as, two continuous print square frames can essentially run substantially in parallel, and they can also run sometimes in the opposite order,
This is depending on involved function.It is also noted that each square frame in block diagram and/or flow chart and block diagram and/
Or the combination of the square frame in flow chart, can come real by the special hardware based system of the function of operating provisions or action
Existing, or can realize with the combination of specialized hardware with computer instruction.
If described 3 D medical image control method realizes and as independent product pin using the form of SFU software functional unit
When selling or use, can be stored in a computer read/write memory medium.Based on such understanding, the skill of the present invention
Part or the part of this technical scheme that prior art is contributed by art scheme the most in other words can be produced with software
The form of product embodies, and this computer software product is stored in a storage medium, including some instruction with so that
One computer equipment (can be personal computer, server, or the network equipment etc.) runs the present invention, and each is implemented
All or part of step of method described in example.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or
The various media that can store program code such as person's CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: its
Still the technical scheme described in foregoing embodiments can be modified, or special to the most some or all of technology
Levy and carry out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the present invention and respectively implement
The scope of example technical scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (10)
1. a 3 D medical image controls equipment, it is characterised in that including: 3D display device, multiple cameras,
Console controller；Wherein,
The content needing display is shown as stereoscopic image by 3D display device；
Multiple cameras is for obtaining user's gesture motion data in different angles, and sends these gesture motion data to master
Machine controller；
User's gesture is identified by console controller, and controls image and show on 3D display device.
2. a 3 D medical image control method, it is characterised in that including:
The positional information of the three-dimensional stereo glasses that the user that receiving infrared-ray tracker sends wears；
According to the positional information of described three-dimensional stereo glasses, calculate the described user's head relative position relative to display；
According to described user's head relative to the relative position of display, generate corresponding with the viewing angle of described user three
Dimension medical image is also sent to described display and shows；
Receive the depth transducer degree of depth image frame sequence for the manipulation gesture collection of described user；
To each degree of depth image frame in described degree of depth image frame sequence, canny edge detection method is used to detect described
Palm position in degree of depth image frame, it is thus achieved that the depth data of palm position；
Depth data to described palm position, uses position and the angle of inverse kinematics reconstruct finger segments, it is thus achieved that comprise hands
Referring to the hand data of attitude data, the hand data that all described degree of depth image frames are corresponding collectively constitute hand data sequence；
Manipulation gesture according to user described in described hand data sequence identification；
Inquire about gesture for described 3 D medical image be controlled corresponding with the manipulation gesture of described user to control
Instruction；
Perform described gesture control instruction, it is achieved the control to described 3 D medical image.
3 D medical image control method the most according to claim 2, it is characterised in that described according to described hands
The manipulation gesture of user described in portion's data sequence identification, including:
Palm position, finger gesture and the movement velocity of hand of described user is calculated according to described hand data sequence；
Utilize palm position, finger gesture and the movement velocity of hand of described user, in default manipulation gesture parameter list
The method using data pair inquires about the manipulation gesture of described user, and wherein, described manipulation gesture includes that both hands are spread out relatively
Mobile, one hand spread out mobile, stretch out forefinger and middle finger moves, stretches out forefinger and thumb, both hands stretch out forefinger and thumb moves
Dynamic, forefinger and thumb are become separately from kneading.
4. according to the 3 D medical image control method described in Claims 2 or 3, it is characterised in that described inquiry with
The manipulation gesture of described user is used for the gesture control instruction being controlled described 3 D medical image accordingly, including:
Default gesture control instruction mapping table is inquired about corresponding with the manipulation gesture of described user for described three
The gesture control instruction that dimension medical image is controlled；In described default gesture control instruction mapping table, record has manipulation hands
Gesture and the mapping relations of gesture control instruction.
3 D medical image control method the most according to claim 4, it is characterised in that described manipulation gesture with
The mapping relations of gesture control instruction, specifically include:
Both hands spread out gesture control instruction that the manipulation gesture of relative movement maps for 3 D medical image is amplified or
The control instruction reduced；
The gesture control instruction of the manipulation gesture mapping that one hand spreads movement out is the control rotating 3 D medical image
Instruction；
Stretch out forefinger and gesture control instruction that manipulation gesture that middle finger moves maps is for translate 3 D medical image
Control instruction；
The gesture control instruction of the manipulation gesture mapping stretching out forefinger and thumb is the control clicking 3 D medical image
System instruction；
The gesture control instruction that the manipulation gesture that both hands stretch out forefinger and thumb moves maps is to the 3 D medical shadow clicked
As carrying out stretching or the control instruction of compression operation；
Forefinger and thumb are become the gesture control instruction of separate manipulation gesture mapping for enter 3 D medical image from kneading
The control instruction of row switching display surface.
3 D medical image control method the most according to claim 2, it is characterised in that the described hands of described execution
Gesture control instruction, it is achieved the control to described 3 D medical image, including:
Described gesture control instruction is performed for operation object, it is achieved to described 3 D medical image with described 3 D medical image
Control；Or
Described gesture control instruction is converted to the instruction of the camera control to rendering camera, right with described rendering camera for operation
As performing the instruction of corresponding camera control, it is achieved the control to described 3 D medical image.
7. a 3 D medical image control system, it is characterised in that including: display, infrared ray tracker, deep
Degree sensor, main frame and three-dimensional stereo glasses；
Described display, infrared ray tracker, depth transducer are all connected with main frame and by host computer control；
Described infrared ray tracker, its three-dimensional stereo glasses wearing user carries out location tracking, and described in gathering
The positional information of three-dimensional stereo glasses sends to described main frame；
Described display, it shows described 3 D medical shadow after receiving the 3 D medical image that described main frame sends in real time
Picture；
Described depth transducer, it is connected with described main frame, and obtains user's manipulation gesture to described 3 D medical image,
Generate degree of depth image frame sequence, and described degree of depth image frame sequence is sent to described main frame；
Described main frame, it is according to the positional information of described three-dimensional stereo glasses, calculates described user's head relative to display
Relative position, and according to described user's head relative to the relative position of display, generate the viewing angle with described user
Spend corresponding 3 D medical image and be sent to described display and show；And every in described degree of depth image frame sequence
One degree of depth image frame, uses canny edge detection method to detect the palm position in described degree of depth image frame, it is thus achieved that hands
The depth data of palm position, the depth data to described palm position, use position and the angle of inverse kinematics reconstruct finger segments
Degree, it is thus achieved that comprising the hand data of finger gesture data, the hand data that all described degree of depth image frames are corresponding collectively constitute
Hand data sequence；And the manipulation gesture according to user described in described hand data sequence identification, inquiry and described user
Manipulation gesture corresponding gesture control instruction, with described 3 D medical image for manipulation object, perform described gesture control
Instruction, it is achieved the control to described 3 D medical image.
3 D medical image control system the most according to claim 7, it is characterised in that described depth transducer
Including two infrarede emitting diode GTG photographic head.
3 D medical image control system the most according to claim 7, it is characterised in that described display includes:
Three-dimensional immersion display.
3 D medical image control system the most according to claim 7, it is characterised in that described main frame includes:
Mainboard, hard disk, power supply and housing, described mainboard is provided with central processing unit, memory bar, chipset and I/O
Equipment；
Described mainboard also includes PCB and dust cleaning system, and described dust cleaning system includes the first dust stratification detection
Device, the second dust stratification detection device, exhaust outlet and dust blow device, described dust blow device includes cleaning air inlet dress
Put, described in be swept at the air inlet of device of air defecator be set, described in be swept into device of air and be arranged at PCB circuit
The cleaning pipeline connection of the component installed surface side of plate, described cleaning pipeline is positioned at above component, and in correspondence
The position of heater element is provided with self adaptation gas outlet, arranges multi-disc sector bimetal leaf at each described self adaptation gas outlet,
Time below deformation temperature, the described multi-disc mutually adjacent composition of sector bimetal leaf is discoid, thus by described self adaptation
Gas outlet is closed, and higher than during deformation temperature, described bimetal leaf bends to described self adaptation gas outlet lateral direction, by described
Self adaptation gas outlet is opened, and when the temperature of described bimetal leaf is the highest, the amplitude that described self adaptation gas outlet is opened
The biggest；
Described first dust stratification detection device includes the first electricity for measuring the element radiating chip capacitor value on central processing unit
Holding measuring device and comparator, described element radiating sheet is made up of multiple fin monomers, and between multiple fin monomers, electricity is absolutely
Edge, the electric capacity between fin monomer is detected by described first capacitometer, when comparator is judged to measure electric capacity
When value is less than threshold value electric capacity, starts and be swept into device of air, through filtered air via the self adaptation on described cleaning pipeline
Gas outlet blows out, and cleans described component；
Described second dust stratification detection device includes light-beam generator and at least one mirror surface being arranged in PCB,
This light-beam generator is arranged on described enclosure interior sidewall, and rectilinear light beam is transmitted into by light-beam generator with fixing angle
Described mirror surface, after described mirror surface reflects, light beam is projected onto the photosensitive switch being positioned on enclosure interior sidewall,
Photosensitive switch remains on after receiving light beam；When the dust stratification on mirror surface reaches predetermined thickness, photosensitive switch
Sense less than reflection light, then photosensitive switch Guan Bi, automatically start and be swept into device of air；
When any one startup in this first dust stratification detection device and the second dust stratification detection device is swept into device of air, this is clear
Sweeping into device of air to start, after the scheduled time, this is swept into device of air and is automatically switched off.
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