CN110269591B - Medical scanning image positioning method and device, computer equipment and medium - Google Patents
Medical scanning image positioning method and device, computer equipment and medium Download PDFInfo
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Abstract
The embodiment of the application provides a medical scanning image positioning method, a medical scanning image positioning device, computer equipment and a medium. The method comprises the steps of obtaining an infrared influence index and an environment index of an object to be scanned; acquiring an allowable range threshold of a part to be scanned according to the infrared influence index and the environmental index; acquiring an infrared thermal radiation image of an object to be scanned in real time or at preset time intervals; acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image; if the position of the part to be scanned in the infrared thermal radiation image does not exceed the allowable range threshold relative to the difference of the preset scanning position, the object to be scanned is in a preparation completion state; after the object to be scanned is in the preparation completion state, the medical device scans the part to be scanned of the object to be scanned. The medical scanning image positioning method in the embodiment of the application is used for solving the technical problems of insufficient objectivity and accuracy in judgment of scanning time and low scanning efficiency in the prior art.
Description
Technical Field
The present application relates to the field of medical imaging technologies, and in particular, to a medical scanning image positioning method, apparatus, computer device, and medium.
Background
With the progress of medical technology, when a hospital makes a diagnosis, more and more scanning images are acquired by means of an imaging device, and the acquired scanning images can be used for assisting a doctor in diagnosis. Before imaging scanning, a part to be scanned of an object to be scanned is required to be located at a preset position, so that the medical equipment can conveniently acquire an accurate image. In the process of preparing for scanning, the object to be scanned needs to be in a relatively stable state on the limb, so that the scanning accuracy is prevented from being influenced by the movement of the object to be scanned. Whether the object to be scanned is in the relatively stable state on the limb or not is judged by the object to be scanned, and the judgment result is inevitably doped with the subjective factors of the object to be scanned, so that the judgment result is difficult to objectively represent whether the object to be scanned is in the relatively stable state on the limb or not. The problem of inaccurate scanning time judgment is caused, human resources are wasted, and the scanning efficiency is low.
In view of this, how to objectively and accurately judge the scanning time and improve the scanning efficiency is an urgent problem to be solved.
Disclosure of Invention
The application provides a medical scanning image positioning method, a medical scanning image positioning device, a medical scanning image positioning computer device and a medical scanning image positioning medium aiming at the defects of the prior art, and aims to solve the technical problems of insufficient objectivity and accuracy in scanning opportunity judgment and low scanning efficiency in the prior art.
In a first aspect, an embodiment of the present application provides a medical scanning image positioning method, including:
acquiring an infrared influence index and an environmental index of an object to be scanned;
acquiring an allowable range threshold of a part to be scanned according to the infrared influence index and the environmental index;
acquiring an infrared thermal radiation image of an object to be scanned in real time or at preset time intervals;
acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image;
if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold, the object to be scanned is in a preparation completion state;
after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
Optionally, the infrared influence index includes a temperature of the object to be scanned, and a kind of a portion to be scanned.
Optionally, the types of the parts to be scanned include a first type of parts to be scanned and a second type of parts to be scanned;
the part to be scanned comprises at least one of the head and the limbs of the object to be scanned;
the second type of part to be scanned includes the torso of the object to be scanned.
Optionally, the allowable range threshold obtained by the first type of portion to be scanned and the environmental index is smaller than the allowable range threshold obtained by the second type of portion to be scanned and the environmental index.
Optionally, if a difference between a position of the to-be-scanned part in the infrared thermal radiation image and a preset scanning position exceeds an allowable range threshold, executing for a preset number of times: acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image;
and if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold, the object to be scanned is in a ready state.
Optionally, the preset number of times is obtained according to a temperature of the object to be scanned.
Optionally, if the difference between the position of the to-be-scanned part in the infrared thermal radiation image and the preset scanning position exceeds the allowable range threshold after the preset number of times, the allowable range threshold of the to-be-scanned part is obtained again according to the infrared influence index and the environmental index.
In a second aspect, an embodiment of the present application provides a medical scanning image positioning apparatus, including:
the index acquisition module is used for acquiring infrared influence indexes and environmental indexes of an object to be scanned;
the allowable range threshold acquisition module is electrically connected with the index acquisition module and used for acquiring an allowable range threshold of the part to be scanned according to the infrared influence index and the environmental index;
the infrared thermal radiation image acquisition module is used for acquiring an infrared thermal radiation image of an object to be scanned in real time or at intervals of preset time;
the position acquisition module of the part to be scanned is electrically connected with the infrared thermal radiation image acquisition module and is used for acquiring the position of the part to be scanned of the object to be scanned in the infrared thermal radiation image;
the preparation completion state acquisition module is electrically connected with the allowable range threshold acquisition module and the position acquisition module of the part to be scanned respectively, and is used for determining that the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold when the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold;
and the scanning imaging module is electrically connected with the preparation completion state acquisition module, and after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
In a third aspect, the present application provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods in the foregoing embodiments.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method in the foregoing embodiments.
The technical scheme provided by the embodiment of the application at least has the following beneficial effects:
1) by adopting the medical scanning image positioning method, the medical scanning image positioning device, the computer equipment and the medium, the time of scanning operation can be automatically judged. And when the condition of the object to be scanned has the condition that the scanning result is accurately obtained, automatically controlling the scanning equipment to carry out scanning. The process is high in automation degree, efficient, convenient and fast, and beneficial to improving the efficiency of scanning operation.
2) By adopting the medical scanning image positioning method, the medical scanning image positioning device, the computer equipment and the medium, when the time of scanning operation is judged, the infrared influence index and the environmental index of an object to be scanned are taken as one of judgment bases. The infrared influence index and the environmental index of the object to be scanned can represent whether the object to be scanned is prepared for supporting the scanning operation to a certain extent, so that the judgment of the time of the scanning operation is more objective and accurate, and the scanning result is also more objective and accurate correspondingly.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart illustrating a part of steps of a medical scanning image positioning method according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. In addition, if a detailed description of the known art is not necessary for illustrating the features of the present application, it is omitted. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The application provides a medical scanning image positioning method, a medical scanning image positioning device, computer equipment and a medical scanning image positioning medium, and aims to solve the technical problems that in the prior art, the judgment objectivity and the accuracy of scanning time are insufficient, and the scanning efficiency is low.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present application provides a medical scanning image positioning method, including:
s101: and acquiring the infrared influence index and the environmental index of the object to be scanned.
The medical scanning image positioning method introduced in the embodiment of the application is used for the condition that an object to be scanned is located within the working range of the scanning equipment before the scanning equipment starts to perform scanning operation.
The object to be scanned in the embodiment of the present application may be a patient, and the method in step S101 is implemented immediately after the object to be scanned is located within the working range of the scanning device.
And if the effective data can not be acquired when the infrared influence index of the object to be scanned is acquired, stopping the operation of acquiring the environment index. In an optional embodiment of the present application, within a preset time after the operation of obtaining the infrared influence index of the object to be scanned is stopped, the operation of obtaining the infrared influence index of the object to be scanned is performed again until the operation of obtaining the infrared influence index of the object to be scanned can obtain valid data, and then subsequent method steps are performed.
In the embodiment of the application, when the time of the scanning operation is judged, the infrared influence index and the environmental index of the object to be scanned are taken as one of judgment bases. The infrared influence index and the environmental index of the object to be scanned can represent whether the object to be scanned is prepared for supporting the scanning operation to a certain extent, so that the judgment of the time of the scanning operation is more objective and accurate, and the scanning result is also more objective and accurate correspondingly.
S102: and obtaining an allowable range threshold of the part to be scanned according to the infrared influence index and the environmental index.
The allowable range threshold in the embodiment of the present application may be a range. And obtaining an allowable range threshold under the condition that the infrared influence index and the environmental index can obtain effective data.
S103: and acquiring an infrared thermal radiation image of the object to be scanned in real time or at preset time intervals.
The preset time for acquiring the infrared thermal radiation image of the object to be scanned in the embodiment of the application can be set by a user. It can also be set according to the scanning item of the object to be scanned. When the scanning item of the object to be scanned requires a more accurate scanning result, the preset time can be appropriately shortened.
S104: and acquiring the position of the part to be scanned of the object to be scanned in the infrared thermal radiation image.
S105: and if the position of the part to be scanned in the infrared thermal radiation image does not exceed the allowable range threshold relative to the difference of the preset scanning position, the object to be scanned is in a preparation completion state.
According to the method introduced in the embodiment of the application, whether the part to be scanned of the object to be scanned is located at the preset scanning position of the scanning device is judged. When the part to be scanned of the object to be scanned is located at the preset scanning position of the scanning device, the judgment of whether the object to be scanned is in the preparation completion state is carried out. The design of the method steps can greatly reduce the workload of the device executing the method in the embodiment of the application, and avoid the device from occupying the working capacity of the system due to excessive operation steps and excessive data acquisition.
S106: after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
In the method steps introduced in the embodiment of the present application, after determining that the to-be-scanned portion of the to-be-scanned object is located at the preset scanning position of the scanning device, and after the to-be-scanned object is in the preparation completion state, it may be determined that the current state of the to-be-scanned object is suitable for performing the scanning operation, and then the corresponding scanning operation may be automatically performed under the control of the apparatus. A prompt may also be issued to an operator of the device prompting the operator to perform a scanning operation.
In an alternative embodiment of the present application, the infrared influence index includes a temperature of an object to be scanned, and a kind of a portion to be scanned. The types of the parts to be scanned include a first type of parts to be scanned and a second type of parts to be scanned.
In the embodiment of the present application, the temperature of the scanned object may be the body temperature of the patient. When the patient is in the scanning operation range, the body temperature of the patient also affects the ambient temperature when the infrared thermal radiation image is obtained. In addition, the body temperature of each patient is different, different times of scanning of different patients or the same patient are respectively considered, and the influence of the body temperature on the scanning result can be obtained, so that more accurate scanning data can be obtained.
In addition, in the embodiment of the application, different limb parts of the object to be scanned are respectively considered, and considering that the possibility that the different limb parts of the object to be scanned move is different, the accuracy of the examination is different.
Optionally, the allowable range threshold obtained by the first type of portion to be scanned and the environmental index is smaller than the allowable range threshold obtained by the second type of portion to be scanned and the environmental index. If the possibility that the parts to be scanned move in the scanning operation process is larger, the allowable range threshold value of the parts to be scanned and the environmental index acquisition is reduced, so that more accurate scanning data can be obtained. The probability of the movement of the second type of part to be scanned is low, and the threshold value of the allowable range of the second type of part to be scanned and the environmental index acquisition is expanded, so that the workload of the operation equipment is reduced, and the system burden is reduced.
Optionally, the one type of site to be scanned comprises at least one of a head, an extremity of the subject to be scanned. The second type of part to be scanned includes the torso of the object to be scanned.
In an optional embodiment of the present application, if a difference between a position of the to-be-scanned portion in the infrared thermal radiation image and a preset scanning position exceeds an allowable range threshold, the following steps are performed for a preset number of times: acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image;
and if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold, the object to be scanned is in a ready state. Optionally, the preset number of times is obtained according to a temperature of the object to be scanned.
When the temperature of the object to be scanned is higher, the temperature of the object to be scanned, which is obtained by the operation equipment, is more accurate, the obtained infrared thermal radiation image of the object to be scanned is more accurate, and the position of the part to be scanned of the object to be scanned in the infrared thermal radiation image is more accurate. The preset number of times can be reduced at this time. Conversely, if the temperature of the object to be scanned is low, the preset number of times may be increased.
Optionally, if the temperature of the object to be scanned is higher than the threshold temperature, the preset number of times is a first preset number of times; and if the temperature of the object to be scanned is lower than the threshold temperature, the preset times are second preset times. The first preset times is less than the second preset times.
In an optional embodiment of the present application, if a difference between a position of the to-be-scanned portion in the infrared thermal radiation image and the preset scanning position exceeds an allowable range threshold after the preset number of times, the allowable range threshold of the to-be-scanned portion is obtained again according to the infrared influence index and the environmental index.
Based on the same inventive concept, the embodiment of the present application provides a medical scanning image positioning device, which can be applied to implement the medical scanning image positioning method introduced in the embodiment of the present application. The medical science scanning image positioner that this application embodiment provided includes:
the index acquisition module is used for acquiring infrared influence indexes and environmental indexes of an object to be scanned;
the allowable range threshold acquisition module is electrically connected with the index acquisition module and used for acquiring an allowable range threshold of the part to be scanned according to the infrared influence index and the environmental index;
the infrared thermal radiation image acquisition module is used for acquiring an infrared thermal radiation image of an object to be scanned in real time or at intervals of preset time;
the position acquisition module of the part to be scanned is electrically connected with the infrared thermal radiation image acquisition module and is used for acquiring the position of the part to be scanned of the object to be scanned in the infrared thermal radiation image;
the preparation completion state acquisition module is electrically connected with the allowable range threshold acquisition module and the position acquisition module of the part to be scanned respectively, and is used for determining that the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold when the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold;
and the scanning imaging module is electrically connected with the preparation completion state acquisition module, and after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
In the implementation process of the step, the infrared influence index and the environmental index of the object to be scanned are firstly acquired through the index acquisition module, and the subsequent steps are implemented under the condition that the infrared influence index and the environmental index can acquire effective data. And if the effective data cannot be acquired when the infrared influence indexes and the environmental indexes are acquired, stopping implementing the subsequent steps. In the embodiment of the application, when the medical scanning image positioning device determines the time of the scanning operation, the physiological state of the object to be scanned is used as one of the determination bases. The physiological state of the object to be scanned can represent to a certain extent whether the object to be scanned is ready for supporting the scanning operation, so that the judgment of the time of the scanning operation is more objective and accurate, and the scanning result is also more objective and accurate correspondingly.
Based on the same inventive concept, embodiments of the present application provide a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the method steps in the foregoing embodiments when executing the computer program.
Based on the same inventive concept, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method steps in the foregoing embodiments.
The computer device and the computer-readable storage medium provided in the embodiments of the present application have the same inventive concept and the same advantages as the previous embodiments, and details not shown in the display apparatus may refer to the previous embodiments, and are not described herein again.
By applying the medical scanning image positioning method, the medical scanning image positioning device, the computer equipment and the medium, at least the following beneficial effects can be realized:
1) by adopting the medical scanning image positioning method, the medical scanning image positioning device, the computer equipment and the medium, the time of scanning operation can be automatically judged. And when the condition of the object to be scanned has the condition that the scanning result is accurately obtained, automatically controlling the scanning equipment to carry out scanning. The process is high in automation degree, efficient, convenient and fast, and beneficial to improving the efficiency of scanning operation.
2) By adopting the medical scanning image positioning method, the medical scanning image positioning device, the computer equipment and the medium, when the time of scanning operation is judged, the infrared influence index and the environmental index of an object to be scanned are taken as one of judgment bases. The infrared influence index and the environmental index of the object to be scanned can represent whether the object to be scanned is prepared for supporting the scanning operation to a certain extent, so that the judgment of the time of the scanning operation is more objective and accurate, and the scanning result is also more objective and accurate correspondingly.
Those of skill in the art will appreciate that the various operations, methods, steps in the processes, acts, or solutions discussed in this application can be interchanged, modified, combined, or eliminated. Further, other steps, measures, or schemes in various operations, methods, or flows that have been discussed in this application can be alternated, altered, rearranged, broken down, combined, or deleted. Further, steps, measures, schemes in the prior art having various operations, methods, procedures disclosed in the present application may also be alternated, modified, rearranged, decomposed, combined, or deleted.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (9)
1. A medical scanning image positioning method is characterized by comprising the following steps:
acquiring an infrared influence index and an environmental index of an object to be scanned; the infrared influence index comprises the temperature of the object to be scanned and the type of the part to be scanned of the object to be scanned;
acquiring an allowable range threshold of the part to be scanned according to the infrared influence index and the environmental index;
acquiring an infrared thermal radiation image of an object to be scanned in real time or at preset time intervals;
acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image;
if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to a preset scanning position does not exceed the allowable range threshold, the object to be scanned is in a ready state;
after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
2. The method according to claim 1, wherein the types of the parts to be scanned include a first type of parts to be scanned and a second type of parts to be scanned;
the class of parts to be scanned comprises at least one of the head and the limbs of the object to be scanned;
the two types of parts to be scanned comprise the trunk of the object to be scanned.
3. The method according to claim 2, wherein the threshold value of the allowable range obtained by the one type of the portion to be scanned and the environmental index is smaller than the threshold value of the allowable range obtained by the two types of the portion to be scanned and the environmental index.
4. The medical scanning image positioning method according to claim 1, wherein if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to a preset scanning position exceeds the allowable range threshold, the following steps are performed for a preset number of times: acquiring the position of a part to be scanned of an object to be scanned in the infrared thermal radiation image;
and if the difference of the position of the part to be scanned in the infrared thermal radiation image relative to the preset scanning position does not exceed the allowable range threshold, the object to be scanned is in a preparation completion state.
5. The method according to claim 4, wherein the predetermined number of times is obtained according to a temperature of the object to be scanned.
6. The method according to claim 4, wherein if the difference between the position of the part to be scanned in the infrared thermal radiation image and the preset scanning position exceeds the allowable range threshold after a preset number of times, the allowable range threshold of the part to be scanned is obtained again according to the infrared influence index and the environmental index.
7. A medical scanning image positioning device is characterized by comprising:
the index acquisition module is used for acquiring infrared influence indexes and environmental indexes of an object to be scanned; the infrared influence index comprises the temperature of the object to be scanned and the type of the part to be scanned of the object to be scanned;
the allowable range threshold acquisition module is electrically connected with the index acquisition module and used for acquiring an allowable range threshold of the part to be scanned according to the infrared influence index and the environmental index;
the infrared thermal radiation image acquisition module is used for acquiring an infrared thermal radiation image of an object to be scanned in real time or at intervals of preset time;
the position acquisition module of the part to be scanned is electrically connected with the infrared thermal radiation image acquisition module and is used for acquiring the position of the part to be scanned of the object to be scanned in the infrared thermal radiation image;
a preparation completion state acquisition module, electrically connected to the allowable range threshold acquisition module and the to-be-scanned part position acquisition module, respectively, for determining a state that a difference between a position of the to-be-scanned part in the infrared thermal radiation image and a preset scanning position does not exceed the allowable range threshold when the difference between the position of the to-be-scanned part in the infrared thermal radiation image and the preset scanning position does not exceed the allowable range threshold;
and the scanning imaging module is electrically connected with the preparation completion state acquisition module, and after the object to be scanned is in the preparation completion state, the medical equipment scans the part to be scanned of the object to be scanned so as to obtain a scanning image corresponding to the part to be scanned of the object to be scanned.
8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| WO2016030537A1 (en) * | 2014-08-29 | 2016-03-03 | Koninklijke Philips N.V. | X-ray device for imaging a region of interest of a patient |
| CN106419918A (en) * | 2016-09-13 | 2017-02-22 | 深圳市贝斯达医疗股份有限公司 | Magnetic resonance scanning trigger device and system and method for magnetic resonance scanning control |
| CN107550509A (en) * | 2017-10-16 | 2018-01-09 | 合肥工业大学 | A kind of X-ray machine imaging triggering method based on the detection of contactless breathing pattern |
| CN109276248A (en) * | 2018-11-30 | 2019-01-29 | 上海联影医疗科技有限公司 | Self-oscillate position method and Medical Imaging System for Medical Imaging System |
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