CN107961022A - Control the method and device of the motion of Medical Devices - Google Patents
Control the method and device of the motion of Medical Devices Download PDFInfo
- Publication number
- CN107961022A CN107961022A CN201610915801.XA CN201610915801A CN107961022A CN 107961022 A CN107961022 A CN 107961022A CN 201610915801 A CN201610915801 A CN 201610915801A CN 107961022 A CN107961022 A CN 107961022A
- Authority
- CN
- China
- Prior art keywords
- limbs
- operating personnel
- motion
- behavioral data
- medical devices
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 251
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000003542 behavioural effect Effects 0.000 claims abstract description 79
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000008450 motivation Effects 0.000 claims description 5
- 210000003414 extremity Anatomy 0.000 description 143
- 230000006399 behavior Effects 0.000 description 65
- 238000001959 radiotherapy Methods 0.000 description 20
- 210000001364 upper extremity Anatomy 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 13
- 210000000245 forearm Anatomy 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 210000000707 wrist Anatomy 0.000 description 6
- 210000000988 bone and bone Anatomy 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000002591 computed tomography Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000037147 athletic performance Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/467—Arrangements for interfacing with the operator or the patient characterised by special input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Veterinary Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Human Computer Interaction (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The application proposes a kind of method and device for the motion for controlling Medical Devices, and applied to the host of Medical Devices, this method includes：Obtain the limbs behavioral data of operating personnel；Whether the limbs behavioral data for judging operating personnel is vaild act data, when the limbs behavioral data for judging operating personnel is vaild act data, determines the corresponding target motion control instruction of limbs behavioral data；Target motion control instruction is sent to the motion of Medical Devices.It can be seen from the above that in technical scheme, the hosts of Medical Devices obtains control instruction by obtaining the limbs behavioral data of operating personnel, and control instruction is sent to motion, to realize the control to the motion state of motion.Since the embodiment of the present application limits the opereating specification of operating personnel not too much, easy to medical equipment operation so that operating personnel can be with the motion state of complete observation motion, so as to improve the quality of scan data.
Description
Technical field
This application involves equipment control field, the more particularly to a kind of method and dress of the motion of control Medical Devices
Put.
Background technology
At present, CT (Computed Tomography, computer tomography) equipment, PET (Positron Emission
Computed Tomography positive electron transmission types computerized tomograph) equipment, PET/CT equipment or radiotherapy equipment etc.
Medical Devices are usually made of following sections：Host, reconstruction engine and motion, wherein, host includes controller, rebuilds
Engine includes being exclusively used in the computer of image reconstruction, for this kind of Medical Devices such as CT equipment, PET device and PET/CT equipment,
The motion of this kind of Medical Devices include it is scanning bed, for this kind of Medical Devices of radiotherapy equipment, this kind of Medical Devices
Motion includes scanning bed and movable rack (such as rack of radiotherapy head).In actual use, host creates movement control
System instruction, motion perform the motion control instruction with acquisition scans data, reconstruction engine reconstruction image from scan data.
In the prior art, when subject is placed in above-mentioned scanning bed, and when being scanned to subject, operating personnel need hand
Physical button or knob on dynamic operation controller, to realize the control to motion motion state.
However, since controller is affixed on host, when the motion state to motion is controlled, operation
Personnel can only move that can touch in the limited range of controller, therefore influence whether fortune of the operating personnel to motion
The observation of dynamic state, and then influence the quality of scan data.
The content of the invention
To solve the above-mentioned problems, the application proposes a kind of method and device for the motion for controlling Medical Devices.This
Application is achieved by the following technical solution：
According to the first aspect of the embodiment of the present application, there is provided a kind of method of the motion of control Medical Devices, it is described
Method is applied to the host of Medical Devices, the described method includes：
Obtain the limbs behavioral data of operating personnel；
Judge whether the limbs behavioral data is vaild act data；
When it is vaild act data to judge the limbs behavioral data, the corresponding mesh of the limbs behavioral data is determined
Mark motion control instruction；
The target motion control instruction is sent to the motion of the Medical Devices.
According to the second aspect of the embodiment of the present application, there is provided a kind of device of the motion of control Medical Devices, it is described
Device is applied to the host of Medical Devices, and described device includes：
Acquisition module, for obtaining the limbs behavioral data of operating personnel；
Judgment module, for judging whether the limbs behavioral data that the acquisition module is got is vaild act data；
Determining module, in the case of being in the judging result of the judgment module, determines the limbs behavior number
According to corresponding target motion control instruction；
Sending module, the target motion control instruction for the determining module to be determined are sent to the Medical Devices
Motion.
In the embodiment of the present application, the host of Medical Devices is controlled by obtaining the limbs behavioral data of operating personnel
System instruction, and control instruction is sent to motion, to realize the control to the motion state of motion.Due to the application
Embodiment limits the opereating specification of operating personnel not too much, easy to medical equipment operation so that operating personnel can see comprehensively
The motion state of motion is examined, so as to improve the quality of scan data.
Brief description of the drawings
Figure 1A is a kind of stream of the method for the motion of control Medical Devices shown in one exemplary embodiment of the application
Cheng Tu；
Figure 1B is a kind of example based on human body image segmentation skeletal joint point shown in one exemplary embodiment of the application
Figure；
Fig. 1 C are the application scenario diagrams of method shown in Figure 1A shown in one exemplary embodiment of the application；
Fig. 2A is the method for the motion of another control Medical Devices shown in one exemplary embodiment of the application
Flow chart；
Fig. 2 B are a kind of examples of limbs behavior for controlled motion mechanism shown in one exemplary embodiment of the application
Figure；
Fig. 2 C are another kind the showing for the limbs behavior of controlled motion mechanism shown in one exemplary embodiment of the application
Illustration；
Fig. 2 D are another kind the showing for the limbs behavior of controlled motion mechanism shown in one exemplary embodiment of the application
Illustration；
Fig. 2 E are another kind the showing for the limbs behavior of controlled motion mechanism shown in one exemplary embodiment of the application
Illustration；
Fig. 2 F are another kind the showing for the limbs behavior of controlled motion mechanism shown in one exemplary embodiment of the application
Illustration；
Fig. 3 is the stream of the method for the motion of another control Medical Devices shown in one exemplary embodiment of the application
Cheng Tu；
Fig. 4 is a kind of frame of the device of the motion of control Medical Devices shown in one exemplary embodiment of the application
Figure；
Fig. 5 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure；
Fig. 6 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure；
Fig. 7 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure；
Fig. 8 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure；
Fig. 9 is a kind of block diagram of Medical Devices 900 shown in one exemplary embodiment of the application.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, represent identical unless otherwise table and show, same numbers or similar key element in different attached drawings.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the application.
It is only merely for the purpose of description specific embodiment in term used in this application, and is not intended to be limiting the application.
It is also intended in the application and " one kind " of singulative used in the attached claims, " described " and "the" including majority
Form, unless context clearly shows that other implications.It is also understood that term "and/or" used herein refers to and wraps
Containing the associated list items purpose of one or more, any or all may be combined.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used for same type of information being distinguished from each other out.For example, do not departing from
In the case of the application scope, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on linguistic context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determining ".
At present, the Medical Devices such as CT equipment, PET device, PET/CT equipment or radiotherapy equipment are by following sections structure
Into：Host, reconstruction engine and motion, wherein, host includes controller, and reconstruction engine includes being exclusively used in the meter of image reconstruction
Calculation machine, for this kind of Medical Devices such as CT equipment, PET device and PET/CT equipment, the motion of this kind of Medical Devices includes
Scanning bed, for this kind of Medical Devices of radiotherapy equipment, the motion of this kind of Medical Devices is including scanning bed and movable
Rack (such as rack of radiotherapy head).
In the prior art, when subject is placed in above-mentioned scanning bed, and when being scanned to subject, operating personnel need hand
Physical button or knob on dynamic operation controller, to realize the control to motion motion state.However, due to controller
It is affixed on host, when the motion state to motion is controlled, operating personnel can only can touch control
Moved in the limited range of device processed, therefore influence whether observation of the operating personnel to the motion state of motion, and then influenced
To the quality of scan data.To solve the above-mentioned problems, this application provides a kind of side of the motion of control Medical Devices
Method and device.
A kind of method of the motion of the control Medical Devices provided first below the application is introduced.
It should be noted that the method that the application provides is suitable for the host of Medical Devices, in practical applications, the medical treatment
Equipment can include：Computer tomography CT equipment, positive electron transmission type computerized tomograph PET device, PET/CT this
Class Medical Devices, can also include this kind of Medical Devices of radiotherapy equipment, and the application does not limit this.
Figure 1A is a kind of stream of the method for the motion of control Medical Devices shown in one exemplary embodiment of the application
Cheng Tu, this method are applied to the host of Medical Devices, and this method may comprise steps of：
In a step 101, the limbs behavioral data of operating personnel is obtained.
In the embodiment of the present application, a button can be set on host, and after detecting that the button is pressed, host is opened
This operation of the limbs behavioral data of beginning execution acquisition operating personnel；One or more starting postures or dynamic can also be pre-defined
Make, and be stored in host, when detecting that operating personnel make a pre-defined starting posture or action, host starts
This operation of the limbs behavioral data of execution acquisition operating personnel.
For example, when the Host Detection of Medical Devices makes " OK " gesture to operating personnel, begin to obtain the operator
The limbs behavioral data of member.
If continuously and uninterruptedly obtaining the limbs behavioral data of operating personnel in view of host, host on the one hand can be increased
Because of power consumption produced by obtaining redundant data, on the other hand may obtain the limb of the limbs behavior that operating personnel make unintentionally
Body behavioral data,, can be by grasping in the embodiment of the present application in order to avoid the problem so as to cause to the control of the mistake of motion
Make personnel control host to terminate to obtain limbs behavioral data this operation of operating personnel, specifically, can set on host
One button, after detecting that the button is pressed, host terminates to perform limbs behavioral data this behaviour for obtaining operating personnel
Make；One or more recoveries or action can also be pre-defined, and is stored in host, when detecting that operating personnel make
When a pre-defined recovery or action, host, which terminates to perform, obtains the limbs behavioral data of operating personnel this behaviour
Make.
Operating personnel's limbs behavioral data in the embodiment of the present application is the number that can reflect the limbs behavior of operating personnel
According to specifically, the limbs behavioral data of operating personnel can include：The three-dimensional coordinate information of the skeletal joint point of operating personnel,
Or the limbs acceleration information of operating personnel, limbs behavior can include：Limbs posture and limb action.
In one embodiments possible of the application, when the limbs behavioral data of operating personnel closes for the bone of the operating personnel
During the three-dimensional coordinate information of node, host can be by the image of image capture device acquisition operations personnel, from the figure collected
The three-dimensional coordinate information of the skeletal joint point of the operating personnel is extracted as in.
In the application embodiment, image capture device can be built in the host of Medical Devices, can also be external in
The host, in practical applications, the image capture device can include：Visible images collecting device, infrared image acquisition are set
It is standby, or radar sound collecting equipment etc..
When image capture device is visible images collecting device, the image of the operating personnel collected is visible ray figure
Picture；When image capture device is infrared view collecting device, the image of the operating personnel collected is infrared image.
In the application embodiment, the image comprising operating personnel that image capture device collects can include：One frame
Image or multiple image, when the image comprising operating personnel collected is multiple image, which can be to set
The image sequence collected in timing is long, specifically, can be continuous more in the image sequence collected in the setting duration
Two field picture, or obtained from being sampled according to certain sample frequency to the image sequence that collects in setting duration from
Multiple image is dissipated, the application does not limit this.
In practical applications, the Software Development Kit of Microsoft can be used, bone is carried out to the image comprising operating personnel
Bone is split, and as shown in Figure 1B, highest can recognize that the crucial skeletal joint point of 20 manikins, by the position of each skeletal joint point
With (x, y, z) coordinate representation.In the application embodiment, right-handed Cartesian coordinate system can be used, by each of operating personnel
The position of skeletal joint point is represented with three-dimensional coordinate, certainly, in practical applications, can also use other kinds of coordinate system,
The application does not limit this.
In another embodiments possible of the application, when the limbs that the limbs behavioral data of operating personnel is the operating personnel
During acceleration information, host can by the limbs acceleration information of wearable sensors acquisition operations personnel, wherein, host with
Wearable sensors can transmit data by communication modes such as WiFi, bluetooth or ZigBee, and in practical applications, this is wearable
Sensor can include：Bracelet with 3-axis acceleration sensor and gyroscope or the work clothes with sensor etc..
In a step 102, whether the limbs behavioral data for judging operating personnel is vaild act data；If so, then perform
Step 103, otherwise do not deal with.
In the embodiment of the present application, the limbs behavior of operating personnel corresponds to one group of limbs behavioral data.
In order to avoid the limbs behavior that operating personnel arbitrarily make is treated as effective limbs behavior, and then based on should be with
The limbs behavior of meaning sends motion control instruction to motion, so as to cause motion to move by mistake, the embodiment of the present application can
To define some standards, if the limbs behavioral data of operating personnel meets the standard, it is determined that the limbs row of the operating personnel
To be effective limbs behavior, only effective limbs behavior just can be used for controlling the motion of Medical Devices by host
Movement.
In step 103, the corresponding target motion control instruction of limbs behavioral data of operating personnel is determined.
At present, some Medical Devices only include a motion, such as CT equipment, PET device and PET/CT equipment, this
Class Medical Devices only include this scanning bed motion, and in some Medical Devices comprising more than one (two or two with
On) motion, such as radiotherapy equipment, the equipment include scanning bed and movable rack (such as rack of radiotherapy head) this two
A motion.
Medical Devices for only including a motion, since the Medical Devices only include a motion, because
This, the host of the Medical Devices need to only be controlled the movement of a motion.
And for including the Medical Devices of more than one motion, since the Medical Devices include more than one fitness machine
Structure, therefore, the host of the Medical Devices need the movement to more than one motion to be controlled, but need what is illustrated
It is, it is contemplated that while control multiple motions, it has not been convenient to the observation of operating personnel, in the embodiment of the present application, it is preferable that operator
The limbs behavior that member makes, once only controls the movement of a motion；It is of course also possible to select to control at the same time multiple
Motion, the application do not limit this.
The movement to more than one motion is needed to be controlled for the host of Medical Devices, and operating personnel make
A limbs behavior, this case that the movement for once only controlling motion, in the embodiment of the present application, host is judging
After the limbs behavioral data for going out operating personnel is vaild act data, it can determine whether to be currently needed for the fitness machine of the Medical Devices of control
Structure, according to the correspondence of default vaild act data and the motion control instruction of the motion, determines operating personnel's
Limbs behavioral data is corresponding, target motion control instruction for being controlled to the motion.
It should be noted that in the embodiment of the present application, the Medical Devices for only including a motion, one effectively
Limbs behavior may only correspond to a motion control instruction, and a motion control instruction can correspond to multiple effective limbs
Behavior.
And for including the Medical Devices of more than one motion, an effective limbs behavior can be only one corresponding
Motion control instruction, such as " upper limb is upward parallel to body both sides, arm " this limbs behavior that operating personnel make are only right
The motion control instruction being controlled applied to the scanning bed movement to radiotherapy equipment；An alternatively, effective limbs
Behavior can correspond to multiple motion control instructions according to motion, for example, operating personnel make " upper limb is parallel to body two
Side, arm are upward " this limbs behavior, the motion for being currently needed for controlling for radiotherapy equipment it is scanning bed when, this
One limbs behavior is to the motion control instruction that is controlled applied to the scanning bed movement to radiotherapy equipment, and current
Need the motion that controls for radiotherapy equipment when, this limbs behavior is to applied to the radiotherapy to radiotherapy equipment
The motion control instruction that the movement of the rack of head is controlled.
In the embodiment of the present application, controlled motion can be set from multiple motions by operating personnel, specifically
, can be set on host a button or can touch Panel, by the button or can touch Panel set be currently needed for controlling
The motion of system；Or one or more motion switching postures or action can also be pre-defined, and it is stored in host
In, after detecting that operating personnel make a pre-defined switching posture or action, host carries out controlled motion mechanism
Switching.
Carried in the embodiment of the present application, in motion control instruction and perform specific type of sports for controlled motion mechanism
Information, the type can include：Movement rate, angle, height, advance and retrogressing etc., the motion control instruction can include：With
In the instruction of movement rate and the instruction of the direction of motion for adjusting motion that adjust motion；Specifically, when fortune
When motivation structure is scanning bed, motion control instruction can include：For reducing the instruction of scanning bed movement velocity, for improving
The instruction of scanning bed movement velocity, the instruction for controlling scanning bed advance, the instruction for controlling scanning bed retrogressing, be used for
The instruction of scanning bed rising, the instruction for controlling scanning bed decline are controlled, and for controlling the instruction of scanning bed stop motion
Etc..
When motion is movable rack, which can be the rack of radiotherapy head, and movement at this time refers to
Order can include：For improving the instruction of radiotherapy head rotary speed, the instruction for reducing radiotherapy head rotary speed, for controlling
The instruction that radiotherapy head rotates clockwise, and for controlling the rotating instruction etc. counterclockwise of radiotherapy head.
In the embodiment of the present application, movement rate, angle, height, advance and the movement of retrogressing for adjusting motion
Control instruction, when controlling corresponding motion to be moved, in order to ensure the precision of movement, can use step-type tune
Section, for example, control it is scanning bed into bed when, control it is scanning bed every time advance 2 centimetres.
Have a limit in view of the motion conditions of motion, for example, it is scanning bed have a maximum into bed distance, have
One maximum moves back bed distance, when motion moves to the corresponding limit, the host computer control motion pause motion, or
Prompting message can also be exported, prompts operating personnel to stop making limbs behavior or change limbs behavior etc..
At step 104, target motion control instruction is sent to the motion of Medical Devices.
Motion in the embodiment of the present application performs correspondence after the target motion control instruction of host transmission is received
The corresponding movement of target motion control instruction, such as improve/reduce movement velocity, adjust direction of motion etc..
In an exemplary application scene, as shown in Figure 1 C, which includes：Host 110, image capture device
120th, scanning bed 130, movable rack 140 and operating personnel 150, wherein, image capture device 120 is external in host 110.When
After operating personnel 150 start image capture device 120 by host 110,120 acquisition operations personnel's 150 of image capture device
Image, and the image of the operating personnel 150 collected is sent to host 110, host 110 obtains the image of operating personnel 150
Afterwards, the limbs behavioral data of operating personnel 150 is extracted from the image, if it is judged that the limbs behavior of operating personnel 150
Data are vaild act data, then determine to be currently needed for the fortune of the control of host 110 from scanning bed 130 and movable rack 140
Motivation structure, such as it is scanning bed 130 to be currently needed for the motion that host 110 controls, and is further determined that with operating personnel's 150
Limbs behavioral data is corresponding, for controlling scanning bed 130 motion control instruction, and is sent to scanning bed 130, scanning bed
130 receive the corresponding movement of execution after motion control instruction.
As seen from the above-described embodiment, in the embodiment, the hosts of Medical Devices is by obtaining the limbs behavior of operating personnel
Data, obtain control instruction, and control instruction is sent to motion, to realize the control to the motion state of motion
System.Since the embodiment of the present application limits the opereating specification of operating personnel not too much, easy to medical equipment operation so that operator
Member can be with the motion state of complete observation motion, so as to improve the quality of scan data.
In another embodiment that the application provides, it is contemplated that operating personnel are after a limbs behavior is made, sometimes
Whether the uncertain limbs behavior made their own is effective limbs behavior, therefore can repeatedly make same limbs behavior,
To ensure that the limbs behavior made their own can be identified by host, still, for the angle of host, host can receive multiple effective
Limbs behavior, and then control the motion of Medical Devices to continuously perform multiple athletic performances, so as to cause motion real
There is any discrepancy for the athletic performance on border and the original intention of operating personnel, and in the case, in order to overcome the above problem, which can be
On the basis of Figure 1A illustrated embodiments, increase following steps：
When the limbs behavioral data for judging operating personnel is vaild act data, output is reminded, wherein, which uses
In prompt the operating personnel limbs behavioral data be vaild act data.
In the embodiment of the present application, condition prompting lamp can be set on host in advance, when host work, pass through the shape
Bright light/extinguishing, color or the flicker of state warning light, whether the limbs behavioral data for carrying out display operation personnel is vaild act number
According to.Such as in condition prompting lamp bright light, the limbs behavioral data for representing the operating personnel is vaild act data；Or in shape
When state warning light flickers, the limbs behavioral data for representing the operating personnel is vaild act data, etc..
In addition it is also possible to by way of exporting content of text on the display screen in host, output is reminded；Or can also
By way of exporting voice in the loudspeaker in host, output is reminded, and the application does not limit this.
Fig. 2A is the method for the motion of another control Medical Devices shown in one exemplary embodiment of the application
Flow chart, in the three-dimensional coordinate information for the skeletal joint point that the limbs behavioral data of operating personnel is operating personnel, which sits
Mark information is that this method may comprise steps of in the case of being extracted from the two field picture comprising operating personnel：
In step 201, the limbs behavioral data of operating personnel is obtained, wherein, the limbs behavioral data of the operating personnel
For the three-dimensional coordinate information of the skeletal joint point of operating personnel, which is from the frame figure comprising the operating personnel
Extracted as in.
In the embodiment of the present application, host can gather the two field picture for including operating personnel by image capture device, should
Image capture device can be built in the host of Medical Devices, can also be external in the host, in practical applications, the image
Collecting device can include：Visible images collecting device, infrared image acquiring equipment, or radar sound collecting equipment etc.
Deng.
In the embodiment of the present application, the Software Development Kit of Microsoft can be used, to the two field picture comprising operating personnel
Bone segmentation is carried out, extracts the three-dimensional coordinate information of multiple skeletal joint points of the operating personnel.
In one preferred embodiment of the application, can by the movement of the upper limb behaviour control motion of operating personnel,
At this point it is possible to the only three-dimensional coordinate information of each skeletal joint point of the upper limb of extraction operation personnel, the i.e. right hand from a two field picture
Wrist, right ancon, right shoulder, left finesse, the three-dimensional coordinate information of left ancon and left shoulder.
In step 202, according to the three-dimensional coordinate information of the skeletal joint point of the operating personnel extracted from a two field picture,
Calculate the angle value of the skeletal joint point of operating personnel and the space vector value of limbs in a two field picture.
In order to make it easy to understand, the three-dimensional with each skeletal joint point (wrist, ancon, shoulder) of the side upper limb of operating personnel
The embodiment of the present application step is introduced exemplified by coordinate information, calculates the angle of the ancon of operating personnel in a two field picture first
Value：
Under right-handed Cartesian coordinate system, the coordinate of wrist is PH=(XH,YH,ZH), the coordinate of ancon is PE=(XE,YE,
ZE), shoulder node location is PS=(XS,YS,ZS)；
The distance between two skeletal joint points L is calculated respectivelyEH、LESAnd LSH, wherein,LESAnd LSHCalculating process and LEHCalculating process it is similar, the embodiment of the present application
This is repeated no more；
According to cosine formula, the angle value of ancon is calculated
Afterwards, the space vector value of the upper limb of operating personnel in a two field picture is calculated：
The space vector value of forearm in upper limbThe sky of upper arm in the upper limb
Between vector value
In step 203, judge the angle value of the skeletal joint point of operating personnel in a two field picture and the space of limbs to
Value, if fall into corresponding preset threshold range；If so, then performing step 204, otherwise do not deal with.
In the embodiment of the present application, the angle value that can be directed to skeletal joint point pre-sets multiple corresponding threshold ranges,
Such as [80 °, 100 °], [110 °, 130 °], [170 °, 190 °] and [260 °, 280 °] etc.；The space vector of limbs can be directed to
Value sets multiple corresponding reference vector values, for example, (- 1,0,0), (0,1,0), (0, -1,0), (0,0,1), (1,1,0) and (-
1,1,0) etc..
In the embodiment of the present application, can be by judging the angle value of skeletal joint point and the space of limbs of operating personnel
Whether vector value is fallen into corresponding preset threshold range, to determine whether the limbs behavioral data of the operating personnel is to have
Imitate behavioral data, if the angle value of the skeletal joint point of operating personnel and the space vector value of limbs each fall within it is corresponding
, then can be according further to the angle value of the skeletal joint point of operating personnel and the space vector value of limbs in preset threshold range
The preset threshold range fallen into, to determine the limbs behavior of the operating personnel.
In order to make it easy to understand, still illustrated by taking the upper limb behavior of operating personnel as an example, for example, the ancon of operating personnel
Angle value α ∈ [80 °, 100 °], the space vector values of two upper arm are reference vector value (- 1,0,0), the space of two forearms
Vector value is reference vector value (0,1,0), then the limbs behavior that can determine the operating personnel is upper limb parallel to body
Both sides, arm is upward, as shown in Figure 2 B.
In another example the angle value α ∈ [260 °, 280 °] of the ancon of operating personnel, the space vector value of two upper arm are
Reference vector value (- 1,0,0), the space vector value of two forearms is reference vector value (0, -1,0), then can determine this
The limbs behavior of operating personnel be upper limb parallel to body both sides, arm is downward, as shown in Figure 2 C.
In another example the angle value α ∈ [170 °, 190 °] of the ancon of operating personnel, the space vector value of two upper arm are
Reference vector value (0,0,1), the space vector value of two forearms is reference vector value (0,0,1), then can determine the behaviour
The limbs behavior for making personnel is that upper limb stretches out in front, stretches arm, as shown in Figure 2 D.
In another example the angle value α ∈ [80 °, 100 °] of the ancon of operating personnel, the space vector value of two upper arm is ginseng
Vector value (0,0,1) is examined, the space vector value of two forearms is reference vector value (0,1,0), then can determine the operation
The limbs behavior of personnel is that upper limb stretches out in front, and arm is upward, as shown in Figure 2 E.
In another example the angle value α ∈ [110 °, 130 °] of the ancon of operating personnel, the space vector value of two upper arm are
Reference vector value (0,0,1), the space vector value of a forearm are reference vector value (1,1,0), the space of another forearm to
Value is reference vector value (- 1,1,0), then the limbs behavior that can determine the operating personnel is that upper limb stretches out in front, hand
Arm is upward, as shown in Figure 2 F.
In step 204, according to the correspondence of preset threshold range and motion control instruction, targets threshold scope is determined
Corresponding target motion control instruction, wherein, which is the angle value and limb of the skeletal joint point of operating personnel
The preset threshold range that the space vector value of body is fallen into.
In order to make it easy to understand, by taking this scanning bed specific motion as an example, table 1 shows preset threshold range with being used for
The correspondence (adding corresponding limbs behavior for ease of understanding) for the motion control instruction being controlled to scanning bed movement：
Table 1
Performed it should be noted that being carried in the embodiment of the present application, in motion control instruction for controlled motion mechanism
The information of specific type of sports, the type can include：Movement rate, angle, height, advance and retrogressing etc..Transported for adjusting
Movement rate, angle, height, advance and the motion control instruction of retrogressing of motivation structure, carry out controlling corresponding motion
During movement, in order to ensure the precision of movement, step-type adjusting can be used, for example, control it is scanning bed into bed when, control is swept
Bed is retouched every time to advance 2 centimetres.In addition, it is contemplated that the motion conditions of motion have a limit, such as scanning bed there is one
It is maximum to there is a maximum to move back bed distance into bed distance, when motion moves to the corresponding limit, the host computer control fitness machine
Structure pause motion, or prompting message can also be exported, prompt operating personnel to stop making limbs behavior or change limbs behavior
Etc..
In step 205, target motion control instruction is sent to the motion of Medical Devices.
Step 205 in the embodiment of the present application is similar with the step 104 in Figure 1A illustrated embodiments, the embodiment of the present application pair
This is repeated no more.
As seen from the above-described embodiment, the embodiment can by the two field picture of image capture device acquisition operations personnel,
The limbs behavioral data of extraction operation personnel from a two field picture, and then control instruction is obtained, and control instruction is sent to
Motion, to realize the control to the motion state of motion.Since the embodiment of the present application limits operating personnel not too much
Opereating specification, easy to medical equipment operation so that operating personnel can with the motion state of complete observation motion so that
Improve the quality of scan data.
Fig. 3 is the stream of the method for the motion of another control Medical Devices shown in one exemplary embodiment of the application
Cheng Tu, in the three-dimensional coordinate information for the skeletal joint point that the limbs behavioral data of operating personnel is operating personnel, the three-dimensional coordinate
Information is extracted from the multiple image comprising operating personnel, which is the image sequence collected in setting duration
In the case of, this method may comprise steps of：
In step 301, the limbs behavioral data of operating personnel is obtained, wherein, the limbs behavioral data of the operating personnel
For the three-dimensional coordinate information of the skeletal joint point of operating personnel, which is from the multiframe figure comprising the operating personnel
Extracted as in, which is the image sequence collected in setting duration.
In the embodiment of the present application, host can gather in setting duration (such as 40 seconds) comprising behaviour by image capture device
Make the image sequence of personnel, afterwards from the image sequence obtain continuous multiple frames image, or according to certain sample frequency from this
Discrete multiple image is obtained in image sequence, wherein, which can be built in the host of Medical Devices, also may be used
To be external in the host, in practical applications, which can include：Visible images collecting device, infrared figure
As collecting device, or radar sound collecting equipment etc..
In the embodiment of the present application, the Software Development Kit of Microsoft can be used, to each frame figure comprising operating personnel
As carrying out bone segmentation, the three-dimensional coordinate information of multiple skeletal joint points of the operating personnel is extracted.
In one preferred embodiment of the application, can by the movement of the upper limb behaviour control motion of operating personnel,
At this point it is possible to the only three-dimensional coordinate information of each skeletal joint point of the upper limb of extraction operation personnel, the i.e. right hand from each two field picture
Wrist, right ancon, right shoulder, left finesse, the three-dimensional coordinate information of left ancon and left shoulder.
In step 302, according to the three-dimensional coordinate information of the skeletal joint point of the operating personnel extracted from multiple image,
Calculate the angle value of skeletal joint point and the space vector value of limbs of operating personnel in each two field picture of multiple image.
In order to make it easy to understand, the three-dimensional with each skeletal joint point (wrist, ancon, shoulder) of the side upper limb of operating personnel
The embodiment of the present application step is introduced exemplified by coordinate information, calculates operating personnel in each two field picture collected first
The angle value of ancon, such as collect 10 two field pictures, then need to calculate the angle value of the ancon of operating personnel in this 10 two field picture,
I.e. 10 angle values, specific calculating process are as follows：
Under right-handed Cartesian coordinate system, the coordinate of wrist is PH=(XH,YH,ZH), the coordinate of ancon is PE=(XE,YE,
ZE), shoulder node location is PS=(XS,YS,ZS)；
The distance between two skeletal joint points L is calculated respectivelyEH、LESAnd LSH, wherein,LESAnd LSHCalculating process and LEHCalculating process it is similar, the embodiment of the present application
This is repeated no more；
According to cosine formula, the angle value of ancon is calculated
Afterwards, the space vector value of the upper limb of operating personnel in each two field picture collected is calculated, such as collects 10
Two field picture, then need to calculate the space vector value of the upper limb of operating personnel in this 10 two field picture, i.e. 10 groups of (every group of space vector values
Include the space vector value of forearm and upper arm), specific calculating process is as follows：
The space vector value of forearm in upper limbThe sky of upper arm in the upper limb
Between vector value
In step 303, judge the angle value of the skeletal joint point of operating personnel in each two field picture and the space of limbs to
Value, if each fall within corresponding same preset threshold range；If so, then performing step 304, otherwise do not deal with.
In the embodiment of the present application, the angle value that can be directed to skeletal joint point pre-sets multiple corresponding threshold ranges,
Such as [80 °, 100 °], [110 °, 130 °], [170 °, 190 °] and [260 °, 280 °] etc.；The space vector of limbs can be directed to
Value sets multiple corresponding reference vector values, for example, (- 1,0,0), (0,1,0), (0, -1,0), (0,0,1), (1,1,0) and (-
1,1,0) etc..
In the embodiment of the present application, can by judge the skeletal joint point of operating personnel in each two field picture angle value and
Whether the space vector value of limbs is each fallen within corresponding same preset threshold range, to determine the limbs of the operating personnel
Whether behavioral data is vaild act data, if the angle value of the skeletal joint point of operating personnel and limbs in each two field picture
Space vector value is each fallen within corresponding same preset threshold range, then the limbs behavioral data of the operating personnel is effective
Behavioral data.
In the embodiment of the present application, when the angle value of the skeletal joint point of operating personnel in each two field picture and the space of limbs
When vector value is each fallen within corresponding same preset threshold range, illustrate that the operating personnel maintain one in preset duration
Limbs behavior is constant.
In step 304, according to the correspondence of preset threshold range and motion control instruction, targets threshold scope is determined
Corresponding target motion control instruction, wherein, which is the angle value and limb of the skeletal joint point of operating personnel
The preset threshold range that the space vector value of body is fallen into.
In order to make it easy to understand, still by taking this scanning bed specific motion as an example, table 2 shows preset threshold range with using
(corresponding limbs row is added in the correspondence for the motion control instruction being controlled to scanning bed movement for ease of understanding
For)：
Table 2
Performed it should be noted that being carried in the embodiment of the present application, in motion control instruction for controlled motion mechanism
The information of specific type of sports, the type can include：Movement rate, angle, height, advance and retrogressing etc..Transported for adjusting
Movement rate, angle, height, advance and the motion control instruction of retrogressing of motivation structure, carry out controlling corresponding motion
During movement, in order to ensure the precision of movement, step-type adjusting can be used, for example, control it is scanning bed into bed when, control is swept
Bed is retouched every time to advance 2 centimetres.In addition, it is contemplated that the motion conditions of motion have a limit, such as scanning bed there is one
It is maximum to there is a maximum to move back bed distance into bed distance, when motion moves to the corresponding limit, the host computer control fitness machine
Structure pause motion, or prompting message can also be exported, prompt operating personnel to stop making limbs behavior or change limbs behavior
Etc..
In step 305, target motion control instruction is sent to the motion of Medical Devices.
Step 305 in the embodiment of the present application is similar with the step 104 in Figure 1A illustrated embodiments, the embodiment of the present application pair
This is repeated no more.
As seen from the above-described embodiment, the embodiment can by the multiple image of image capture device acquisition operations personnel,
The limbs behavioral data of extraction operation personnel from the multiple image, based on limbs behavioral data is extracted, determines operating personnel
The duration of a limbs behavior whether is maintained to exceed certain time length, the limbs behavior quilt arbitrarily made to avoid operating personnel
Effective limbs behavior is considered as, and then motion control instruction is sent to motion based on the random limbs behavior, so that
Motion is caused to move by mistake.
It will additionally be appreciated that " upper limb behavior " application scenarios in above-described embodiment are only used for schematically illustrating, and
The restriction to application scheme application scenarios is not formed, and application scheme can be based on any limbs behavior and motion is carried out
The control of motion state.
In another embodiment of the application, which can be on the basis of Figure 1A illustrated embodiments, the application
The limbs behavioral data of operating personnel in embodiment is the limbs acceleration information of operating personnel, at this point it is possible to using existing
Any method that limbs behavior is determined based on limbs acceleration information in technology, to determine limbs behavior (this of operating personnel
When be limb action, upper limks movements, lower limb movement etc. can be included).Limb can be previously stored with the host of Medical Devices
Body acts the correspondence with motion control instruction, when determining the limbs behavior of operating personnel, to be closed according to the correspondence
System determines the corresponding motion control instruction of limbs behavior of operating personnel, and identified motion control instruction is sent to movement
Mechanism, with the motion state of controlled motion mechanism.Such as when unilateral limb motion, controlled motion mechanism reduces movement velocity,
When both limbs move at the same time, controlled motion mechanism improves movement velocity.
It should be noted that although describing the operation of the application method with particular order in the accompanying drawings, still, this is not required that
Or imply and must perform these operations according to the particular order, or the operation having to carry out shown in whole could realize the phase
The result of prestige.On the contrary, the step of describing in flow chart can change execution sequence.Additionally or alternatively, it is convenient to omit some
Multiple steps are merged into a step and performed by step, and/or a step is decomposed into execution of multiple steps.
The embodiment of the method for the motion of the control Medical Devices proposed corresponding to the application, the application also proposed
Control the embodiment of the device of the motion of Medical Devices.
Fig. 4 is a kind of frame of the device of the motion of control Medical Devices shown in one exemplary embodiment of the application
Figure, described device are applied to the host of Medical Devices, and described device can include：
Acquisition module 410, for obtaining the limbs behavioral data of operating personnel；
Judgment module 420, for judging whether the limbs behavioral data that the acquisition module 410 is got is vaild act
Data；
Determining module 430, in the case of being in the judging result of the judgment module 420, determines the limbs
The corresponding target motion control instruction of behavioral data；
Sending module 440, the target motion control instruction for the determining module 430 to be determined are sent to the doctor
Treat the motion of equipment.
As seen from the above-described embodiment, in the embodiment, the hosts of Medical Devices is by obtaining the limbs behavior of operating personnel
Data, obtain control instruction, and control instruction is sent to motion, to realize the control to the motion state of motion
System.Since the embodiment of the present application limits the opereating specification of operating personnel not too much, easy to medical equipment operation so that operator
Member can be with the motion state of complete observation motion, so as to improve the quality of scan data.
In another embodiment that the application proposes, which can be on the basis of embodiment illustrated in fig. 4, this Shen
The limbs behavioral data of operating personnel that please be in embodiment can include：The three-dimensional coordinate letter of the skeletal joint point of operating personnel
Breath or the limbs acceleration information of operating personnel.
Fig. 5 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Scheme, the limbs behavioral data of the operating personnel in the embodiment of the present application is believed for the three-dimensional coordinate of the skeletal joint point of operating personnel
Breath, which extracted from the two field picture comprising the operating personnel, at this time, in the embodiment of the present application
Judgment module 420, can include：
First calculating sub module 421, for according to the three-dimensional coordinate information, calculating and being operated described in a two field picture
The angle value of the skeletal joint point of personnel and the space vector value of limbs；
First judging submodule 422, in the two field picture calculated for judging first calculating sub module 421
The angle value of the skeletal joint point of the operating personnel and the space vector value of limbs, if fall into corresponding predetermined threshold value
In the range of.
Fig. 6 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Scheme, the limbs behavioral data of the operating personnel in the embodiment of the present application is believed for the three-dimensional coordinate of the skeletal joint point of operating personnel
Breath, which extracted from the multiple image comprising the operating personnel, which is setting duration
The image sequence inside collected, at this time, the judgment module 420 in the embodiment of the present application, can include：
Second calculating sub module 423, for according to the three-dimensional coordinate information, calculating each two field picture of the multiple image
Described in operating personnel the angle value of skeletal joint point and the space vector value of limbs；
Second judgment submodule 424, in each two field picture calculated for judging second calculating sub module 423
The angle value of the skeletal joint point of operating personnel and the space vector value of limbs, if each fall within corresponding same default threshold
In the range of value.
Fig. 7 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure, which can be on the basis of any of the above-described device embodiment, and device provided by the embodiments of the present application can also include：
Output module 450 is reminded, in the case of being in the judging result of the judgment module 420, output is reminded,
Wherein, the limbs behavioral data reminded for prompting the operating personnel is vaild act data.
Fig. 8 is the frame of the device of the motion of another control Medical Devices shown in one exemplary embodiment of the application
Figure, which can be on the basis of Fig. 5 or 6 illustrated embodiments, and the determining module 430 in the embodiment of the present application, can wrap
Include：
Determination sub-module 431 is instructed, in the case of being in the judging result of the judgment module 420, according to pre-
If the correspondence of threshold range and motion control instruction, the corresponding target motion control instruction of targets threshold scope is determined, its
In, the targets threshold scope is fallen into by the angle value of skeletal joint point and the space vector value of limbs of the operating personnel
Preset threshold range.
The function of modules and effect realizes that process specifically refers to step is corresponded in the above method in above device
Realize process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related part is real referring to method
Apply the part explanation of example.Device embodiment described above is only schematical, wherein described be used as separating component
The unit of explanation may or may not be physically separate, can be as the component that unit is shown or can also
It is not physical location, you can with positioned at a place, or can also be distributed in multiple network unit.Can be according to reality
Need to select some or all of module therein to realize the purpose of application scheme.Those of ordinary skill in the art are not paying
In the case of going out creative work, you can to understand and implement.
Present invention also provides a kind of device of the motion of control Medical Devices, which can be applied to include more
The Medical Devices of a real crystal, Fig. 9 are a kind of block diagrams of Medical Devices 900 according to an exemplary embodiment.Reference
Fig. 9, Medical Devices 900 can include processing component 901, it further comprises one or more processor, and by storing
Memory resource representated by device 902, for storing the instruction that can be performed by processing component 901, such as application program.Memory
The application program stored in 902 can include one or it is more than one each correspond to the module of one group of instruction.
In embodiments herein, the memory 902 can be located at by controlling the device of the motion of Medical Devices
In, and processing component 901 can perform the control of the embodiment of the present application by the device of the motion of the control Medical Devices
The method of the motion of Medical Devices processed, to realize the control to the motion motion state of Medical Devices.
Medical Devices 900 can also include a power supply module 903, which is configured as execution medical treatment and sets
Standby 900 power management.One is wired or radio network interface 904 is configured as Medical Devices 900 being connected to network, with
And input and output (I/O) interface 905.
The foregoing is merely the preferred embodiment of the application, not limiting the application, all essences in the application
God and any modification, equivalent substitution, improvement and etc. within principle, done, should be included within the scope of the application protection.
Claims (10)
- A kind of 1. method of the motion of control Medical Devices, it is characterised in that the method is applied to the master of Medical Devices Machine, the described method includes：Obtain the limbs behavioral data of operating personnel；Judge whether the limbs behavioral data is vaild act data；When it is vaild act data to judge the limbs behavioral data, the corresponding target fortune of the limbs behavioral data is determined Dynamic control instruction；The target motion control instruction is sent to the motion of the Medical Devices.
- 2. according to the method described in claim 1, it is characterized in that, the limbs behavioral data of the operating personnel includes：Operation The three-dimensional coordinate information of the skeletal joint point of personnel or the limbs acceleration information of operating personnel.
- 3. according to the method described in claim 2, it is characterized in that, the limbs behavioral data of the operating personnel is operating personnel Skeletal joint point three-dimensional coordinate information, the three-dimensional coordinate information is carried from the two field picture comprising the operating personnel Take；It is described to judge whether the limbs behavioral data is vaild act data, including：According to the three-dimensional coordinate information, calculate the angle value of the skeletal joint point of operating personnel described in a two field picture and The space vector value of limbs；Judge the angle value of the skeletal joint point of operating personnel described in a two field picture and the space vector value of limbs, if Fall into corresponding preset threshold range.
- 4. according to the method described in claim 2, it is characterized in that, the limbs behavioral data of the operating personnel is operating personnel Skeletal joint point three-dimensional coordinate information, the three-dimensional coordinate information is carried from the multiple image comprising the operating personnel Take, the multiple image is the image sequence collected in setting duration；It is described to judge whether the limbs behavioral data is vaild act data, including：According to the three-dimensional coordinate information, the skeletal joint point of operating personnel described in each two field picture of the multiple image is calculated Angle value and limbs space vector value；Judge the angle value of the skeletal joint point of operating personnel in each two field picture and the space vector value of limbs, if each fall within each In self-corresponding same preset threshold range.
- 5. method according to any one of claims 1 to 4, it is characterised in that judge the limbs behavioral data described After whether being vaild act data, further include：When it is vaild act data to judge the limbs behavioral data, output is reminded, wherein, described remind is used to prompt institute The limbs behavioral data for stating operating personnel is vaild act data.
- 6. a kind of device of the motion of control Medical Devices, it is characterised in that described device is applied to the master of Medical Devices Machine, described device include：Acquisition module, for obtaining the limbs behavioral data of operating personnel；Judgment module, for judging whether the limbs behavioral data that the acquisition module is got is vaild act data；Determining module, in the case of being in the judging result of the judgment module, determines the limbs behavioral data pair The target motion control instruction answered；Sending module, the target motion control instruction for the determining module to be determined are sent to the fortune of the Medical Devices Motivation structure.
- 7. device according to claim 6, it is characterised in that the limbs behavioral data of the operating personnel includes：Operation The three-dimensional coordinate information of the skeletal joint point of personnel or the limbs acceleration information of operating personnel.
- 8. device according to claim 7, it is characterised in that the limbs behavioral data of the operating personnel is operating personnel Skeletal joint point three-dimensional coordinate information, the three-dimensional coordinate information is carried from the two field picture comprising the operating personnel Take；The judgment module, including：First calculating sub module, for according to the three-dimensional coordinate information, calculating operating personnel described in a two field picture The angle value of skeletal joint point and the space vector value of limbs；First judging submodule, operator described in the two field picture calculated for judging first calculating sub module The angle value of skeletal joint point and the space vector value of limbs of member, if fall into corresponding preset threshold range.
- 9. device according to claim 7, it is characterised in that the limbs behavioral data of the operating personnel is operating personnel Skeletal joint point three-dimensional coordinate information, the three-dimensional coordinate information is carried from the multiple image comprising the operating personnel Take, the multiple image is the image sequence collected in setting duration；The judgment module, including：Second calculating sub module, for according to the three-dimensional coordinate information, calculating described in each two field picture of the multiple image The angle value of the skeletal joint point of operating personnel and the space vector value of limbs；Second judgment submodule, operating personnel in each two field picture calculated for judging second calculating sub module The angle value of skeletal joint point and the space vector value of limbs, if each fall within corresponding same preset threshold range.
- 10. according to claim 6 to 9 any one of them device, it is characterised in that described device further includes：Output module is reminded, in the case of being in the judging result of the judgment module, output is reminded, wherein, it is described It is vaild act data to remind the limbs behavioral data for prompting the operating personnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915801.XA CN107961022A (en) | 2016-10-20 | 2016-10-20 | Control the method and device of the motion of Medical Devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610915801.XA CN107961022A (en) | 2016-10-20 | 2016-10-20 | Control the method and device of the motion of Medical Devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107961022A true CN107961022A (en) | 2018-04-27 |
Family
ID=61997334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610915801.XA Pending CN107961022A (en) | 2016-10-20 | 2016-10-20 | Control the method and device of the motion of Medical Devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107961022A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113791557A (en) * | 2018-05-18 | 2021-12-14 | 创新先进技术有限公司 | Control method and device of intelligent equipment |
| WO2022221971A1 (en) * | 2021-04-18 | 2022-10-27 | 上海联影医疗科技股份有限公司 | System and method for controlling medical apparatus |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101930286A (en) * | 2009-06-22 | 2010-12-29 | 索尼公司 | Operating control device, method of controlling operation thereof and computer-readable recording medium |
| US20120198392A1 (en) * | 2011-01-27 | 2012-08-02 | Donald Halbert | Associating devices in a medical environment |
| CN103472920A (en) * | 2013-09-13 | 2013-12-25 | 通号通信信息集团有限公司 | Action-recognition-based medical image control method and system |
| CN104252225A (en) * | 2013-06-27 | 2014-12-31 | 南京迈瑞生物医疗电子有限公司 | Motion control medical equipment and medical equipment motion control method |
| CN104460972A (en) * | 2013-11-25 | 2015-03-25 | 安徽寰智信息科技股份有限公司 | Human-computer interaction system based on Kinect |
| CN204925994U (en) * | 2015-05-07 | 2015-12-30 | 上海西门子医疗器械有限公司 | A operation control system and medical equipment for medical equipment |
| US20160216768A1 (en) * | 2015-01-28 | 2016-07-28 | Medtronic, Inc. | Systems and methods for mitigating gesture input error |
-
2016
- 2016-10-20 CN CN201610915801.XA patent/CN107961022A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101930286A (en) * | 2009-06-22 | 2010-12-29 | 索尼公司 | Operating control device, method of controlling operation thereof and computer-readable recording medium |
| US20120198392A1 (en) * | 2011-01-27 | 2012-08-02 | Donald Halbert | Associating devices in a medical environment |
| CN104252225A (en) * | 2013-06-27 | 2014-12-31 | 南京迈瑞生物医疗电子有限公司 | Motion control medical equipment and medical equipment motion control method |
| CN103472920A (en) * | 2013-09-13 | 2013-12-25 | 通号通信信息集团有限公司 | Action-recognition-based medical image control method and system |
| CN104460972A (en) * | 2013-11-25 | 2015-03-25 | 安徽寰智信息科技股份有限公司 | Human-computer interaction system based on Kinect |
| US20160216768A1 (en) * | 2015-01-28 | 2016-07-28 | Medtronic, Inc. | Systems and methods for mitigating gesture input error |
| CN204925994U (en) * | 2015-05-07 | 2015-12-30 | 上海西门子医疗器械有限公司 | A operation control system and medical equipment for medical equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113791557A (en) * | 2018-05-18 | 2021-12-14 | 创新先进技术有限公司 | Control method and device of intelligent equipment |
| WO2022221971A1 (en) * | 2021-04-18 | 2022-10-27 | 上海联影医疗科技股份有限公司 | System and method for controlling medical apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111460875B (en) | Image processing method and apparatus, image device, and storage medium | |
| CN107833271B (en) | Skeleton redirection method and device based on Kinect | |
| CN110992454B (en) | Real-time motion capture and three-dimensional animation generation method and device based on deep learning | |
| CN102915112B (en) | For the system and method for closely motion tracking | |
| CN108564643B (en) | Performance capture system based on UE engine | |
| Sadihov et al. | Prototype of a VR upper-limb rehabilitation system enhanced with motion-based tactile feedback | |
| KR102125748B1 (en) | Apparatus and method for motion guide using 4d avatar | |
| CN103513768B (en) | A kind of control method based on mobile terminal attitudes vibration and device, mobile terminal | |
| KR20210058958A (en) | Systems and methods for generating complementary data for visual display | |
| CN107533640A (en) | Sight corrects | |
| CN107930048B (en) | Space somatosensory recognition motion analysis system and motion analysis method | |
| US20180272189A1 (en) | Apparatus and method for breathing and core muscle training | |
| CN106272446B (en) | The method and apparatus of robot motion simulation | |
| CN107534755A (en) | Sight corrects | |
| Klein et al. | A markeless augmented reality tracking for enhancing the user interaction during virtual rehabilitation | |
| Robertson et al. | Mixed reality Kinect Mirror box for stroke rehabilitation | |
| CN107961022A (en) | Control the method and device of the motion of Medical Devices | |
| Kuryło et al. | Machine vision system measuring the trajectory of upper limb motion applying the matlab software | |
| CN111968206B (en) | Method, device, equipment and storage medium for processing animation object | |
| CN109407826A (en) | Ball game analogy method, device, storage medium and electronic equipment | |
| KR101567859B1 (en) | System for rehabilitation exercise using user motion | |
| White et al. | A virtual reality application for stroke patient rehabilitation | |
| US11436806B1 (en) | Dual perspective rendering in virtual reality | |
| WO2021020419A1 (en) | Medical image processing device and medical image processing program | |
| CN211180839U (en) | Motion teaching equipment and motion teaching system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180427 |
|
| RJ01 | Rejection of invention patent application after publication |